An RTK multi-frequency observation value data processing method, device, medium and product

Abstract

The present invention discloses an RTK multi-frequency observation value data processing method, which relates to the field of satellite positioning. The method includes receiving multi-frequency observation value data sent by a base station, obtaining an observation equation according to the multi-frequency observation value data, processing the multi-frequency observation value data by using an ultra-wide lane combination formula to obtain several ultra-wide lane combination observation value data; obtaining the integer ambiguity relationship corresponding to each of the ultra-wide lane combination observation value data according to the observation equation and the ultra-wide lane combination formula; inputting the integer ambiguity relationship and the observation value data of each frequency in the multi-frequency observation value data into the observation equation for calculation to obtain the integer ambiguity corresponding to each frequency in the multi-frequency observation value data. The RTK multi-frequency observation value data processing method of the present invention will not increase the parameters of the integer ambiguity even if more frequency observation values are added, thereby improving the calculation accuracy.

Description

Technical Field

[0001] The present invention relates to the field of satellite positioning, and in particular, to a method, device, medium and product for processing RTK multi-frequency observation data. Background Art

[0002] RTK, short for Real Time Kinematic, is a real-time positioning technology that includes a base station and a mobile station. The base station sends observation data to the mobile station through a data link, and the mobile station combines the observation data stored in itself to jointly calculate high-precision position information. Traditional RTK data processing methods use dual-frequency observations and a Kalman filter to model the user's position, its dynamic information, and satellite-related parameters. Now, with the gradual popularization of the Beidou system, multi-frequency data of three frequencies or more has become available. However, the existing mobile stations usually combine the observations of multiple frequencies into new observations and then calculate the new observations when processing the observation data of three frequencies or more sent by the base station. This method will result in inaccurate integer ambiguities for each frequency obtained due to the appearance of new observations, causing errors in the position information obtained based on the integer ambiguities. Summary of the Invention

[0003] In order to overcome the deficiencies of the prior art, one of the objectives of the present invention is to provide a method for processing RTK multi-frequency observation data, which can solve the problem that the integer ambiguities for each frequency obtained by the existing processing method for observation data of three frequencies or more are not accurate, thus causing errors in the position information obtained based on the integer ambiguities.

[0004] Another objective of the present invention is to provide an electronic device, which can solve the problem that the integer ambiguities for each frequency obtained by the existing processing method for observation data of three frequencies or more are not accurate, thus causing errors in the position information obtained based on the integer ambiguities.

[0005] Another objective of the present invention is to provide a computer-readable storage medium, which can solve the problem that the integer ambiguities for each frequency obtained by the existing processing method for observation data of three frequencies or more are not accurate, thus causing errors in the position information obtained based on the integer ambiguities.

[0006] Another objective of the present invention is to provide a computer program product, which can solve the problem that the integer ambiguities for each frequency obtained by the existing processing method for observation data of three frequencies or more are not accurate, thus causing errors in the position information obtained based on the integer ambiguities.

[0007] One of the objectives of the present invention is achieved by adopting the following technical solutions:

[0008] An RTK multi-frequency observation value data processing method, comprising the following steps:

[0009] Receive observation value data, receive multi-frequency observation value data sent by a base station, the multi-frequency observation value data includes observation value data of at least three frequencies, and obtain an observation equation according to the multi-frequency observation value data;

[0010] Obtain ultra-wide lane combined observation value data, process the multi-frequency observation value data using an ultra-wide lane combination formula to obtain a number of ultra-wide lane combined observation value data, where each ultra-wide lane combined observation value data is composed of observation value data of two different frequencies in the multi-frequency observation value data;

[0011] Calculate the integer ambiguity relationship, obtain the integer ambiguity relationship corresponding to each ultra-wide lane combined observation value data according to the observation equation and the ultra-wide lane combination formula, and the integer ambiguity relationship is the integer ambiguity relationship between two different frequencies in each ultra-wide lane combined observation value data;

[0012] Solve the ambiguity, input the integer ambiguity relationship and the observation value data of each frequency in the multi-frequency observation value data into the observation equation for calculation to obtain the integer ambiguity corresponding to each frequency in the multi-frequency observation value data.

[0013] Further, when the multi-frequency observation value data includes observation value data of 2n - 1 frequencies, the obtaining of the ultra-wide lane combined observation value data is specifically: using the ultra-wide lane combination formula to combine the observation value data of any one frequency in the multi-frequency observation value data with the observation value data of other frequencies respectively to obtain 2n initial ultra-wide lane combined observation value data and their wavelengths, and taking the initial ultra-wide lane combined observation value data with wavelengths exceeding a preset wavelength threshold as the ultra-wide lane combined observation value data, where n ≥ 2 and n is an integer.

[0014] Further, when the multi-frequency observation value data includes observation value data of 2n frequencies, the obtaining of the ultra-wide lane combined observation value data is specifically: using the ultra-wide lane combination formula to perform non-repetitive combination of the observation value data of any two frequencies in the multi-frequency observation value data to obtain n initial ultra-wide lane combined observation value data and their wavelengths, and taking the initial ultra-wide lane combined observation value data with wavelengths exceeding the preset threshold as the ultra-wide lane combined observation value data, where n ≥ 2 and n is an integer.

[0015] Further, in the process of obtaining the ultra-wide lane combined observation value data, the preset wavelength threshold is set according to the satellite navigation system to which the signal frequency in the multi-frequency observation value data belongs.

[0016] Further, the non-repeating combination is specifically as follows: the observation value data of any two frequencies in the multi-frequency observation value data can be combined, and the observation value data of any number of frequencies that have been combined will no longer be combined with the observation value data of other frequencies that have not been combined.

[0017] Further, the signal frequencies in the multi-frequency observation value data include the broadcast signal frequencies of the same satellite navigation system or the broadcast signal frequencies of different satellite navigation systems.

[0018] Further, the observation value data of each frequency in the multi-frequency observation value data includes carrier observations, pseudorange observations, ionospheric coefficients, wavelengths, and frequency values.

[0019] The second object of the present invention is achieved by the following technical solutions:

[0020] An electronic device, comprising: a processor;

[0021] a memory; and a program, wherein the program is stored in the memory and is configured to be executed by the processor, and the program includes a method for processing RTK multi-frequency observation value data described in this application.

[0022] The third object of the present invention is achieved by the following technical solutions:

[0023] A computer-readable storage medium, on which a computer program is stored, and the computer program is executed by the processor to perform a method for processing RTK multi-frequency observation value data described in this application.

[0024] The fourth object of the present invention is achieved by the following technical solutions:

[0025] A computer program product, comprising a computer program, and when the computer program is executed by the processor, it implements a method for processing RTK multi-frequency observation value data described in this application.

[0026] Compared with the prior art, the beneficial effect of the present invention is as follows: In a method for processing RTK multi-frequency observation value data in this application, the wide-lane technique is used to determine the integer ambiguity relationship between different frequencies, and finally, the observation value data and the integer ambiguity relationship corresponding to all frequencies are input into the corresponding observation equation for calculation, so as to obtain accurate integer ambiguities for calculating position information. During the entire multi-frequency data processing process, even if more frequency observations are added, the parameters of the integer ambiguity will not increase, thereby improving the calculation accuracy.

[0027] The above description is only an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and implement it according to the content of the specification, the following describes the preferred embodiments of the present invention in detail in conjunction with the accompanying drawings. The specific implementation manners of the present invention are given in detail by the following embodiments and their accompanying drawings. Brief Description of the Drawings

[0028] The drawings described herein are used to provide a further understanding of the present invention and form a part of this application. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention. In the drawings:

[0029] Figure 1 It is a schematic flow chart of a method for processing RTK multi-frequency observation value data of the present invention. Detailed Description of the Preferred Embodiments

[0030] Next, in combination with the accompanying drawings and specific implementation manners, the present invention will be further described. It should be noted that, on the premise of no conflict, the following-described embodiments or technical features can be combined arbitrarily to form new embodiments.

[0031] As Figure 1 shown, a method for processing RTK multi-frequency observation value data in this application includes the following steps:

[0032] Receive observation value data. A mobile station (which can be a GNSS receiver in this embodiment) receives multi-frequency observation value data sent by a base station. The multi-frequency observation value data is the observation value data sent by satellites to the base station through multiple frequencies. The multi-frequency observation value data contains observation value data of at least three frequencies. According to the number of frequencies corresponding to the multi-frequency observation value data, the corresponding observation equations are selected. In this embodiment, when the multi-frequency observation value data includes observation value data of three frequencies, the selected observation equation is a triple-frequency observation equation; when the multi-frequency observation value data includes observation value data of four frequencies, the selected observation equation is a quadruple-frequency observation equation. In this embodiment, the observation value data of each frequency includes carrier observation values, pseudorange observation values, ionospheric coefficients, and wavelengths.

[0033] Ultra-wide lane combination, using the ultra-wide lane combination formula to process the multi-frequency observation value data, obtaining a number of ultra-wide lane combination observation value data, where each ultra-wide lane combination observation value data is composed of the observation value data of two different frequencies in the multi-frequency observation value data. According to the different number of frequencies, the specific content of the ultra-wide lane combination steps is different: when the multi-frequency observation value data includes the observation value data of 2n - 1 frequencies, the obtaining of the ultra-wide lane combination observation value data is specifically as follows: using the ultra-wide lane combination formula to combine the observation value data of any one frequency in the multi-frequency observation value data with the observation value data of other frequencies respectively, obtaining 2n initial ultra-wide lane combination observation value data and their wavelengths, and taking the initial ultra-wide lane combination observation value data with the wavelength exceeding the preset wavelength threshold as the ultra-wide lane combination observation value data, where n ≥ 2 and n is an integer. When the multi-frequency observation value data includes the observation value data of 2n frequencies, the obtaining of the ultra-wide lane combination observation value data is specifically as follows: using the ultra-wide lane combination formula to perform non-repeated combination on the observation value data of any two frequencies in the multi-frequency observation value data, obtaining n initial ultra-wide lane combination observation value data and their wavelengths, and taking the initial ultra-wide lane combination observation value data with the wavelength exceeding the preset threshold as the ultra-wide lane combination observation value data, where n ≥ 2 and n is an integer. The following takes the multi-frequency observation value data including the observation value data of three and four frequencies as an example for illustration:

[0034] When the multi-frequency observation value data includes the observation value data of three frequencies, the number of ultra-wide lane combinations is one, the observation equation is a three-frequency observation equation, and the specific steps of the ultra-wide lane combination are as follows: using the ultra-wide lane technology to combine the observation value data of any one frequency in the multi-frequency observation value data with the observation value data of the other two frequencies respectively, obtaining two initial ultra-wide lane combinations and the corresponding ultra-wide lane wavelengths, and taking the initial ultra-wide lane combination with the ultra-wide lane wavelength exceeding the preset wavelength threshold as the ultra-wide lane combination.

[0035] When the multi-frequency observation value data includes the observation value data of four frequencies, the number of ultra-wide lane combinations is two, the preset observation equation is a four-frequency observation equation, and the specific steps of the ultra-wide lane combination are as follows: using the ultra-wide lane technology to combine the observation value data of any two frequencies in the multi-frequency observation value data, obtaining a number of initial ultra-wide lane combinations and the corresponding ultra-wide lane wavelengths, and taking the initial ultra-wide lane combination with the ultra-wide lane wavelength exceeding the preset wavelength threshold as the ultra-wide lane combination. During the process of obtaining the ultra-wide lane combination observation value data, the preset wavelength threshold is set according to the satellite navigation system to which the signal frequency in the multi-frequency observation value data belongs. In this embodiment, the preset wavelength threshold is preferably 3 meters.

[0036] Calculate the integer ambiguity relationship. According to the observation equation and the ultra-wide lane combination formula, obtain the integer ambiguity relationship corresponding to each piece of ultra-wide lane combined observation value data. The integer ambiguity relationship is the integer ambiguity relationship between two different frequencies in each piece of ultra-wide lane combined observation value data.

[0037] Ambiguity solution: Input the integer ambiguity relationship and the observation value data of each frequency in the multi-frequency observation value data into the observation equation for calculation to obtain the integer ambiguity corresponding to each frequency in the multi-frequency observation value data.

[0038] The following is an example for illustration:

[0039] 1. Taking Beidou-2 B1I, B2I, and B3I as examples, at this time, the multi-frequency observation value data is the observation value data containing three frequencies obtained at a fixed epoch. Let B1I be frequency 1, B2I be frequency 2, and B3I be frequency 3. At this time, the selected preset observation equation is a three-frequency observation equation, as shown in the following formula (1):

[0040]

[0041]

[0042]

[0043] p1(i) = ρ(i) + μ1(i)I

[0044] p2(i) = ρ(i) + μ2(i)I

[0045] p3(i) = ρ(i) + μ3(i)I

[0046] Among them, i represents the epoch, 1, 2, and 3 respectively represent frequency 1, frequency 2, and frequency 3. represents the carrier observation value in the observation value data of frequency 1 at epoch i. is the carrier observation value in the observation value data of frequency 2 at epoch i. represents the carrier observation value in the observation value data of frequency 3 at epoch i. ρ(i) is the distance from the satellite to the user at epoch i. μ1(i) is the ionospheric coefficient in the observation value data of frequency 1 at epoch i. μ2(i) is the ionospheric coefficient in the observation value data of frequency 2 at epoch i. μ3(i) is the ionospheric coefficient in the observation value data of frequency 3 at epoch i. I is the ionospheric delay at epoch i. p1(i) is the pseudorange observation value in the observation value data of frequency 1 at epoch i. p2(i) is the pseudorange observation value in the observation value data of frequency 2 at epoch i. p3(i) is the pseudorange observation value in the observation value data of frequency 3 at epoch i.

[0047] At this time, in the step of obtaining the ultra-wide lane combined observation value data, the ultra-wide lane technology is used to combine the observation value data corresponding to B2I and B3I to obtain the ultra-wide lane combined observation value data. First, calculate the wavelength corresponding to the ultra-wide lane combined observation value data, and find the wavelength according to the frequency values corresponding to the two frequencies. Wavelength = speed of light / (frequency value of frequency 1 - frequency value of frequency 2). Determine whether the wavelength corresponding to the ultra-wide lane combined observation value data at this time exceeds the preset wavelength threshold. Taking B2I and B3I as examples at this time, the combined wavelength is about 4.88 meters and can be fixed in a single epoch. Therefore, retain the ultra-wide lane combined observation value data corresponding to frequency 2 and frequency 3, and obtain the integer ambiguity relationship corresponding to each ultra-wide lane combined observation value data according to the ultra-wide lane combined formula and the observation equation corresponding to the ultra-wide lane combined observation value data. The ultra-wide lane combined formulas are shown in formulas (2) and (3):

[0048]

[0049] where is the ultra-wide lane observation value, is the carrier wide lane combination, p nl is the pseudo-range narrow lane combination;

[0050]

[0051]

[0052] where f2 is the frequency value corresponding to the observation value data of frequency 2, and f3 is the frequency value corresponding to the observation value data of frequency 3, represents the carrier observation value in the observation value data of frequency 2, represents the carrier observation value in the observation value data of frequency 3, p2 represents the pseudo-range observation value in the observation value data of frequency 2, p3 represents the pseudo-range observation value in the observation value data of frequency 3, λ ewl represents the wavelength, a ewl is the integer ambiguity of the ultra-wide lane combined observation value data. According to the above formulas (1), (2), and (3), the integer ambiguity relationship corresponding to frequency 1 and frequency 2 can be deduced, that is, as shown in formula (4):

[0053] a3 = a ewl - a2 (4)

[0054] where a3 is the integer ambiguity corresponding to the observation value data of frequency 3, a2 is the integer ambiguity corresponding to the observation value data of frequency 2, a ewl is the integer ambiguity corresponding to the ultra-wide lane combined observation value data, a ewl is a known fixed value.

[0055] In this example, finally, the integer ambiguity relationship corresponding to the observed values of frequency 1 and frequency 2 in formula (4) is substituted into formula (1) for calculation, and the integer ambiguities corresponding to the observed values of frequency 1, frequency 2, and frequency 3 can be obtained. Then, the position information is calculated based on the integer ambiguities of the three frequencies, and accurate position information can be obtained.

[0056] 2. Taking Beidou-3 B1I, B3I, B1C, and B2a as examples, at this time, the multi-frequency observed value data is the observed value data containing four frequencies obtained at a fixed epoch. Let B1I be frequency 1, B3I be frequency 2, B1C be frequency 3, and B2a be frequency 4; the observed equations selected at this time are three-frequency observed equations, as shown in the following formula (5):

[0057]

[0058]

[0059]

[0060]

[0061] p1(i) = ρ(i) + μ1(i)I

[0062] p2(i) = ρ(i) + μ2(i)I

[0063] p3(i) = ρ(i) + μ3(i)I

[0064] p4(i) = ρ(i) + μ4(i)I

[0065] where i represents the epoch, and 1, 2, 3, and 4 represent frequency 1, frequency 2, frequency 3, and frequency 4 respectively. represents the carrier observed value in the observed value data of frequency 1 at epoch i. is the carrier observed value in the observed value data of frequency 2 at epoch i. represents the carrier observed value in the observed value data of frequency 3 at epoch i. The carrier observation value at epoch i in the observation value data of frequency 4, ρ(i) is the distance from the satellite to the user at epoch i, μ1(i) is the ionospheric coefficient at epoch i in the observation value data of frequency 1, μ2(i) is the ionospheric coefficient at epoch i in the observation value data of frequency 2, μ3(i) is the ionospheric coefficient at epoch i in the observation value data of frequency 3, μ4(i) is the ionospheric coefficient at epoch i in the observation value data of frequency 4, I is the ionospheric delay at epoch i, p1(i) is the pseudorange observation value at epoch i in the observation value data representing frequency 1, p2(i) is the pseudorange observation value at epoch i in the observation value data representing frequency 2, p3(i) is the pseudorange observation value at epoch i in the observation value data representing frequency 3, and p4(i) is the pseudorange observation value at epoch i in the observation value data representing frequency 4.

[0066] In this example, finally two ultra-wide-lane combined observation value data are obtained. The ultra-wide-lane technology is used to combine the observation value data of any two frequencies in the multi-frequency observation value data to obtain multiple initial ultra-wide-lane combined observation value data and the corresponding ultra-wide-lane wavelengths. The initial ultra-wide-lane combined observation value data with wavelengths exceeding the preset wavelength threshold are used as the ultra-wide-lane combined observation value data. Through judgment, it is obtained that the first group of ultra-wide-lane combined observation value data can be composed of B3I and B2a, and its wavelength is 3.2561 meters. The second group of ultra-wide-lane combined observation value data can be composed of B1I and B1C, and its wavelength is 20.9323 meters. Similarly, the integer ambiguity of the first group of ultra-wide-lane combined observation value data is a ewl,2 , a2 is the integer ambiguity corresponding to the observation value data of frequency 2, a3 is the integer ambiguity corresponding to the observation value data of frequency 3, a4 is the integer ambiguity corresponding to the observation value data of frequency 4, then a ewl,1 = a2 - a4, the integer ambiguity of the second group of ultra-wide-lane combined observation value data is a ewl,2 , then a ewl,2 = a1 - a3. Since a ewl,1 and a ewl,2 can be fixed at a single epoch and are considered known values. Substituting them into Equation (5) can obtain the integer ambiguities corresponding to the four frequencies.

[0067] The present invention also provides an electronic device, including: a processor;

[0068] a memory; and a program, where the program is stored in the memory and is configured to be executed by the processor. The program includes a method for processing RTK multi-frequency observation value data described in this application.

[0069] The present invention also provides a computer-readable storage medium, on which a computer program is stored, and the computer program is executed by a processor to implement a method for processing RTK multi-frequency observation value data described in the present application.

[0070] The present invention also provides a computer program product, including a computer program, which implements a method for processing RTK multi-frequency observation value data described in the present application when executed by a processor.

[0071] A method for processing RTK multi-frequency observation value data in the present application determines the integer ambiguity relationship between different frequencies by adopting the ultra-wide lane technology. Finally, the observation value data and the integer ambiguity relationship corresponding to all frequencies are input into the corresponding observation equation for calculation, so as to obtain accurate integer ambiguities for calculating position information. During the entire multi-frequency data processing process, even if more frequency observations are added, the parameters of the integer ambiguity will not be increased, thereby improving the calculation accuracy.

[0072] The above are only the preferred embodiments of the present invention, and do not impose any form of limitation on the present invention; any ordinary technician in the industry can smoothly implement the present invention according to the instructions in the accompanying drawings and the above; however, any minor changes, modifications and equivalent changes made by those skilled in the art within the scope of the technical solution of the present invention by using the technical content disclosed above are equivalent embodiments of the present invention; at the same time, any equivalent changes, modifications and evolutions made to the above embodiments based on the essence of the present invention still fall within the protection scope of the technical solution of the present invention.

Claims

1. A method for processing RTK multi-frequency observation data, characterized in that: Including the following steps: Receiving observation data, receiving multi-frequency observation data sent by a base station, where the multi-frequency observation data includes observation data of at least three frequencies, and obtaining an observation equation according to the multi-frequency observation data; The observation data of each frequency in the multi-frequency observation data includes carrier observations, pseudorange observations, ionospheric coefficients, wavelengths, and frequency values; Obtaining ultra-wide lane combined observation data, processing the multi-frequency observation data using an ultra-wide lane combination formula to obtain a number of ultra-wide lane combined observation data, where each ultra-wide lane combined observation data is composed of the observation data of two different frequencies in the multi-frequency observation data; When the multi-frequency observation data includes observation data of 2n - 1 frequencies, the obtaining of the ultra-wide lane combined observation data is specifically: using the ultra-wide lane combination formula to combine the observation data of any one frequency in the multi-frequency observation data with the observation data of other frequencies respectively, obtaining 2n initial ultra-wide lane combined observation data and their wavelengths, and taking the initial ultra-wide lane combined observation data with wavelengths exceeding a preset wavelength threshold as the ultra-wide lane combined observation data, where n ≥ 2 and n is an integer; When the multi-frequency observation data includes observation data of 2n frequencies, the obtaining of the ultra-wide lane combined observation data is specifically: using the ultra-wide lane combination formula to perform non-repeating combinations of the observation data of any two frequencies in the multi-frequency observation data, obtaining n initial ultra-wide lane combined observation data and their wavelengths, and taking the initial ultra-wide lane combined observation data with wavelengths exceeding the preset threshold as the ultra-wide lane combined observation data, where n ≥ 2 and n is an integer; The non-repeating combination is specifically: any two frequencies of the observation data in the multi-frequency observation data can be combined, and the observation data of any frequencies that have been combined will no longer be combined with the observation data of other frequencies that have not been combined; Calculating the integer ambiguity relationship, obtaining the integer ambiguity relationship corresponding to each ultra-wide lane combined observation data according to the observation equation and the ultra-wide lane combination formula, where the integer ambiguity relationship is the integer ambiguity relationship between two different frequencies in each ultra-wide lane combined observation data; Ambiguity solution, inputting the integer ambiguity relationship and the observation data of each frequency in the multi-frequency observation data into the observation equation for calculation to obtain the integer ambiguity corresponding to each frequency in the multi-frequency observation data.

2. The RTK multi-frequency observation value data processing method according to claim 1, characterized in that: During the process of obtaining the ultra-wide lane combined observation data, the preset wavelength threshold is set according to the satellite navigation system to which the signal frequency in the multi-frequency observation data belongs.

3. A method for processing RTK multi-frequency observation value data according to claim 1, characterized in that: The signal frequencies in the multi-frequency observation data include the broadcast signal frequencies of the same satellite navigation system or the broadcast signal frequencies of different satellite navigation systems.

4. An electronic device, characterized in that Including: A processor; A memory; And a program, wherein the program is stored in the memory and configured to be executed by a processor, and the program includes a method for processing RTK multi-frequency observation data according to any one of claims 1-3.

5. A computer-readable storage medium having a computer program stored thereon, characterized in that: The computer program is executed by a processor to perform a method for processing RTK multi-frequency observation data according to any one of claims 1-3.

6. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements a method for processing RTK multi-frequency observation data according to any one of claims 1-3.

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