Ambiguity compensation method and device, equipment, storage medium and program product

Abstract

The invention provides an ambiguity compensation method and device, equipment, a storage medium and a program product, and the method comprises the steps: carrying out the accumulation and updating of a first splicing reference through a difference value between a satellite UPD with the whole cycle slip and a satellite UPD of a previous epoch when the whole cycle slip of a satellite UPD of any epoch occurs; and first compensation is carried out on the ambiguity of the current epoch according to the continuously updated first splicing reference, so that the continuous consistency of the ambiguity before and after the UPD whole cycle slip is ensured, and the condition that the fixed solution state is abnormal due to the UPD whole cycle slip is solved.

Description

Technical Field

[0001] The present application relates to the field of satellite navigation, and in particular to an ambiguity compensation method, device, equipment, storage medium, and program product. Background Art

[0002] The basic observation values ​​for global navigation satellite system (GNSS) data processing are pseudorange and phase. High-precision phase observation values ​​are the guarantee of high-precision GNSS products, and ambiguity fixation technology can significantly improve the product solution accuracy.

[0003] In the GNSS network solution, the commonly used ambiguity fixation methods include undifferenced ambiguity fixation. However, when undifferenced ambiguity fixation is currently used, UPD (uncalibrated phase delay) jumps are inevitable due to changes in the solution state. The UPD jumps will cause the fixed ambiguity to jump by a whole cycle between the previous and next epochs, which will cause abnormalities in the fixed solution state. Summary of the invention

[0004] The embodiments of the present application provide a fuzzy compensation method, apparatus, device, storage medium, and program product, which can maintain a stable fixed solution state when the UPD solution is unstable.

[0005] In a first aspect, an embodiment of the present application provides a blur compensation method, the method comprising:

[0006] Obtain a first splicing reference corresponding to the current epoch; wherein, when a satellite UPD of any epoch undergoes an integer jump, the first splicing reference accumulates a target difference to the first splicing reference corresponding to the previous epoch, and the target difference is the difference between the satellite UPD of the satellite undergoing the integer jump and the satellite UPD of the previous epoch;

[0007] A first compensation is performed on the ambiguity of the current epoch based on a first stitching reference corresponding to the current epoch.

[0008] In a second aspect, an embodiment of the present application provides a blur compensation device, the device comprising:

[0009] An acquisition module is provided to acquire a first splicing reference corresponding to the current epoch; wherein, when a satellite UPD of any epoch undergoes an integer jump, the first splicing reference accumulates a target difference to the first splicing reference corresponding to the previous epoch, and the target difference is the difference between the satellite UPD of the satellite undergoing the integer jump and the satellite UPD of the previous epoch;

[0010] A compensation module performs a first compensation on the ambiguity of the current epoch based on a first splicing reference corresponding to the current epoch.

[0011] In a third aspect, an embodiment of the present application provides an electronic device, comprising: a processor and a memory storing computer program instructions; when the processor executes the computer program instructions, the ambiguity compensation method as described in the first aspect is implemented.

[0012] In a fourth aspect, an embodiment of the present application provides a computer storage medium, on which computer program instructions are stored. When the computer program instructions are executed by a processor, the ambiguity compensation method described in the first aspect is implemented.

[0013] In a fifth aspect, an embodiment of the present application provides a computer program product. When instructions in the computer program product are executed by a processor of an electronic device, the electronic device performs the ambiguity compensation method as described in the first aspect.

[0014] The ambiguity compensation method, apparatus, device, storage medium, and program product of the embodiments of the present application, when a satellite UPD of any epoch undergoes an integer jump, cumulatively updates the first splicing reference by the difference between the satellite UPD that undergoes the integer jump and the satellite UPD of the previous epoch, and then performs a first compensation on the ambiguity of the current epoch based on the continuously updated first splicing reference, thereby ensuring the continuous consistency of the ambiguity before and after the UPD integer jump, thereby solving the problem of abnormal fixed solution state caused by the UPD integer jump. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solution of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0016] Figure 1 is a flowchart of a first ambiguity compensation method provided by an embodiment of the present application;

[0017] Figure 2 is a flow chart of a second ambiguity compensation method provided by an embodiment of the present application;

[0018] Figure 3 is a flowchart of a third ambiguity compensation method provided by an embodiment of the present application;

[0019] Figure 4 is a flowchart of a fourth ambiguity compensation method provided by an embodiment of the present application;

[0020] Figure 5 is a flowchart of a fifth ambiguity compensation method provided by an embodiment of the present application;

[0021] Figure 6 is a structural schematic diagram of a fuzziness compensation device provided by an embodiment of the present application;

[0022] Figure 7 It is a structural schematic diagram of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0023] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than to limit the present application. For those skilled in the art, the present application can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by illustrating the examples of the present application.

[0024] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "include..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0025] The basic observation values ​​of global navigation satellite system (GNSS) data processing are pseudorange and phase. High-precision phase observation values ​​are the guarantee of high-precision GNSS products, and ambiguity fixation technology can significantly improve the accuracy of product solution. In GNSS network solution, the commonly used ambiguity fixation method is based on double-difference observation values ​​or double-difference ambiguity, that is, double-differenced ambiguity fixing.

[0026] In order to improve the accuracy and convergence speed of precise point positioning (PPP), the satellite-side ambiguity fractional part UPD (uncalibrated phase delay) can be estimated and broadcast to the user to achieve PPP ambiguity fixation on the user side. For the GNSS server, the undifference ambiguity fixing can also be achieved by estimating UPD.

[0027] Theoretically, double-difference ambiguity fixation and non-difference ambiguity fixation should be equivalent to the accuracy of GNSS network solution. Compared with double-difference ambiguity fixation, non-difference ambiguity fixation is more efficient. However, studies have shown that the solution accuracy of non-difference ambiguity fixation is improved compared with double-difference ambiguity fixation. This is mainly because non-difference ambiguity can connect the ambiguities of different arcs, reducing the degrees of freedom and thus improving the strength of the solution. Based on the above performance of non-difference ambiguity fixation, non-difference ambiguity fixation has gradually become a research hotspot. With the widespread application of non-difference ambiguity fixation, how to maintain the stability of non-difference ambiguity fixation is an urgent problem to be solved.

[0028] As described in the background technology, when non-difference ambiguity fixation is currently adopted, UPD jumps will inevitably occur due to changes in the UPD solution state. The UPD jumps will cause the fixed ambiguity to jump in whole cycles between the previous and next epochs, which will cause abnormalities in the fixed solution state.

[0029] In order to solve the problems in the prior art, the embodiments of the present application provide a fuzziness compensation method, device, equipment, computer storage medium and computer program product. The fuzziness compensation method provided by the embodiments of the present application is first introduced below.

[0030] Figure 1 FIG. 1 is a flow chart of a first ambiguity compensation method provided by an embodiment of the present application. Figure 1 As shown, the method comprises the following steps:

[0031] S101, obtaining a first stitching reference corresponding to the current epoch; wherein, when a satellite UPD of any epoch undergoes an integer jump, the target difference is accumulated to the first stitching reference corresponding to the previous epoch, and the target difference is the difference between the satellite UPD that undergoes an integer jump and the satellite UPD of the previous epoch.

[0032] In specific implementation, in order to ensure the continuity and consistency of the ambiguity before and after the satellite UPD integer jump, a first splicing reference is set in this embodiment. The first splicing reference is used to perform a first compensation on the ambiguity of each epoch to compensate for the jump in ambiguity caused by the satellite UPD integer jump.

[0033] It should be noted that the first stitching reference will be updated with the epochs where the whole cycle jump occurs, that is, each time the satellite UPD has a whole cycle jump, the first stitching reference will be updated. The specific update process can be to subtract the satellite UPD of the current epoch from that of the previous epoch to obtain the target difference, and then superimpose the target difference on the first stitching reference corresponding to the previous epoch (that is, the first stitching reference before the update). The first stitching reference corresponding to each epoch is the first stitching reference that is most recently updated in the epoch. Assuming that the satellite UPD of the current epoch has a whole cycle jump, the first stitching reference corresponding to the current epoch is the first stitching reference updated by the satellite UPD of the current epoch.

[0034] In some embodiments, the satellite UPD of the current epoch and the satellite UPD of the previous epoch may be used to make a difference to determine whether the satellite UPD of the current epoch has undergone an integer jump. When the difference between the two is an integer, it can be determined that the satellite UPD of the current epoch has undergone an integer jump. In one example, if the difference between the satellite UPD of the current epoch and the satellite UPD of the previous epoch is 1 or -1, it can be determined that the satellite UPD of the current epoch has undergone an integer jump.

[0035] In order to ensure the accuracy of the first stitching reference, in some embodiments, the initial value of the first stitching reference is 0, and when the satellite UPD solution is interrupted or the solution is abnormal, the first stitching reference is reset to 0. In one example, the first stitching reference can be understood as the superposition of target differences corresponding to multiple whole cycle jumps. When the first stitching reference is generated for the first time, the initial value can be set to 0. In addition, considering that when the satellite UPD solution is interrupted or the solution is abnormal, the consistency of the epoch ambiguity before and after the interruption cannot be guaranteed, at this time, the first stitching reference needs to be reset to 0, that is, the first stitching reference needs to be recorded again.

[0036] S102: Perform a first compensation on the ambiguity of the current epoch based on a first splicing reference corresponding to the current epoch.

[0037] In a specific implementation, each epoch has its corresponding receiver, and each receiver is used to receive data from at least one satellite at a preset fixed frequency. The data received by multiple receivers corresponding to multiple epochs form observation data, and the ambiguity is determined based on the above observation data. In order to make up for the difference between the ambiguity of the current epoch and the ambiguity of the previous epoch caused by the UPD whole cycle jump, after determining the first splicing reference corresponding to the current epoch, the ambiguity of the current epoch is first compensated by the first splicing reference. In one example, the ambiguity of the current epoch can be directly compensated for the first time according to the first splicing reference by addition and subtraction operations. For example, the UPD of a certain satellite is: 1.1, 1.2, 1.3, 2.3, 2.4 from front to back. Assuming that the satellite UPD of the current epoch is 2.4, first determine that the first splicing reference corresponding to the current epoch is 1 (2.3-1.3+0), and then directly subtract 1 from the ambiguity of the current epoch for the first compensation.

[0038] In some embodiments, the ambiguity fixing method can be applied to wide lane ambiguity and / or narrow lane ambiguity. It should be noted that the wide lane floating point ambiguity can be determined based on the smoothing result of the observation data; while the narrow lane floating point ambiguity can be determined by performing orbit solution or clock error solution on the ambiguity data. Specifically, the observation data is first filtered and solved by orbit filtering or clock error filtering, and then the narrow lane floating point ambiguity is determined by combining the wide lane integer ambiguity after the wide lane floating point ambiguity compensation.

[0039] Considering that the satellite UPD may have non-integer cycle jumps in addition to integer cycle jumps, when a non-integer cycle jump occurs, the fixed ambiguity may also jump between the previous and next epochs, thereby causing an abnormality in the fixed solution state. In order to solve this technical problem, in some embodiments, after first compensating the ambiguity of the current epoch based on the first splicing reference corresponding to the current epoch, the method further includes:

[0040] Acquire a second splicing reference corresponding to the current epoch; wherein, when the satellite UPD of the current epoch does not undergo an integer jump, and when the ambiguity of the current epoch satisfies a preset splicing condition, accumulate the difference between the ambiguity after the current epoch is fixed and the ambiguity after the previous epoch is fixed to the second splicing reference, so that the accumulated second splicing reference corresponds to the next epoch; the preset splicing condition includes that the ambiguity of the current epoch is fixed, and the ambiguity after the current epoch is fixed undergoes an integer jump relative to the ambiguity after the previous epoch is fixed;

[0041] A second compensation is performed on the ambiguity of the current epoch based on a second stitching reference corresponding to the current epoch.

[0042] During specific implementation, in order to ensure the continuity and consistency of the ambiguity before and after the satellite UPD non-integer cycle jump as much as possible, a second splicing reference is set in this embodiment, and the second splicing reference is used to perform a second compensation on the ambiguity to compensate for the ambiguity jump caused by the satellite UPD non-integer cycle jump. In one example, the ambiguity of the current epoch can be directly compensated for the second time according to the second splicing reference through addition and subtraction operations. For example, the floating-point ambiguity of a certain satellite is: 1.1, 1.2, 1.3, 1.4, 1.5 from front to back. The corresponding fixed ambiguities are: 1, 1, 1, 2, 2. Assuming that the ambiguity of the current epoch is 1.5, first determine that the second splicing reference corresponding to the current epoch is 1 (2-1+0), and then directly subtract 1 from the fixed ambiguity of the current epoch for a second compensation, and the compensated fixed ambiguity is 1.

[0043] It should be noted that the second splicing reference will be updated when the satellite UPD of the current epoch does not undergo an integer jump and the ambiguity of the current epoch meets the preset splicing condition. The specific updating process may be to add the difference between the ambiguity after the current epoch is fixed and the ambiguity after the previous epoch is fixed to the second splicing reference. The second splicing reference will not directly act on the current epoch after being updated, that is, the second splicing reference corresponding to the current epoch is the second splicing reference after the previous epoch is updated. In some embodiments, the preset splicing condition includes that the ambiguity of the current epoch is fixed, and the ambiguity after the current epoch is fixed undergoes an integer jump relative to the ambiguity after the previous epoch is fixed.

[0044] To ensure the accuracy of the second stitching reference, in some embodiments, the initial value of the second stitching reference is 0, and when the ambiguity is interrupted or the ambiguity is not continuously fixed, the first stitching reference is reset to 0.

[0045] Since the second splicing reference updated by the current epoch cannot directly act on the current epoch, when the satellite UPD of the current epoch does not have an integer jump and the ambiguity of the current epoch meets the preset splicing condition, it is necessary to further adjust the ambiguity of the current epoch. Therefore, in some embodiments, after performing a second compensation on the ambiguity of the current epoch based on the second splicing reference corresponding to the current epoch, the method further includes:

[0046] In response to determining that the satellite UPD of the current epoch does not undergo an integer cycle jump and the ambiguity of the current epoch satisfies the preset splicing condition, the ambiguity of the current epoch after the second compensation is adjusted to the ambiguity after the previous epoch is fixed.

[0047] In specific implementation, when it is determined that the satellite UPD of the current epoch has not undergone an integer jump, and the ambiguity of the current epoch meets the preset splicing condition, it is necessary to adjust the ambiguity of the current epoch after the second compensation to the ambiguity of the previous epoch after fixation. For example, the floating point ambiguities of a certain satellite are: 1.1, 1.2, 1.3, 1.4, 1.5 from front to back. The corresponding fixed ambiguities are: 1, 1, 1, 2, 2. Assuming that the ambiguity of the current epoch is 1.4, first determine that the second splicing reference corresponding to the current epoch is 0, and then the fixed ambiguity of the current epoch is 2 after the second compensation. At this time, it is still impossible to guarantee that it is consistent with the fixed ambiguity of the previous epoch. Considering that the satellite UPD of the current epoch has not undergone an integer jump, and the ambiguity meets the preset splicing condition, the fixed ambiguity of the current epoch can be adjusted to 1 (the ambiguity after fixation of the previous epoch).

[0048] Considering that when the difference between the ambiguity of the current and subsequent epochs is large, the two cannot be directly compensated to be consistent. Therefore, in some embodiments, the preset splicing condition also includes that the difference between the ambiguity of the current epoch and the ambiguity of the previous epoch is less than a first preset threshold. It should be noted that the above-mentioned first preset threshold can be set as needed and is not limited to this.

[0049] In order to further improve the accuracy of the second compensation, in some embodiments, the preset splicing condition also includes that there are multiple consecutive epochs before the current epoch with the same ambiguity after fixation, and the number of the multiple epochs is greater than a second preset threshold. It should be noted that the above second preset threshold can be set as needed without limitation.

[0050] In some embodiments, assume that the floating point ambiguities of a certain satellite are 1.1, 1.2, 1.3, 1.4, 2.5, 3.4 from the beginning to the end. The corresponding fixed ambiguities are 1, 1, 1, 2, 2, 4. If the ambiguity of the current epoch is 3.4, if the number of consecutive identical fixed ambiguities of the previous epoch of the ambiguity is not limited, the ambiguity of the current epoch can be directly adjusted to 2 (the fixed ambiguity of the previous epoch), but the consistency of the ambiguity to be achieved for the satellite should be the fixed ambiguity: 1, 1, 1, 1, 1, 1; instead of: 1, 1, 1, 1, 1, 2. Therefore, the ambiguity of the current epoch does not meet the above preset splicing conditions.

[0051] Considering that when the floating point ambiguity data quality is poor or the solved UPD is unstable during UPD solution, the satellite ambiguity fixation rate is relatively low, the non-difference ambiguity fixation constraint is not strong, and the fixed solution accuracy is not significantly improved. In order to solve this technical problem, in some embodiments, the ambiguity compensation method further includes:

[0052] Determine the target satellite corresponding to the satellite UPD of the current epoch;

[0053] Performing an ambiguity fixation rate check on the target satellite, where the ambiguity fixation rate is a ratio of a fixable ambiguity corresponding to the target satellite to all ambiguities;

[0054] In response to determining that the ambiguity fixing rate is less than a third preset threshold, determining whether the ambiguity of the current epoch can be fixed;

[0055] In response to determining that the ambiguity of the current epoch has failed to be fixed, and there are multiple consecutive epochs before the current epoch with the same ambiguity after being fixed, and the number of the multiple epochs is greater than a fourth preset threshold, the ambiguity of the current epoch is adjusted to the ambiguity after being fixed at the previous epoch.

[0056] In specific implementation, in order to solve the problem that the accuracy of fixed solution is not significantly improved due to the relatively low satellite ambiguity fixation rate. In this embodiment, when the ambiguity fixation rate of the target satellite corresponding to the satellite UPD of the current epoch is less than the third preset threshold, the historical fixed ambiguity information can be used to first determine whether the ambiguity of the target satellite meets the preset conditions, and the ambiguity that meets the preset conditions is fixed and adjusted to improve the ambiguity fixation rate of the target satellite. In one example, the preset conditions include that the ambiguity of the current epoch has not been fixed, and there are multiple consecutive epochs before the current epoch with the same ambiguity after fixation, and the number of the multiple epochs is greater than the fourth preset threshold. It should be noted that the above-mentioned third preset threshold and the fourth preset threshold can be set as needed, and there is no limitation on this.

[0057] In some embodiments, the UPD estimation principle can be described by the following formulas.

[0058] Among them, the LC floating point combined ambiguity can be expressed by the wide lane WL and narrow lane NL ambiguity line combination:

[0059]

[0060] In formula (1), f1 and f2 represent the frequencies of the corresponding frequency points of the carrier observation. represents the floating point ionospheric-free ambiguity, λ lc Represents the ionosphere-free combined wavelength. represents the narrow lane floating point ambiguity, λ nl represents the narrow lane wavelength. represents the wide-lane floating-point ambiguity, λ wl In the real-time UPD estimation algorithm, the wide-lane floating-point ambiguity It can be obtained by smoothing or combining the ambiguities of MW linear combination observations, or by combining the floating point ambiguities It can be obtained by linear combination of GNSS floating point filters or non-combined floating point ambiguities. The floating point wide lane ambiguity consists of integer ambiguity, wide lane receiver UPD and wide lane satellite UPD, which can be expressed as:

[0061]

[0062] In formula (2), N wl represents the integer wide-lane ambiguity, fract wl represents the fractional part of the narrow lane ambiguity, d r,wl represents the receiver wide lane UPD, Indicates satellite widelane UPD.

[0063] When the wide lane ambiguity is fixed, the floating point narrow lane ambiguity can be obtained by formula (1):

[0064]

[0065] Similarly, the floating-point narrow lane ambiguity is composed of the integer narrow lane ambiguity, the narrow lane receiver UPD and the narrow lane satellite UPD, which can be expressed as:

[0066]

[0067] In formula (4), N nl represents the integer narrow lane ambiguity, fract nl Indicates the fractional part of the narrow lane ambiguity, d r,nl Indicates the receiver narrow lane UPD, Indicates satellite narrow lane UPD.

[0068] After the narrow lane ambiguity is fixed, the LC ambiguity after the ambiguity is fixed is obtained by using the fixed wide lane and narrow lane ambiguities and the narrow lane satellite receiver UPD. The formula is:

[0069]

[0070] According to the fixed LC ambiguity, the corresponding normal equation constraints are performed to obtain the fixed solution state after the non-difference ambiguity is fixed.

[0071] refer to Figure 2 , is a flow chart of a second ambiguity compensation method provided in an embodiment of the present application; the method comprises the following steps:

[0072] S201, obtaining the satellite UPD of the current epoch.

[0073] In specific implementation, the floating point ambiguity of the current epoch can be obtained first, and then the decimal part of the floating point ambiguity can be separated to estimate the UPD, and the satellite UPD of the current epoch can be obtained according to the estimation result. For details, please refer to the above formula (2) and formula (4).

[0074] In some embodiments, reference may also be made to the method for obtaining satellite UPD in related technologies, without limitation. For example, in one example, a certain number of reference station networks may be used to estimate the wide lane and narrow lane UPD corrections of the satellite, and thereby obtain the satellite UPD.

[0075] S202, determine whether the satellite UPD of the current epoch has a full cycle jump; if so, execute step S203; if not, execute step S204.

[0076] In specific implementation, the difference between the current satellite UPD and the UPD of the previous epoch can be used to determine whether the UPD has a full cycle jump. When the satellite UPD of the current epoch minus the UPD of the previous epoch equals 1 cycle, that is: It is assumed that the satellite UPD jumps 1 cycle in a whole week, among which, jump s Indicates the target difference between the current epoch satellite UPD and the previous epoch satellite UPD, d s Indicates the satellite UPD of the current epoch, Indicates the satellite UPD of the previous epoch. When the satellite UPD of the current epoch minus the UPD of the previous epoch equals -1 week, that is: The satellite UPD is considered to jump -1 week.

[0077] S203, superimposing and updating the first splicing reference.

[0078] In specific implementation, when it is determined that a whole cycle jump occurs in the satellite UPD, the first splicing reference is superimposed and updated, that is, Among them, datum s represents the updated first stitching datum, It indicates the first splicing reference before updating. It should be noted that the initial value of the first splicing reference is 0, and when it is determined that the satellite UPD solution is interrupted or the solution is abnormal, the first splicing reference will also be reset to 0.

[0079] S204: Perform a first compensation on the ambiguity of the current epoch based on the first splicing reference.

[0080] In a specific implementation, when the first compensation is performed on the ambiguity of the current epoch based on the first splicing reference, the first splicing reference may be directly subtracted from the integer ambiguity of the current epoch.

[0081] It should be noted that the first compensation for the ambiguity of the current epoch is not only for the epochs where the UPD has a full-cycle jump. Figure 2 In step S204, if the satellite UPD of the current epoch does not undergo a full cycle jump, the first compensation for the ambiguity of the current epoch will still be performed, but the first splicing reference is not updated at this time.

[0082] refer to Figure 3 , is a flow chart of a third ambiguity compensation method provided in an embodiment of the present application; the method comprises the following steps:

[0083] S301: Perform a second compensation on the ambiguity of the current epoch based on a second stitching reference.

[0084] S302, determine whether the satellite UPD of the current epoch has a full cycle jump; if so, execute step S306; if not, execute step S303.

[0085] S303, determine whether the ambiguity of the current epoch meets the preset splicing condition; if not, execute step S306; if yes, execute step S304.

[0086] S304: Superimpose and update the second splicing datum.

[0087] S305, adjusting the ambiguity of the current epoch to the ambiguity after being fixed in the previous epoch.

[0088] S306, end.

[0089] It should be noted that, in this embodiment, the second compensation for the ambiguity of the current epoch is performed based on the second splicing reference, which mainly realizes the compensation of the fixed ambiguity when the satellite UPD does not have an integer jump, so as to maintain the consistency of the fixed ambiguity of the previous and next epochs. The second splicing reference is only performed when the satellite UPD does not have an integer jump and the ambiguity of the current epoch meets the preset splicing conditions. In an example, the preset splicing conditions mainly include the following aspects: 1. The ambiguity of the current epoch is fixed. 2. The fixed ambiguity of the previous and next epochs has an integer jump. 3. The floating-point ambiguity of the previous and next epochs has not jumped (the difference between the floating-point ambiguity of the previous and next epochs is less than the first preset threshold). 4. The ambiguity of multiple consecutive epochs before the current epoch is fixed to a value, and the number of the multiple epochs is greater than the second preset threshold.

[0090] refer to Figure 4 , is a flow chart of a fourth ambiguity compensation method provided in an embodiment of the present application; the method comprises the following steps:

[0091] S401, perform ambiguity fixation rate check on the target satellite.

[0092] In specific implementation, the target satellite is the satellite corresponding to the satellite UPD of the current epoch. The target satellite corresponds to multiple ambiguities. The ambiguity fixation rate of the target satellite is checked, that is, it is determined which floating point ambiguities among all the ambiguities corresponding to the target satellite can be fixed.

[0093] S402, determine whether the ambiguity fixation rate of the target satellite is lower than a third preset threshold; if not, execute step S405; if yes, execute step S403.

[0094] S403, determine whether the ambiguity of the current epoch satisfies the ambiguity fixing condition; if not, execute step S405; if yes, execute step S404.

[0095] In some embodiments, the ambiguity fixing conditions mainly include: 1. The ambiguity of the current epoch cannot be fixed; 2. There are multiple consecutive epochs before the current epoch whose ambiguities are the same after being fixed, and the number of the multiple epochs is greater than a fourth preset threshold.

[0096] S404, adjusting the ambiguity of the current epoch to the ambiguity after being fixed in the previous epoch.

[0097] refer to Figure 5 , is a flow chart of a fifth ambiguity compensation method provided in an embodiment of the present application; the method comprises the following steps:

[0098] S501, obtaining the wide lane ambiguity of the current epoch.

[0099] In specific implementation, the wide lane ambiguity of the current epoch can be obtained based on the smoothing result of the observation data. Then, according to the above UPD estimation principle, the wide lane floating point ambiguity is used to estimate the wide lane satellite and receiver UPD.

[0100] S502: Perform a first compensation on the wide lane ambiguity of the current epoch based on a first stitching reference.

[0101] In specific implementation, the first compensation may be performed on the wide lane ambiguity of the current epoch according to the principle of the first compensation in the above embodiment and according to the first stitching reference corresponding to the wide lane ambiguity.

[0102] S503, obtaining the narrow lane ambiguity of the current epoch.

[0103] In specific implementation, the narrow lane ambiguity of the current epoch can be obtained by using the wide lane ambiguity after the first compensation through the above formula (3). It should be noted that in this embodiment, the wide lane ambiguity is only compensated for the first time. In other embodiments, the user can perform the first compensation and the second compensation in the above embodiment on the wide lane ambiguity as needed, and then determine the narrow lane ambiguity of the current epoch using the wide lane ambiguity after the second compensation.

[0104] S504: Perform a first compensation on the narrow lane ambiguity of the current epoch based on the first stitching reference.

[0105] S505: Perform a second compensation on the narrow lane ambiguity of the current epoch based on the second stitching reference.

[0106] In a specific implementation, after the narrow lane ambiguity of the current epoch is obtained, the first compensation and the second compensation may be performed on the narrow lane ambiguity according to the principles of the first compensation and the second compensation respectively.

[0107] S506, determine whether the ambiguity fixation rate of the target satellite is lower than the set threshold; if so, execute step S507; if not, execute step S508.

[0108] S507, fixing the ambiguity of the target satellite that meets the ambiguity fixing condition.

[0109] In specific implementation, the ambiguity fixation rate of the currently solved narrow lane satellite UPD is checked. If the ambiguity fixation rate of some satellites is lower than the set threshold (ie, the third preset threshold), an ambiguity fixation operation with a low fixation rate is required.

[0110] S508, determining the LC ambiguity after the ambiguity is fixed, and performing corresponding equation constraints.

[0111] In specific implementation, refer to the above formula (5), use the compensated wide lane and narrow lane ambiguities and the narrow lane satellite and receiver UPD to obtain the LC ambiguity after the ambiguity is fixed. Then, perform the corresponding equation constraints to obtain the solution state after the non-difference ambiguity is fixed.

[0112] The ambiguity compensation method of the embodiment of the present application, when a satellite UPD of any epoch undergoes an integer cycle jump, updates the first splicing reference by accumulating the difference between the satellite UPD that undergoes an integer cycle jump and the satellite UPD of the previous epoch, and then performs the first compensation on the ambiguity of the current epoch according to the continuously updated first splicing reference, thereby ensuring the continuity and consistency of the ambiguity before and after the UPD integer cycle jump, thereby solving the problem of abnormal fixed solution state caused by the UPD integer cycle jump. When the non-difference ambiguity is fixed, a stable fixed solution state can still be maintained in the case of unstable UPD solution.

[0113] Based on the same inventive concept, corresponding to any of the above-mentioned embodiment methods, the present application also provides a blur compensation device.

[0114] refer to Figure 6 , the ambiguity compensation device comprises:

[0115] The acquisition module 601 acquires a first splicing reference corresponding to the current epoch; wherein, when a satellite UPD of any epoch undergoes an integer jump, the first splicing reference accumulates a target difference to the first splicing reference corresponding to the previous epoch, and the target difference is the difference between the satellite UPD of the satellite undergoing the integer jump and the satellite UPD of the previous epoch;

[0116] The first compensation module 602 performs a first compensation on the ambiguity of the current epoch based on a first splicing reference corresponding to the current epoch.

[0117] In some embodiments, the apparatus further comprises a second compensation module, configured to:

[0118] Acquire a second splicing reference corresponding to the current epoch; wherein, when the satellite UPD of the current epoch does not undergo an integer jump, and when the ambiguity of the current epoch satisfies a preset splicing condition, accumulate the difference between the ambiguity after the current epoch is fixed and the ambiguity after the previous epoch is fixed to the second splicing reference, so that the accumulated second splicing reference corresponds to the next epoch; the preset splicing condition includes that the ambiguity of the current epoch is fixed, and the ambiguity after the current epoch is fixed undergoes an integer jump relative to the ambiguity after the previous epoch is fixed;

[0119] A second compensation is performed on the ambiguity of the current epoch based on a second stitching reference corresponding to the current epoch.

[0120] In some embodiments, the apparatus further comprises a first adjustment module, configured to:

[0121] In response to determining that the satellite UPD of the current epoch does not undergo an integer cycle jump and the ambiguity of the current epoch satisfies the preset splicing condition, the ambiguity of the current epoch after the second compensation is adjusted to the ambiguity after the previous epoch is fixed.

[0122] In some embodiments, the preset splicing condition also includes that the difference between the ambiguity of the current epoch and the ambiguity of the previous epoch is less than a first preset threshold.

[0123] In some embodiments, the preset splicing condition also includes that before the current epoch, there are a plurality of consecutive epochs with the same ambiguity after being fixed, and the number of the plurality of epochs is greater than a second preset threshold.

[0124] In some embodiments, the apparatus further comprises a second adjustment module, configured to:

[0125] Determine the target satellite corresponding to the satellite UPD of the current epoch;

[0126] Performing an ambiguity fixation rate check on the target satellite, where the ambiguity fixation rate is a ratio of a fixable ambiguity corresponding to the target satellite to all ambiguities;

[0127] In response to determining that the ambiguity fixing rate is less than a third preset threshold, determining whether the ambiguity of the current epoch can be fixed;

[0128] In response to determining that the ambiguity of the current epoch has failed to be fixed, and there are multiple consecutive epochs before the current epoch with the same ambiguity after being fixed, and the number of the multiple epochs is greater than a fourth preset threshold, the ambiguity of the current epoch is adjusted to the ambiguity after being fixed at the previous epoch.

[0129] In some embodiments, an initial value of the first stitching reference is 0, and when satellite UPD solution is interrupted or abnormal, the first stitching reference is reset to 0.

[0130] In some embodiments, an initial value of the second stitching reference is 0, and when the ambiguity is interrupted or the ambiguity is not continuously fixed, the first stitching reference is reset to 0.

[0131] In some embodiments, the ambiguity includes wide lane ambiguity and / or narrow lane ambiguity.

[0132] For the convenience of description, the above device is described in terms of functions divided into various modules. Of course, when implementing the present application, the functions of each module can be implemented in the same or multiple software and / or hardware.

[0133] The ambiguity compensation device of the above embodiment is used to implement the corresponding ambiguity compensation method in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be described in detail here.

[0134] Figure 7 A schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present application is shown.

[0135] In some embodiments the electronic device may include a processor 701 and a memory 702 storing computer program instructions.

[0136] Specifically, the processor 701 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0137] The memory 702 may include a large capacity memory for data or instructions. By way of example and not limitation, the memory 702 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive or a combination of two or more of these. In appropriate cases, the memory 702 may include a removable or non-removable (or fixed) medium. In appropriate cases, the memory 702 may be inside or outside the integrated gateway disaster recovery device. In a specific embodiment, the memory 702 is a non-volatile solid-state memory.

[0138] In certain embodiments, memory 702 includes a read-only memory (ROM). The ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), an electrically alterable ROM (EAROM), or flash memory, or a combination of two or more of the above, where appropriate.

[0139] The memory may include read-only memory (ROM), random access memory (RAM), magnetic disk storage media devices, optical storage media devices, flash memory devices, electrical, optical or other physical / tangible memory storage devices. Thus, typically, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the method according to an aspect of the present disclosure.

[0140] The processor 701 implements any one of the ambiguity compensation methods in the above embodiments by reading and executing computer program instructions stored in the memory 702 .

[0141] In one example, the electronic device may further include a communication interface 703 and a bus 710. Figure 7 As shown, the processor 701, the memory 702, and the communication interface 703 are connected via a bus 710 and communicate with each other.

[0142] The communication interface 703 is mainly used to implement communication between various modules, devices, units and / or equipment in the embodiments of the present application.

[0143] Bus 710 includes hardware, software or both, and the parts of online data flow billing equipment are coupled to each other. For example, but not limitation, bus may include accelerated graphics port (AGP) or other graphics bus, enhanced industrial standard architecture (EISA) bus, front-end bus (FSB), hypertransport (HT) interconnection, industrial standard architecture (ISA) bus, infinite bandwidth interconnection, low pin count (LPC) bus, memory bus, micro channel architecture (MCA) bus, peripheral component interconnection (PCI) bus, PCI-Express (PCI-X) bus, serial advanced technology attachment (SATA) bus, video electronics standard association local (VLB) bus or other suitable bus or two or more of these combinations. In appropriate cases, bus 710 may include one or more buses. Although the present application embodiment describes and shows a specific bus, the present application considers any suitable bus or interconnection.

[0144] The electronic device of the above embodiment is used to implement the corresponding ambiguity compensation method in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.

[0145] In addition, in combination with the blur compensation method in the above embodiment, the embodiment of the present application can provide a computer storage medium for implementation. The computer storage medium stores computer program instructions; when the computer program instructions are executed by a processor, any blur compensation method in the above embodiment is implemented.

[0146] The computer instructions stored in the storage medium of the above embodiment are used to enable the computer to execute the blur compensation method described in any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0147] An embodiment of the present application also provides a computer program product, including a computer program, which implements any one of the blur compensation methods in the above embodiments when the computer program is processed and executed.

[0148] In some embodiments, the computer program instructions may be executed by one or more processors of a computer so that the computer and / or the processor execute the blur compensation method described in the above embodiments. Corresponding to the execution subject corresponding to each step in each embodiment of the blur compensation method, the processor executing the corresponding step may belong to the corresponding execution subject.

[0149] The computer program product of the above embodiment is used to enable the computer and / or the processor to execute the blur compensation method described in any of the above embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0150] It should be clear that the present application is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present application is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present application.

[0151] The functional blocks shown in the above-described block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, etc. When implemented in software, the elements of the present application are programs or code segments that are used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or a communication link by a data signal carried in a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, etc. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

[0152] It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, this application is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiment, or in a different order from the embodiment, or several steps can be performed simultaneously.

[0153] Aspects of the present disclosure are described above with reference to the flowchart and / or block diagram of the method, device (system) and computer program product according to the embodiment of the present disclosure. It should be understood that each box in the flowchart and / or block diagram and the combination of each box in the flowchart and / or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device to produce a machine so that these instructions executed by the processor of the computer or other programmable data processing device enable the implementation of the function / action specified in one or more boxes of the flowchart and / or block diagram. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field programmable logic circuit. It can also be understood that each box in the block diagram and / or flowchart and the combination of boxes in the block diagram and / or flowchart can also be implemented by dedicated hardware that performs a specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions.

[0154] The above is only a specific implementation of the present application. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the protection scope of the present application is not limited to this. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in this application, and these modifications or replacements should be included in the protection scope of this application.

Claims

1. A fuzziness compensation method, characterized in that: include: Obtain a first splicing reference corresponding to the current epoch; wherein, when a satellite UPD of any epoch undergoes an integer jump, the first splicing reference accumulates a target difference to the first splicing reference corresponding to the previous epoch, and the target difference is the difference between the satellite UPD of the satellite undergoing the integer jump and the satellite UPD of the previous epoch; A first compensation is performed on the ambiguity of the current epoch based on a first stitching reference corresponding to the current epoch.

2. The method according to claim 1, characterized in that After performing a first compensation on the ambiguity of the current epoch based on a first stitching reference corresponding to the current epoch, the method further includes: Acquire a second splicing reference corresponding to the current epoch; wherein, when the satellite UPD of the current epoch does not undergo an integer jump, and when the ambiguity of the current epoch satisfies a preset splicing condition, accumulate the difference between the ambiguity after the current epoch is fixed and the ambiguity after the previous epoch is fixed to the second splicing reference, so that the accumulated second splicing reference corresponds to the next epoch; the preset splicing condition includes that the ambiguity of the current epoch is fixed, and the ambiguity after the current epoch is fixed undergoes an integer jump relative to the ambiguity after the previous epoch is fixed; A second compensation is performed on the ambiguity of the current epoch based on a second stitching reference corresponding to the current epoch.

3. The method according to claim 2, characterized in that After performing a second compensation on the ambiguity of the current epoch based on a second stitching reference corresponding to the current epoch, the method further includes: In response to determining that the satellite UPD of the current epoch does not undergo an integer cycle jump and the ambiguity of the current epoch satisfies the preset splicing condition, the ambiguity of the current epoch after the second compensation is adjusted to the ambiguity after the previous epoch is fixed.

4. The method according to claim 2, characterized in that: The preset splicing condition also includes that the difference between the ambiguity of the current epoch and the ambiguity of the previous epoch is less than a first preset threshold.

5. The method according to claim 2, characterized in that: The preset splicing condition also includes that before the current epoch, there are multiple consecutive epochs with the same ambiguity after being fixed, and the number of the multiple epochs is greater than a second preset threshold.

6. The method according to claim 1, characterized in that The method further comprises: Determine the target satellite corresponding to the satellite UPD of the current epoch; Performing an ambiguity fixation rate check on the target satellite, where the ambiguity fixation rate is a ratio of a fixable ambiguity corresponding to the target satellite to all ambiguities; In response to determining that the ambiguity fixing rate is less than a third preset threshold, determining whether the ambiguity of the current epoch can be fixed; In response to determining that the ambiguity of the current epoch has failed to be fixed, and there are multiple consecutive epochs before the current epoch with the same ambiguity after being fixed, and the number of the multiple epochs is greater than a fourth preset threshold, the ambiguity of the current epoch is adjusted to the ambiguity after being fixed at the previous epoch.

7. The method according to claim 1, characterized in that The initial value of the first stitching reference is 0, and when the satellite UPD solution is interrupted or the solution is abnormal, the first stitching reference is reset to 0.

8. The method according to claim 2, characterized in that: An initial value of the second stitching reference is 0, and when the ambiguity is interrupted or the ambiguity is not continuously fixed, the first stitching reference is reset to 0.

9. The method according to any one of claims 1 to 8, characterized in that: The ambiguity includes wide lane ambiguity and / or narrow lane ambiguity.

10. A blur compensation device, characterized in that: The device comprises: An acquisition module is provided to acquire a first splicing reference corresponding to the current epoch; wherein, when a satellite UPD of any epoch undergoes an integer jump, the first splicing reference accumulates a target difference to the first splicing reference corresponding to the previous epoch, and the target difference is the difference between the satellite UPD of the satellite undergoing the integer jump and the satellite UPD of the previous epoch; The first compensation module performs a first compensation on the ambiguity of the current epoch based on a first splicing reference corresponding to the current epoch.

11. An electronic device, characterized in that: The device comprises: a processor and a memory storing computer program instructions; When the processor executes the computer program instructions, the method according to any one of claims 1 to 9 is implemented.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer program instructions, and when the computer program instructions are executed by a processor, the ambiguity compensation method according to any one of claims 1 to 9 is implemented.

13. A computer program product, characterized in that When the instructions in the computer program product are executed by a processor of an electronic device, the electronic device executes the ambiguity compensation method as described in any one of claims 1 to 9.

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