GNSS positioning method and device

Abstract

The present application provides a GNSS positioning method and device, which uses two different frequency point combinations among multiple frequency points of a satellite navigation signal as a first combination and a second combination, and uses the MW combination to calculate the initial values ​​of wide lane ambiguity and ultra-wide lane ambiguity, respectively, and establishes corresponding double-difference wide lane and double-difference ultra-wide lane carrier phase observation equations. The initial values ​​are smoothed to obtain integer values ​​of wide lane ambiguity and ultra-wide lane ambiguity, and the integer values ​​of wide lane ambiguity and ultra-wide lane ambiguity are substituted into the double-difference wide lane carrier phase observation equation and the double-difference ultra-wide lane carrier phase observation equation. Kalman filtering is performed on the double-difference carrier phase observation equation, the double-difference pseudorange observation equation, the double-difference wide lane carrier phase observation equation after the wide lane ambiguity integer value is substituted, and the double-difference ultra-wide lane carrier phase observation equation after the ultra-wide lane ambiguity integer value is substituted, to obtain floating-point solutions of the ambiguities corresponding to multiple frequency points in the double-difference carrier phase observation equation, and further calculations are performed to obtain fixed solutions.

Description

Technical Field

[0001] The present invention generally relates to the field of navigation and positioning technology, and more particularly to a GNSS positioning method and device thereof. Background Art

[0002] Since the existing measurement or navigation positioning terminals have the problem of slow ambiguity fixation in open scenes and the inability to fix the ambiguity in harsh scenes or the ambiguity is fixed incorrectly, other processing methods are needed in addition to the ordinary ambiguity processing methods. For multi-frequency data, constraints of wide lane and ultra-wide lane observation equations can be added to help quickly and correctly fix the ambiguity. Summary of the invention

[0003] In order to solve the technical problems in the prior art, the present application provides a GNSS positioning method and a device thereof, which can improve the fixation rate of ambiguity and improve positioning accuracy in open scenes and harsh scenes.

[0004] The present application discloses a GNSS positioning method, comprising:

[0005] Acquire satellite observation data of the reference station and the mobile station, wherein the satellite observation data includes pseudorange observation values ​​and carrier phase observation values ​​at at least three frequency points of the satellite navigation signal;

[0006] Establishing a double-difference carrier phase observation equation and a double-difference pseudorange observation equation corresponding to the at least three frequency points;

[0007] Taking two frequency points of at least three frequency points of the satellite navigation signal as a first combination, calculating an initial value of wide lane ambiguity by using MW combination according to satellite observation data of the first combination, and establishing a double-difference wide lane carrier phase observation equation corresponding to the first combination;

[0008] Two frequency points of at least three frequency points of the satellite navigation signal are used as a second combination, where the second combination is different from the first combination, an initial value of the ultra-wide lane ambiguity is calculated using the MW combination according to the satellite observation data of the second combination, and a double-difference ultra-wide lane carrier phase observation equation corresponding to the second combination is established;

[0009] Smoothing the initial values ​​of the widelane ambiguity and the extra-widelane ambiguity for a plurality of epochs respectively and calculating integer values ​​of the widelane ambiguity and the extra-widelane ambiguity;

[0010] Substituting the integer values ​​of the widelane ambiguity and the ultra-widelane ambiguity into the double-difference widelane carrier phase observation equation and the double-difference ultra-widelane carrier phase observation equation respectively;

[0011] Kalman filtering is performed on the double-difference carrier phase observation equation, the double-difference pseudorange observation equation, the double-difference wide-lane carrier phase observation equation after substituting the wide-lane ambiguity integer value, and the double-difference ultra-wide-lane carrier phase observation equation after substituting the ultra-wide-lane ambiguity integer value to obtain a floating-point solution of the ambiguity corresponding to at least three frequency points in the double-difference carrier phase observation equation.

[0012] In a preferred example, the satellite navigation signal includes signals of at least two navigation systems among GPS, Beidou and Galileo satellites.

[0013] In a preferred example, when performing Kalman filtering, the observation noise covariance matrix of the Kalman filter corresponding to the double-difference wide-lane carrier phase observation equation is set to be multiplied by a first combination coefficient, and the first combination coefficient is obtained according to the wavelength ratio of the two frequency points of the first combination.

[0014] In a preferred example, when performing Kalman filtering, the observation noise covariance matrix of the Kalman filter corresponding to the double-difference ultra-wide lane carrier phase observation equation is set to be multiplied by a second combination coefficient, and the second combination coefficient is obtained according to the wavelength ratio of the two frequency points of the second combination.

[0015] In a preferred example, it also includes: using the lambda method to fix the floating-point solution of the ambiguity corresponding to at least three frequency points in the double-difference carrier phase observation equation, so as to obtain a fixed solution of the ambiguity corresponding to at least three frequency points in the double-difference carrier phase observation equation.

[0016] The present application also discloses a GNSS positioning method, comprising:

[0017] Acquire satellite observation data of the reference station and the mobile station, wherein the satellite observation data includes pseudorange observation values ​​and carrier phase observation values ​​at at least two frequency points of the satellite navigation signal;

[0018] Establishing a double-difference carrier phase observation equation and a double-difference pseudo-range observation equation corresponding to the at least two frequency points;

[0019] Taking two frequency points of the at least two frequency points of the satellite navigation signal as a first combination, calculating an initial value of wide lane ambiguity by using MW combination according to satellite observation data of the first combination, and establishing a double-difference wide lane carrier phase observation equation corresponding to the first combination;

[0020] Smoothing the initial value of the widelane ambiguity over a plurality of epochs and calculating an integer value of the widelane ambiguity;

[0021] Substituting the integer value of the widelane ambiguity into the double-difference widelane carrier phase observation equation;

[0022] Kalman filtering is performed on the double-difference carrier phase observation equation, the double-difference pseudorange observation equation, and the double-difference wide-lane carrier phase observation equation after substituting the wide-lane ambiguity integer value to obtain a floating-point solution of the ambiguity corresponding to at least two frequency points in the double-difference carrier phase observation equation.

[0023] In a preferred example, the satellite navigation signal includes signals of at least two navigation systems among GPS, Beidou and Galileo satellites.

[0024] In a preferred example, when performing Kalman filtering, the observation noise covariance matrix of the Kalman filter corresponding to the double-difference wide-lane carrier phase observation equation is set to be multiplied by a first combination coefficient, and the first combination coefficient is obtained according to the wavelength ratio of the two frequency points of the first combination.

[0025] In a preferred example, it also includes: using the lambda method to fix the floating-point solution of the ambiguity corresponding to at least two frequency points in the double-difference carrier phase observation equation, and obtaining a fixed solution of the ambiguity corresponding to at least two frequency points in the double-difference carrier phase observation equation.

[0026] The present application also discloses a GNSS positioning method, comprising:

[0027] Acquire satellite observation data of the reference station and the mobile station, wherein the satellite observation data includes pseudorange observation values ​​and carrier phase observation values ​​at at least two frequency points of the satellite navigation signal;

[0028] Establishing a double-difference carrier phase observation equation and a double-difference pseudo-range observation equation corresponding to the at least two frequency points;

[0029] Taking two frequency points of the at least two frequency points of the satellite navigation signal as a second combination, calculating the initial value of the ultra-wide lane ambiguity by using the MW combination according to the satellite observation data of the second combination, and establishing a double-difference ultra-wide lane carrier phase observation equation corresponding to the second combination;

[0030] Smoothing the initial value of the ultra-wide lane ambiguity over a plurality of epochs and calculating an integer value of the ultra-wide lane ambiguity;

[0031] Substituting the integer value of the ultra-wide lane ambiguity into the double-difference ultra-wide lane carrier phase observation equation;

[0032] Kalman filtering is performed on the double-difference carrier phase observation equation, the double-difference pseudorange observation equation and the double-difference ultra-wide lane carrier phase observation equation after substituting the ultra-wide lane ambiguity integer value to obtain a floating-point solution of the ambiguity corresponding to at least two frequency points in the double-difference carrier phase observation equation.

[0033] In a preferred example, the satellite navigation signal includes signals of at least two navigation systems among GPS, Beidou and Galileo satellites.

[0034] In a preferred example, when performing Kalman filtering, the observation noise covariance matrix of the Kalman filter corresponding to the double-difference ultra-wide lane carrier phase observation equation is set to be multiplied by a second combination coefficient, and the second combination coefficient is obtained according to the wavelength ratio of the two frequency points of the second combination.

[0035] In a preferred example, it also includes: using the lambda method to fix the floating-point solution of the ambiguity corresponding to at least two frequency points in the double-difference carrier phase observation equation, and obtaining a fixed solution of the ambiguity corresponding to at least two frequency points in the double-difference carrier phase observation equation.

[0036] The present application also discloses a GNSS positioning device, comprising:

[0037] An acquisition module, used to acquire satellite observation data of a reference station and a mobile station, wherein the satellite observation data includes pseudorange observation values ​​and carrier phase observation values ​​at at least three frequency points of a satellite navigation signal;

[0038] a wide lane ambiguity calculation module, configured to use two frequency points of the at least three frequency points of the satellite navigation signal as a first combination, calculate an initial value of the wide lane ambiguity by using the MW combination according to the satellite observation data of the first combination, and establish a double-difference wide lane carrier phase observation equation corresponding to the first combination;

[0039] an ultra-wide lane ambiguity calculation module, configured to use two frequency points of at least three frequency points of the satellite navigation signal as a second combination, wherein the second combination is different from the first combination, calculate an initial value of the ultra-wide lane ambiguity using the MW combination according to the satellite observation data of the second combination, and establish a double-difference ultra-wide lane carrier phase observation equation corresponding to the second combination;

[0040] A smoothing and rounding module, used for smoothing the initial values ​​of the wide lane ambiguity and the ultra-wide lane ambiguity for multiple epochs and calculating the integer values ​​of the wide lane ambiguity and the ultra-wide lane ambiguity;

[0041] A filtering module is used to substitute the integer values ​​of the wide lane ambiguity and the ultra-wide lane ambiguity into the double-difference wide lane carrier phase observation equation and the double-difference ultra-wide lane carrier phase observation equation respectively, to establish a double-difference carrier phase observation equation and a double-difference pseudo-range observation equation corresponding to the at least three frequency points, and to perform Kalman filtering on the double-difference carrier phase observation equation, the double-difference pseudo-range observation equation, the double-difference wide lane carrier phase observation equation after substituting the integer value of the wide lane ambiguity, and the double-difference ultra-wide lane carrier phase observation equation after substituting the integer value of the ultra-wide lane ambiguity, so as to obtain a floating-point solution of the ambiguity corresponding to at least three frequency points in the double-difference carrier phase observation equation.

[0042] The present application also discloses a GNSS positioning device, comprising:

[0043] An acquisition module is used to acquire satellite observation data of the reference station and the mobile station, wherein the satellite observation data includes pseudorange observation values ​​and carrier phase observation values ​​at at least two frequency points of the satellite navigation signal;

[0044] a wide lane ambiguity calculation module, configured to use two frequency points of the at least two frequency points of the satellite navigation signal as a first combination, calculate an initial value of the wide lane ambiguity by using the MW combination according to the satellite observation data of the first combination, and establish a double-difference wide lane carrier phase observation equation corresponding to the first combination;

[0045] A smoothing and rounding module, configured to smooth the initial value of the wide lane ambiguity for multiple epochs and calculate an integer value of the wide lane ambiguity;

[0046] A filtering module is used to substitute the integer value of the wide lane ambiguity into the double-difference wide lane carrier phase observation equation, to establish a double-difference carrier phase observation equation and a double-difference pseudorange observation equation corresponding to the at least two frequency points, and to perform Kalman filtering on the double-difference wide lane carrier phase observation equation after substituting the integer value of the wide lane ambiguity, so as to obtain a floating-point solution of the ambiguity corresponding to at least two frequency points in the double-difference carrier phase observation equation.

[0047] The present application also discloses a GNSS positioning device, comprising:

[0048] An acquisition module is used to acquire satellite observation data of the reference station and the mobile station, wherein the satellite observation data includes pseudorange observation values ​​and carrier phase observation values ​​at at least two frequency points of the satellite navigation signal;

[0049] An ultra-wide lane ambiguity calculation module is used to use two frequency points of the at least two frequency points of the satellite navigation signal as a second combination, calculate the initial value of the ultra-wide lane ambiguity by using the MW combination according to the satellite observation data of the second combination, and establish a double-difference ultra-wide lane carrier phase observation equation corresponding to the second combination;

[0050] A smoothing and rounding module, used for smoothing the initial value of the ultra-wide lane ambiguity for multiple epochs and calculating the integer value of the ultra-wide lane ambiguity;

[0051] A filtering module is used to substitute the integer value of the ultra-wide lane ambiguity into the double-difference ultra-wide lane carrier phase observation equation, to establish a double-difference carrier phase observation equation and a double-difference pseudo-range observation equation corresponding to the at least two frequency points, and to perform Kalman filtering on the double-difference carrier phase observation equation, the double-difference pseudo-range observation equation and the double-difference ultra-wide lane carrier phase observation equation after substituting the integer value of the ultra-wide lane ambiguity, so as to obtain a floating-point solution of the ambiguity corresponding to at least two frequency points in the double-difference carrier phase observation equation.

[0052] Compared with the prior art, this application has the following beneficial effects:

[0053] In the present invention, wide lane ambiguity and / or extra-wide lane ambiguity are calculated respectively, and the wide lane ambiguity and extra-wide lane ambiguity are brought into the carrier phase observation equation, and the original observation equations of wide lane ambiguity and extra-wide lane ambiguity are converted into carrier phase observation equations with higher accuracy than pseudorange equations to participate in the entire filtering process and the process of ambiguity fixation, so that the fixation rate and fixation accuracy of the ambiguity can be improved in open scenes and harsh scenes, thereby improving the positioning accuracy.

[0054] A large number of technical features are recorded in this specification, which are distributed in various technical solutions. If all possible combinations of technical features of this application (i.e., technical solutions) are to be listed, the specification will be too long. In order to avoid this problem, the various technical features disclosed in the above invention content of this specification, the various technical features disclosed in the various embodiments and examples below, and the various technical features disclosed in the accompanying drawings can be freely combined with each other to form various new technical solutions (these technical solutions should all be deemed to have been recorded in this specification), unless such a combination of technical features is technically infeasible. For example, in one example, feature A+B+C is disclosed, and in another example, feature A+B+D+E is disclosed, and features C and D are equivalent technical means that play the same role. Technically, only one can be used, and it is impossible to use them at the same time. Feature E can be combined with feature C technically. Then, the solution of A+B+C+D should not be deemed to have been recorded because it is technically infeasible, and the solution of A+B+C+E should be deemed to have been recorded. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Non-limiting and non-exhaustive embodiments of the present application are described with reference to the following figures, wherein like reference numerals refer to like parts throughout the various views unless otherwise specified.

[0056] Figure 1 It is a flow chart of a GNSS positioning method according to the first embodiment of this specification.

[0057] Figure 2 It is a flow chart of a GNSS positioning method according to the second embodiment of this specification.

[0058] Figure 3 It is a flow chart of a GNSS positioning method according to the third embodiment of this specification. DETAILED DESCRIPTION

[0059] In the following description, many technical details are provided to help readers better understand the present application. However, those skilled in the art can understand that the technical solution claimed in the present application can be implemented even without these technical details and various changes and modifications based on the following embodiments.

[0060] Description of some concepts:

[0061] Integer ambiguity (Ambiguity): also known as the integer unknown, is the integer unknown corresponding to the first observed value of the phase difference between the carrier phase and the reference phase when measuring the carrier phase of the global positioning system technology.

[0062] Kalman filter: An algorithm that uses the linear system state equation to optimally estimate the system state through the system input and output observation data. Since the observation data includes the influence of noise and interference in the system, the optimal estimate can also be regarded as a filtering process.

[0063] MW combination: MW combination is a linear combination that uses two types of observations, dual-frequency pseudorange and phase, to resolve ambiguity.

[0064] Some of the innovations of this application are:

[0065] In the present invention, two different frequency point combinations among multiple frequency points of the satellite navigation signal are respectively used as the first combination and the second combination, and the initial values ​​of the wide lane ambiguity and the ultra-wide lane ambiguity are respectively calculated by using the MW combination, and the corresponding double-difference wide lane and double-difference ultra-wide lane carrier phase observation equations are respectively established. The initial values ​​are smoothed to obtain the integer values ​​of the wide lane ambiguity and the ultra-wide lane ambiguity, and the integer values ​​of the wide lane ambiguity and the ultra-wide lane ambiguity are respectively substituted into the double-difference wide lane carrier phase observation equation and the double-difference ultra-wide lane carrier phase observation equation, and Kalman filtering is performed according to the double-difference carrier phase observation equation, the double-difference pseudorange observation equation, the double-difference wide lane carrier phase observation equation after the wide lane ambiguity integer value is substituted, and the double-difference ultra-wide lane carrier phase observation equation after the ultra-wide lane ambiguity integer value is substituted, and the floating-point solution of the ambiguity corresponding to multiple frequency points in the double-difference carrier phase observation equation is obtained, and the fixed solution of the ambiguity is further calculated.

[0066] In the present invention, the original observation equations of wide lane ambiguity and ultra-wide lane ambiguity are converted into observation equations with higher accuracy than the pseudorange equations to participate in the entire filtering process and the process of ambiguity fixation. The ambiguity fixation rate and fixation accuracy can be improved in open scenes and harsh scenes, thereby improving the positioning accuracy.

[0067] By adding wide lanes and ultra-wide lanes, the ambiguity fixation rate and the accuracy of ambiguity fixation in open scenes are significantly improved, and the ambiguity fixation accuracy can basically be achieved for single epoch ambiguity fixation, so that a high-precision fixed solution can be output. In harsh scenes, the ambiguity fixation rate can be improved to ensure that a fixed solution is output in most cases, thereby improving the overall positioning accuracy.

[0068] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below in conjunction with the accompanying drawings.

[0069] Embodiment 1

[0070] In the first embodiment of the present application, a GNSS positioning method is disclosed. Figure 1 A flow chart of a GNSS positioning method is shown, comprising:

[0071] Step 101, obtain satellite observation data of the reference station and the mobile station, the satellite observation data including pseudorange observation values ​​and carrier phase observation values ​​at at least three frequency points of the satellite navigation signal. In one embodiment, the satellite navigation signal includes signals of at least two navigation systems among GPS, Beidou (BDS), and Galileo (GLA) satellites, for example, satellite navigation signals including GPS and Beidou, or satellite navigation signals including Beidou and Galileo.

[0072] Step 102: establishing a double-difference carrier phase observation equation and a double-difference pseudo-range observation equation corresponding to the at least three frequency points.

[0073] Step 103, taking two frequency points of at least three frequency points of the satellite navigation signal as a first combination, using the MW combination to calculate the initial value of the wide lane ambiguity according to the satellite observation data of the first combination, and establishing a double-difference wide lane carrier phase observation equation corresponding to the first combination.

[0074] Step 104, two of the at least three frequency points of the satellite navigation signal are used as a second combination, the second combination is different from the first combination, the initial value of the ultra-wide lane ambiguity is calculated using the MW combination according to the satellite observation data of the second combination, and a double-difference ultra-wide lane carrier phase observation equation corresponding to the second combination is established. The carrier phase wavelength obtained by the second combination is longer than the wide lane of the first combination.

[0075] The frequency points in the first combination and the frequency points in the second combination may be completely different, or may be partially the same, for example, one of the frequency points may be the same.

[0076] Step 105, respectively smoothing the initial values ​​of the wide lane ambiguity and the extra wide lane ambiguity for a plurality of epochs and calculating integer values ​​of the wide lane ambiguity and the extra wide lane ambiguity. The plurality of epochs may be, for example, at least 2.

[0077] Step 106, respectively substitute the integer values ​​of the wide lane ambiguity and the ultra-wide lane ambiguity into the double-difference wide lane carrier phase observation equation and the double-difference ultra-wide lane carrier phase observation equation.

[0078] Step 107, performing Kalman filtering on the double-difference carrier phase observation equation, the double-difference pseudorange observation equation, the double-difference wide-lane carrier phase observation equation after substituting the wide-lane ambiguity integer value, and the double-difference ultra-wide-lane carrier phase observation equation after substituting the ultra-wide-lane ambiguity integer value, to obtain a floating-point solution of the ambiguity corresponding to at least three frequency points in the double-difference carrier phase observation equation.

[0079] In one embodiment, when performing Kalman filtering, the observation noise covariance matrix of the Kalman filter corresponding to the double-difference wide-lane carrier phase observation equation is set to be multiplied by a first combination coefficient, and the first combination coefficient is obtained according to the wavelength ratio of two frequency points of the first combination.

[0080] In one embodiment, when performing Kalman filtering, the observation noise covariance matrix of the Kalman filter corresponding to the double-difference ultra-wide lane carrier phase observation equation is set to be multiplied by a second combination coefficient, and the second combination coefficient is obtained according to the wavelength ratio of the two frequency points of the second combination.

[0081] In one embodiment, it also includes: using the lambda method to fix the floating-point solution of the ambiguity corresponding to at least three frequency points in the double-difference carrier phase observation equation, and obtaining a fixed solution of the ambiguity corresponding to at least three frequency points in the double-difference carrier phase observation equation.

[0082] Embodiment 2

[0083] The second embodiment of the present application discloses a GNSS positioning method. Figure 2 The flowchart of the GNSS positioning method is shown. The second embodiment is basically the same as the first embodiment, and the main difference is that: in the first embodiment, the integer values ​​of the wide lane ambiguity and the ultra-wide lane ambiguity are calculated, and the double difference carrier phase observation equation containing the integer values ​​of the wide lane ambiguity and the ultra-wide lane ambiguity is combined to perform Kalman filtering to obtain a floating point solution to the ambiguity, however, in the second embodiment, only the integer value of the wide lane ambiguity needs to be calculated, and the double difference carrier phase observation method containing the integer value of the wide lane ambiguity is combined to perform Kalman filtering to obtain a floating point solution to the ambiguity. Specifically, it includes the following steps:

[0084] Step 201, obtain satellite observation data of the reference station and the rover, wherein the satellite observation data includes pseudorange observation values ​​and carrier phase observation values ​​at at least two frequency points of the satellite navigation signal. In one embodiment, the satellite navigation signal includes signals of at least two navigation systems of GPS, Beidou, and Galileo satellites.

[0085] Step 202: establishing a double-difference carrier phase observation equation and a double-difference pseudo-range observation equation corresponding to the at least two frequency points.

[0086] Step 203, taking two frequency points of the at least two frequency points of the satellite navigation signal as a first combination, using the MW combination to calculate the initial value of the wide lane ambiguity according to the satellite observation data of the first combination, and establishing a double-difference wide lane carrier phase observation equation corresponding to the first combination.

[0087] Step 204: Smoothing the initial value of the wide lane ambiguity over multiple epochs and calculating an integer value of the wide lane ambiguity. The multiple epochs may be, for example, at least 2.

[0088] Step 205, substitute the integer value of the wide lane ambiguity into the double-difference wide lane carrier phase observation equation.

[0089] Step 206, performing Kalman filtering on the double-difference carrier phase observation equation, the double-difference pseudorange observation equation, and the double-difference wide-lane carrier phase observation equation after substituting the wide-lane ambiguity integer value, to obtain a floating-point solution of the ambiguity corresponding to at least two frequency points in the double-difference carrier phase observation equation.

[0090] Similarly, when performing Kalman filtering, the observation noise covariance matrix of the Kalman filter corresponding to the double-difference wide-lane carrier phase observation equation is set to be multiplied by a first combination coefficient, and the first combination coefficient is obtained according to the wavelength ratio of the two frequency points of the first combination.

[0091] In one embodiment, it also includes: using the lambda method to fix the floating-point solution of the ambiguity corresponding to at least two frequency points in the double-difference carrier phase observation equation, and obtaining a fixed solution of the ambiguity corresponding to at least two frequency points in the double-difference carrier phase observation equation.

[0092] In addition, in Example 2, it is only necessary to calculate the integer value of the wide lane ambiguity corresponding to one frequency point combination, and there is no need to calculate the integer values ​​of the wide lane and ultra-wide lane ambiguities at the same time. Therefore, it is only necessary to obtain observation values ​​at at least two frequency points, and there is no need to obtain observation values ​​at at least three frequency points.

[0093] Embodiment 3

[0094] A GNSS positioning method is disclosed in the third embodiment of the present application. Figure 3The flowchart of the GNSS positioning method is shown. The third embodiment is basically the same as the first embodiment, and the main difference is that in the third embodiment, only the integer value of the ultra-wide lane ambiguity needs to be calculated, and the double difference carrier phase observation method containing the integer value of the ultra-wide lane ambiguity is combined to perform Kalman filtering to obtain a floating point solution of the ambiguity. Specifically, the following steps are included:

[0095] Step 301, obtain satellite observation data of the reference station and the mobile station, the satellite observation data including pseudorange observation values ​​and carrier phase observation values ​​at at least two frequency points of the satellite navigation signal. In one embodiment, the satellite navigation signal includes signals of at least two navigation systems of GPS, Beidou, and Galileo satellites.

[0096] Step 302: Establish a double-difference carrier phase observation equation and a double-difference pseudo-range observation equation corresponding to the at least two frequency points.

[0097] Step 303, taking two frequency points of the at least two frequency points of the satellite navigation signal as a second combination, using the MW combination to calculate the initial value of the ultra-wide lane ambiguity according to the satellite observation data of the second combination, and establishing a double-difference ultra-wide lane carrier phase observation equation corresponding to the second combination.

[0098] Step 304: Smooth the initial value of the ultra-wide lane ambiguity over multiple epochs and calculate an integer value of the ultra-wide lane ambiguity. The multiple epochs may be, for example, at least 2.

[0099] Step 305, substitute the integer value of the ultra-wide lane ambiguity into the double-difference ultra-wide lane carrier phase observation equation.

[0100] Step 306, performing Kalman filtering based on the double-difference carrier phase observation equation, the double-difference pseudorange observation equation and the double-difference ultra-wide lane carrier phase observation equation after substituting the ultra-wide lane ambiguity integer value, to obtain a floating-point solution of the ambiguity corresponding to at least two frequency points in the double-difference carrier phase observation equation.

[0101] In one embodiment, when performing Kalman filtering, the observation noise covariance matrix of the Kalman filter corresponding to the double-difference ultra-wide lane carrier phase observation equation is set to be multiplied by a second combination coefficient, and the second combination coefficient is obtained according to the wavelength ratio of the two frequency points of the second combination.

[0102] In one embodiment, it also includes: using the lambda method to fix the floating-point solution of the ambiguity corresponding to at least two frequency points in the double-difference carrier phase observation equation, and obtaining a fixed solution of the ambiguity corresponding to at least two frequency points in the double-difference carrier phase observation equation.

[0103] In addition, in Example 3, it is only necessary to calculate the integer value of the ultra-wide lane ambiguity corresponding to one frequency point combination, and there is no need to calculate the integer values ​​of the wide lane and ultra-wide lane ambiguities at the same time. Therefore, it is only necessary to obtain observation values ​​at at least two frequency points, and there is no need to obtain observation values ​​at at least three frequency points.

[0104] Embodiment 4

[0105] A GNSS positioning device is also disclosed in the fourth embodiment of the present application, including:

[0106] An acquisition module, used to acquire satellite observation data of a reference station and a mobile station, wherein the satellite observation data includes pseudorange observation values ​​and carrier phase observation values ​​at at least three frequency points of a satellite navigation signal;

[0107] a wide lane ambiguity calculation module, configured to use two frequency points of the at least three frequency points of the satellite navigation signal as a first combination, calculate an initial value of the wide lane ambiguity by using the MW combination according to the satellite observation data of the first combination, and establish a double-difference wide lane carrier phase observation equation corresponding to the first combination;

[0108] an ultra-wide lane ambiguity calculation module, configured to use two frequency points of at least three frequency points of the satellite navigation signal as a second combination, wherein the second combination is different from the first combination, calculate an initial value of the ultra-wide lane ambiguity using the MW combination according to the satellite observation data of the second combination, and establish a double-difference ultra-wide lane carrier phase observation equation corresponding to the second combination;

[0109] A smoothing and rounding module, used for smoothing the initial values ​​of the wide lane ambiguity and the ultra-wide lane ambiguity for multiple epochs and calculating the integer values ​​of the wide lane ambiguity and the ultra-wide lane ambiguity;

[0110] A filtering module is used to substitute the integer values ​​of the wide lane ambiguity and the ultra-wide lane ambiguity into the double-difference wide lane carrier phase observation equation and the double-difference ultra-wide lane carrier phase observation equation respectively, to establish a double-difference carrier phase observation equation and a double-difference pseudo-range observation equation corresponding to the at least three frequency points, and to perform Kalman filtering on the double-difference carrier phase observation equation, the double-difference pseudo-range observation equation, the double-difference wide lane carrier phase observation equation after substituting the integer value of the wide lane ambiguity, and the double-difference ultra-wide lane carrier phase observation equation after substituting the integer value of the ultra-wide lane ambiguity, so as to obtain a floating-point solution of the ambiguity corresponding to at least three frequency points in the double-difference carrier phase observation equation.

[0111] Embodiment 5

[0112] A GNSS positioning device is also disclosed in Embodiment 5 of the present application, including:

[0113] An acquisition module is used to acquire satellite observation data of the reference station and the mobile station, wherein the satellite observation data includes pseudorange observation values ​​and carrier phase observation values ​​at at least two frequency points of the satellite navigation signal;

[0114] a wide lane ambiguity calculation module, configured to use two frequency points of the at least two frequency points of the satellite navigation signal as a first combination, calculate an initial value of the wide lane ambiguity by using the MW combination according to the satellite observation data of the first combination, and establish a double-difference wide lane carrier phase observation equation corresponding to the first combination;

[0115] A smoothing and rounding module, configured to smooth the initial value of the wide lane ambiguity for multiple epochs and calculate an integer value of the wide lane ambiguity;

[0116] A filtering module is used to substitute the integer value of the wide lane ambiguity into the double-difference wide lane carrier phase observation equation, to establish a double-difference carrier phase observation equation and a double-difference pseudorange observation equation corresponding to the at least two frequency points, and to perform Kalman filtering on the double-difference wide lane carrier phase observation equation after substituting the integer value of the wide lane ambiguity, so as to obtain a floating-point solution of the ambiguity corresponding to at least two frequency points in the double-difference carrier phase observation equation.

[0117] Embodiment 5

[0118] A GNSS positioning device is also disclosed in Embodiment 5 of the present application, including:

[0119] An acquisition module is used to acquire satellite observation data of the reference station and the mobile station, wherein the satellite observation data includes pseudorange observation values ​​and carrier phase observation values ​​at at least two frequency points of the satellite navigation signal;

[0120] An ultra-wide lane ambiguity calculation module is used to use two frequency points of the at least two frequency points of the satellite navigation signal as a second combination, calculate the initial value of the ultra-wide lane ambiguity by using the MW combination according to the satellite observation data of the second combination, and establish a double-difference ultra-wide lane carrier phase observation equation corresponding to the second combination;

[0121] A smoothing and rounding module, used for smoothing the initial value of the ultra-wide lane ambiguity for multiple epochs and calculating the integer value of the ultra-wide lane ambiguity;

[0122] A filtering module is used to substitute the integer value of the ultra-wide lane ambiguity into the double-difference ultra-wide lane carrier phase observation equation, to establish a double-difference carrier phase observation equation and a double-difference pseudo-range observation equation corresponding to the at least two frequency points, and to perform Kalman filtering on the double-difference carrier phase observation equation, the double-difference pseudo-range observation equation and the double-difference ultra-wide lane carrier phase observation equation after substituting the integer value of the ultra-wide lane ambiguity, so as to obtain a floating-point solution of the ambiguity corresponding to at least two frequency points in the double-difference carrier phase observation equation.

[0123] In order to better understand the technical solution of this specification, a specific example is used for illustration below. The details listed in this example are mainly for ease of understanding and are not intended to limit the scope of protection of this application.

[0124] 1. Receive satellite data

[0125] The satellite data collected by the navigation or measurement terminal (mobile station) is converted into data format, and the pseudorange observations, carrier phase observations, satellite signal-to-noise ratio and Doppler observations of the satellite are extracted. The pseudorange observations, carrier phase observations and satellite ephemeris of the fixed reference station in the same time period are also obtained.

[0126] 2. Satellite data preprocessing

[0127] The accuracy of the pseudo-range observations is evaluated and single-point positioning is performed on the pseudo-range observations according to their residuals, cycle slip detection and repair is performed on the carrier phase observations, and the constellation integrity is analyzed and monitored.

[0128] 3. Establish satellite data differential observation equation and error equation

[0129] Pseudorange difference uses pseudorange observations as the basic input. It is assumed that the base station and the mobile station synchronously observe a group of navigation satellites to obtain the pseudorange observations of n common-view satellites synchronously observed by the base station (station A) and the mobile station (station B). and The navigation satellite r with the highest elevation angle among the n navigation satellites is selected as the reference satellite to form a network about any navigation satellite j (j = 1, 2, 3...n and j ≠ r) and the reference satellite r at any t i The pseudo-range observation equation at time is as follows:

[0130]

[0131]

[0132] The meanings of the parameters in the above formula are as follows:

[0133] c: speed of light (m / s);

[0134] λ: Satellite navigation signal carrier wavelength (m);

[0135] f: Satellite navigation signal carrier frequency (Hz);

[0136] t i Pseudorange observation value of navigation satellite r observed by the reference station at the moment (m);

[0137] t i Pseudorange observation value of navigation satellite j observed by the reference station at time (m);

[0138] t i The geometric distance between the time reference station and the navigation satellite r (m);

[0139] t i The geometric distance between the time reference station and navigation satellite j (m);

[0140] δt A (t i ): t i The receiver clock error of the reference station at the moment (s);

[0141] δt r (t i ): t i Satellite clock error of navigation satellite r at time (s);

[0142] δt j (t i ): t i Satellite clock error of navigation satellite j at time (s);

[0143] t i Earth rotation error between the time reference station and the navigation satellite r (m);

[0144] t i Earth rotation error between the time reference station and navigation satellite j (m);

[0145] t i Ionospheric delay error between the time reference station and navigation satellite r (m);

[0146] t i Ionospheric delay error between the time reference station and navigation satellite j (m);

[0147] t i Tropospheric delay error between the time reference station and navigation satellite r (m);

[0148] t i Tropospheric delay error between the time reference station and navigation satellite j (m);

[0149] t i Thermal noise of pseudo-range measurement of the reference station receiver about navigation satellite r at the moment (m);

[0150] t i Thermal noise of pseudo-range measurement of navigation satellite j by the base station receiver at time (m);

[0151] t i Pseudorange observation value of navigation satellite r observed by the mobile station at the moment (m);

[0152] t i Pseudorange observation value of navigation satellite j observed by the mobile station at time (m);

[0153] t i The geometric distance between the mobile station and the navigation satellite r at any moment (m);

[0154] t i The geometric distance between the mobile station and navigation satellite j at the moment (m);

[0155] δt B (t i ): t i The mobile station receiver clock error at the moment (s);

[0156] t i Earth rotation error between the mobile station and the navigation satellite r at the moment (m);

[0157] t i Earth rotation error between the mobile station and navigation satellite j at the moment (m);

[0158] t i Ionospheric delay error between the mobile station and navigation satellite r at the moment (m);

[0159] t i Ionospheric delay error between the mobile station and navigation satellite j at time (m);

[0160] t i Tropospheric delay error between the mobile station and navigation satellite r at time (m);

[0161] t i Tropospheric delay error between the mobile station and navigation satellite j at time (m);

[0162] t i Thermal noise of the pseudorange measurement of the mobile station receiver about the navigation satellite r at time (m);

[0163] t i Thermal noise of pseudorange measurement of rover receiver about navigation satellite j at time (m);

[0164] Assume that the base station and the mobile station synchronously observe a group of navigation satellites, and obtain the carrier phase observations of n common-view satellites synchronously observed by the base station and the mobile station. and The navigation satellite r with the highest elevation angle among the n navigation satellites is selected as the reference satellite to form a network about any navigation satellite j (j = 1, 2, 3...n and j ≠ r) and the reference satellite r at any t i The carrier phase observation equation at time is as follows:

[0165]

[0166]

[0167] The meanings of the parameters in the above formula are as follows:

[0168] c: speed of light (m / s);

[0169] λ: Satellite navigation signal carrier wavelength (m);

[0170] f: Satellite navigation signal carrier frequency (Hz);

[0171] t i The carrier phase observation value of navigation satellite r observed by the reference station at the moment (week);

[0172] t i The carrier phase observation value of navigation satellite j observed by the reference station at the moment (week);

[0173] t i The integer ambiguity between the time reference station and the navigation satellite r (week);

[0174] t i The integer ambiguity between the time reference station and navigation satellite j (weeks);

[0175] t i The geometric distance between the time reference station and the navigation satellite r (m);

[0176] t i The geometric distance between the time reference station and navigation satellite j (m);

[0177] δt A (t i ): t i The receiver clock error of the reference station at the moment (s);

[0178] δt r (t i ): t i Satellite clock error of navigation satellite r at time (s);

[0179] δt j (t i ): t i Satellite clock error of navigation satellite j at time (s);

[0180] t i Earth rotation error between the time reference station and the navigation satellite r (m);

[0181] t i Earth rotation error between the time reference station and navigation satellite j (m);

[0182] t i Ionospheric delay error between the time reference station and navigation satellite r (m);

[0183] t i Ionospheric delay error between the time reference station and navigation satellite j (m);

[0184] t i Tropospheric delay error between the time reference station and navigation satellite r (m);

[0185] t i Tropospheric delay error between the time reference station and navigation satellite j (m);

[0186] t i The carrier measurement thermal noise of the base station receiver about the navigation satellite r at the moment (m);

[0187] t iThe carrier measurement thermal noise of the base station receiver about navigation satellite j at time (m); t i The carrier phase observation value of the navigation satellite r observed by the mobile station at time (m);

[0188] t i The carrier phase observation value of navigation satellite j observed by the mobile station at time (m);

[0189] t i The integer ambiguity between the mobile station and the navigation satellite r at the moment (weeks);

[0190] t i The integer ambiguity between the mobile station and navigation satellite j at time (weeks);

[0191] t i The geometric distance between the mobile station and the navigation satellite r at any moment (m);

[0192] t i The geometric distance between the mobile station and navigation satellite j at the moment (m);

[0193] δt B (t i ): t i The mobile station receiver clock error at the moment (s);

[0194] t i Earth rotation error between the mobile station and the navigation satellite r at the moment (m);

[0195] t i Earth rotation error between the mobile station and navigation satellite j at the moment (m);

[0196] t i Ionospheric delay error between the mobile station and navigation satellite r at the moment (m);

[0197] t i Ionospheric delay error between the mobile station and navigation satellite j at time (m);

[0198] t i Tropospheric delay error between the mobile station and navigation satellite r at time (m);

[0199] t i Tropospheric delay error between the mobile station and navigation satellite j at time (m);

[0200] t i Thermal noise of the pseudorange measurement of the mobile station receiver about the navigation satellite r at time (m);

[0201] t i Thermal noise of pseudorange measurement of rover receiver about navigation satellite j at time (m);

[0202] According to the basic observation equation, the double difference observation equation of pseudorange and carrier phase is obtained.

[0203] 4. Calculate wide lane and ultra-wide lane ambiguity

[0204] In this example, the MW combination method is mainly used to calculate the wide lane and ultra-wide lane ambiguity. This can save calculation workload and improve ambiguity accuracy. The specific steps are as follows:

[0205] (1) The position of the base station observation satellite is calculated based on the base station coordinates. The approximate coordinates of the mobile station are obtained by single-point positioning, and the relatively accurate initial coordinates of the mobile station are obtained by pseudo-range double difference solution.

[0206] (2) Calculate the initial value of wide lane ambiguity using MW combination, where the MW combination observation value is as follows:

[0207]

[0208] in, is the observation value of wide lane combination;

[0209] N WL =N L1 -N L2 is the wide lane combined ambiguity.

[0210] In the formula, f L1 、f L2 , L1 , L2 and P L1 , P L2 are the frequencies, wavelengths and pseudorange observation values ​​of the first and second frequency bands of the satellite system, respectively. The first and second frequency bands are L1L2 of GPS, B1B2 of BDS and E1E5a of GLA. The above method is used to correctly calculate the wide lane ambiguity of all visible satellites for use in subsequent Kalman filtering.

[0211] (3) Similarly, the initial value of the ultra-wide lane ambiguity is calculated according to Formula 4-1, where f is replaced by L1 、f L2 , L1 ,L2 and P L1 , P L2 The frequencies, wavelengths and pseudorange observation values ​​of the first and third frequency bands of the satellite system are respectively. Among them, the first and second frequency points are the three combinations of GPS L1L5, BDS B2B3, and GLA E5aE5b. The wavelength after the combination is longer, and the ambiguity accuracy obtained by calculation is higher.

[0212] (4) Through the previous solution, the wide lane and ultra-wide lane ambiguities of all satellites can be obtained. Each time the wide lane and ultra-wide lane ambiguities are used, they need to be smoothed with the previous epoch to obtain the smoothed wide lane and ultra-wide lane ambiguities, so that the calculated ambiguities are more accurate.

[0213] (5) The smoothed wide lane and extra-wide lane ambiguities are rounded to integer ambiguities, and then the integer values ​​of the wide lane and extra-wide lane ambiguities are reversed back to the observation equations of the wide lane and extra-wide lane listed in the previous part 3 to obtain high-precision observation equations containing wide lane and extra-wide lane ambiguities. These observation equations will be combined with the original uncombined frequency points and put into the filter for Kalman filtering.

[0214] 5. Kalman Filter

[0215] The state equation and observation equation in the Kalman filter of discrete linear system are:

[0216] X k+1 =φ k+1,k X k +Γ k+1,k Ω k (5-1)

[0217] L k+1 =B k+1 X k+1 +Δ k+1 (5-2)

[0218] Where X k+1 is the state vector at time k+1, and is also the vector to be estimated. The vector to be estimated includes coordinate parameters and wide lane and ultra-wide lane ambiguities. k+1 is the observation vector, φ k+1,k is the state transition matrix from time k to time k+1, Γ k+1,k , B k+1 is the coefficient matrix, Ω k is the process noise, Δ k+1 is the observation noise.

[0219] The main steps of Kalman filtering are:

[0220] (1) Using the k-1 moment Calculate the predicted value of the state vector at time k

[0221]

[0222] (2) Using the variance-covariance matrix D at time k-1 X (k-1, k-1) calculates the variance-covariance matrix D of the predicted value of the state vector at time k X (k,k-1):

[0223]

[0224] (3) Calculate the residual vector v of the state vector prediction value k :

[0225]

[0226] (4) Calculate the predicted value residual vector v k The variance-covariance matrix D vk :

[0227]

[0228] (5) Calculate the filter gain matrix:

[0229]

[0230] (6) Calculate the state vector estimate at time k:

[0231]

[0232] (7) Calculate the variance-covariance matrix of the state vector estimator at time k:

[0233] D X (k,k)=D X (k,k-1)-J k B k D X (k,k-1) (5-9)

[0234] According to the characteristics of the observation equation, error equation and differential data, the unknown number to be calculated is the double difference ambiguity. The initial value matrix of the filter, the initial value variance matrix of the filter, and the process noise matrix are set normally, and the Kalman filter is performed normally to obtain the floating-point solution of the filtered ambiguity.

[0235] According to the observation equations of wide lane and ultra-wide lane solved previously, additional processing is required when setting the observation noise covariance matrix to ensure the correctness of the setting, namely: when performing Kalman filtering to obtain a floating-point solution to the wide lane ambiguity, the observation noise covariance matrix is ​​multiplied by the wavelength ratio of the two frequency points of the first frequency point combination, for example, L1 / L2=1 / 2; when performing Kalman filtering to obtain a floating-point solution to the ultra-wide lane ambiguity, the observation noise covariance matrix is ​​multiplied by the wavelength ratio of the two frequency points of the second frequency point combination, for example, L2 / L5=2 / 5.

[0236] In addition to the original non-combined observation equations in the Kalman filter, the observation equations for wide lane and ultra-wide lane that have been solved previously are added, which is equivalent to adding equation constraints for wide lane and ultra-wide lane to the filter. This method does not need to use the ionosphere-free combination method, but only solves the observation equation of the wide lane ambiguity and the fundamental frequency equation jointly. The optimization of the calculation process and the amount of calculation is quite obvious. Since the accuracy of this equation is relatively high, the original equation can be constrained, thereby improving the fixing rate of the ambiguity.

[0237] It should be noted that in the application documents of this patent, relational terms such as first and second 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 the 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 sentence "including one" do not exclude the existence of other identical elements in the process, method, article or device including the elements. In the application documents of this patent, if it is mentioned that an action is performed according to an element, it means that the action is performed at least according to the element, which includes two situations: performing the action only according to the element, and performing the action according to the element and other elements. Expressions such as multiple, multiple, and multiple include 2, 2 times, 2 kinds, and more than 2, more than 2 times, and more than 2 kinds.

[0238] All documents mentioned in this specification are considered to be included in the disclosure of this specification as a whole, so that they can be used as a basis for modification when necessary. In addition, it should be understood that the above is only a preferred embodiment of this specification and is not intended to limit the scope of protection of this specification. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of one or more embodiments of this specification should be included in the scope of protection of one or more embodiments of this specification.

[0239] In some cases, the actions or steps described in the claims may be performed in a different order than in the embodiments and still achieve the desired results. In addition, the processes described in the drawings do not necessarily require the specific order or sequential order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

Claims

1. A GNSS positioning method, characterized in that: include: Acquire satellite observation data of the reference station and the mobile station, wherein the satellite observation data includes pseudorange observation values ​​and carrier phase observation values ​​at at least three frequency points of the satellite navigation signal; Establishing a double-difference carrier phase observation equation and a double-difference pseudorange observation equation corresponding to the at least three frequency points; Taking two frequency points of at least three frequency points of the satellite navigation signal as a first combination, calculating an initial value of wide lane ambiguity by using MW combination according to satellite observation data of the first combination, and establishing a double-difference wide lane carrier phase observation equation corresponding to the first combination; Two frequency points of at least three frequency points of the satellite navigation signal are used as a second combination, where the second combination is different from the first combination, an initial value of the ultra-wide lane ambiguity is calculated using the MW combination according to the satellite observation data of the second combination, and a double-difference ultra-wide lane carrier phase observation equation corresponding to the second combination is established; Smoothing the initial values ​​of the widelane ambiguity and the extra-widelane ambiguity for a plurality of epochs respectively and calculating integer values ​​of the widelane ambiguity and the extra-widelane ambiguity; Substituting the integer values ​​of the widelane ambiguity and the ultra-widelane ambiguity into the double-difference widelane carrier phase observation equation and the double-difference ultra-widelane carrier phase observation equation respectively; Kalman filtering is performed on the double-difference carrier phase observation equation, the double-difference pseudorange observation equation, the double-difference wide-lane carrier phase observation equation after substituting the wide-lane ambiguity integer value, and the double-difference ultra-wide-lane carrier phase observation equation after substituting the ultra-wide-lane ambiguity integer value to obtain a floating-point solution of the ambiguity corresponding to at least three frequency points in the double-difference carrier phase observation equation.

2. The GNSS positioning method according to claim 1, characterized in that: The satellite navigation signals include signals of at least two navigation systems among GPS, BeiDou and Galileo satellites.

3. The GNSS positioning method according to claim 1, characterized in that: When performing Kalman filtering, the observation noise covariance matrix of the Kalman filter corresponding to the double-difference wide-lane carrier phase observation equation is set to be multiplied by a first combination coefficient, and the first combination coefficient is obtained according to the wavelength ratio of the two frequency points of the first combination.

4. The GNSS positioning method according to claim 1 or 3, characterized in that: When performing Kalman filtering, the observation noise covariance matrix of the Kalman filter corresponding to the double-difference ultra-wide lane carrier phase observation equation is set to be multiplied by a second combination coefficient, and the second combination coefficient is obtained according to the wavelength ratio of the two frequency points of the second combination.

5. The GNSS positioning method according to claim 1, characterized in that: Also includes: The floating-point solution of the ambiguity corresponding to at least three frequency points in the double-difference carrier phase observation equation is fixed by using the lambda method to obtain a fixed solution of the ambiguity corresponding to at least three frequency points in the double-difference carrier phase observation equation.

6. A GNSS positioning method, characterized in that: include: Acquire satellite observation data of the reference station and the mobile station, wherein the satellite observation data includes pseudorange observation values ​​and carrier phase observation values ​​at at least two frequency points of the satellite navigation signal; Establishing a double-difference carrier phase observation equation and a double-difference pseudo-range observation equation corresponding to the at least two frequency points; Taking two frequency points of the at least two frequency points of the satellite navigation signal as a first combination, calculating an initial value of wide lane ambiguity by using MW combination according to satellite observation data of the first combination, and establishing a double-difference wide lane carrier phase observation equation corresponding to the first combination; Smoothing the initial value of the widelane ambiguity over a plurality of epochs and calculating an integer value of the widelane ambiguity; Substituting the integer value of the widelane ambiguity into the double-difference widelane carrier phase observation equation; Kalman filtering is performed on the double-difference carrier phase observation equation, the double-difference pseudorange observation equation, and the double-difference wide-lane carrier phase observation equation after substituting the wide-lane ambiguity integer value to obtain a floating-point solution of the ambiguity corresponding to at least two frequency points in the double-difference carrier phase observation equation.

7. The GNSS positioning method according to claim 6, characterized in that: The satellite navigation signals include signals of at least two navigation systems among GPS, BeiDou and Galileo satellites.

8. The GNSS positioning method according to claim 6, characterized in that: When performing Kalman filtering, the observation noise covariance matrix of the Kalman filter corresponding to the double-difference wide-lane carrier phase observation equation is set to be multiplied by a first combination coefficient, and the first combination coefficient is obtained according to the wavelength ratio of the two frequency points of the first combination.

9. The GNSS positioning method according to claim 6, characterized in that: Also includes: The floating-point solution of the ambiguity corresponding to at least two frequency points in the double-difference carrier phase observation equation is fixed by using the lambda method to obtain a fixed solution of the ambiguity corresponding to at least two frequency points in the double-difference carrier phase observation equation.

10. A GNSS positioning method, characterized in that: include: Acquire satellite observation data of the reference station and the mobile station, wherein the satellite observation data includes pseudorange observation values ​​and carrier phase observation values ​​at at least two frequency points of the satellite navigation signal; Establishing a double-difference carrier phase observation equation and a double-difference pseudo-range observation equation corresponding to the at least two frequency points; Taking two frequency points of the at least two frequency points of the satellite navigation signal as a second combination, calculating the initial value of the ultra-wide lane ambiguity by using the MW combination according to the satellite observation data of the second combination, and establishing a double-difference ultra-wide lane carrier phase observation equation corresponding to the second combination; Smoothing the initial value of the ultra-wide lane ambiguity over a plurality of epochs and calculating an integer value of the ultra-wide lane ambiguity; Substituting the integer value of the ultra-wide lane ambiguity into the double-difference ultra-wide lane carrier phase observation equation; Kalman filtering is performed on the double-difference carrier phase observation equation, the double-difference pseudorange observation equation and the double-difference ultra-wide lane carrier phase observation equation after substituting the ultra-wide lane ambiguity integer value to obtain a floating-point solution of the ambiguity corresponding to at least two frequency points in the double-difference carrier phase observation equation.

11. The GNSS positioning method according to claim 10, characterized in that: The satellite navigation signals include signals of at least two navigation systems among GPS, BeiDou and Galileo satellites.

12. The GNSS positioning method according to claim 10, characterized in that: When performing Kalman filtering, the observation noise covariance matrix of the Kalman filter corresponding to the double-difference ultra-wide lane carrier phase observation equation is set to be multiplied by a second combination coefficient, and the second combination coefficient is obtained according to the wavelength ratio of the two frequency points of the second combination.

13. The GNSS positioning method according to claim 10, characterized in that: Also includes: The floating-point solution of the ambiguity corresponding to at least two frequency points in the double-difference carrier phase observation equation is fixed by using the lambda method to obtain a fixed solution of the ambiguity corresponding to at least two frequency points in the double-difference carrier phase observation equation.

14. A GNSS positioning device, characterized in that: include: An acquisition module, used to acquire satellite observation data of a reference station and a mobile station, wherein the satellite observation data includes pseudorange observation values ​​and carrier phase observation values ​​at at least three frequency points of a satellite navigation signal; a wide lane ambiguity calculation module, configured to use two frequency points of the at least three frequency points of the satellite navigation signal as a first combination, calculate an initial value of the wide lane ambiguity by using the MW combination according to the satellite observation data of the first combination, and establish a double-difference wide lane carrier phase observation equation corresponding to the first combination; an ultra-wide lane ambiguity calculation module, configured to use two frequency points of at least three frequency points of the satellite navigation signal as a second combination, wherein the second combination is different from the first combination, calculate an initial value of the ultra-wide lane ambiguity using the MW combination according to the satellite observation data of the second combination, and establish a double-difference ultra-wide lane carrier phase observation equation corresponding to the second combination; A smoothing and rounding module, used for smoothing the initial values ​​of the wide lane ambiguity and the ultra-wide lane ambiguity for multiple epochs and calculating the integer values ​​of the wide lane ambiguity and the ultra-wide lane ambiguity; A filtering module is used to substitute the integer values ​​of the wide lane ambiguity and the ultra-wide lane ambiguity into the double-difference wide lane carrier phase observation equation and the double-difference ultra-wide lane carrier phase observation equation respectively, establish a double-difference carrier phase observation equation and a double-difference pseudo-range observation equation corresponding to the at least three frequency points, perform Kalman filtering according to the double-difference carrier phase observation equation, the double-difference pseudo-range observation equation, the double-difference wide lane carrier phase observation equation after substituting the integer value of the wide lane ambiguity, and the double-difference ultra-wide lane carrier phase observation equation after substituting the integer value of the ultra-wide lane ambiguity, and obtain a floating-point solution of the ambiguity corresponding to at least three frequency points in the double-difference carrier phase observation equation.

15. A GNSS positioning device, characterized in that: include: An acquisition module, used to acquire satellite observation data of a reference station and a mobile station, wherein the satellite observation data includes pseudorange observation values ​​and carrier phase observation values ​​at at least two frequency points of a satellite navigation signal; a wide lane ambiguity calculation module, configured to use two frequency points of the at least two frequency points of the satellite navigation signal as a first combination, calculate an initial value of the wide lane ambiguity by using the MW combination according to the satellite observation data of the first combination, and establish a double-difference wide lane carrier phase observation equation corresponding to the first combination; A smoothing and rounding module, configured to smooth the initial value of the wide lane ambiguity for multiple epochs and calculate an integer value of the wide lane ambiguity; A filtering module is used to substitute the integer value of the wide lane ambiguity into the double-difference wide lane carrier phase observation equation, establish a double-difference carrier phase observation equation and a double-difference pseudorange observation equation corresponding to the at least two frequency points, perform Kalman filtering on the double-difference wide lane carrier phase observation equation, the double-difference pseudorange observation equation, and the double-difference wide lane carrier phase observation equation after substituting the integer value of the wide lane ambiguity, and obtain a floating-point solution of the ambiguity corresponding to at least two frequency points in the double-difference carrier phase observation equation.

16. A GNSS positioning device, characterized in that: include: An acquisition module, used to acquire satellite observation data of a reference station and a mobile station, wherein the satellite observation data includes pseudorange observation values ​​and carrier phase observation values ​​at at least two frequency points of a satellite navigation signal; An ultra-wide lane ambiguity calculation module is used to use two frequency points of the at least two frequency points of the satellite navigation signal as a second combination, calculate the initial value of the ultra-wide lane ambiguity by using the MW combination according to the satellite observation data of the second combination, and establish a double-difference ultra-wide lane carrier phase observation equation corresponding to the second combination; A smoothing and rounding module, used for smoothing the initial value of the ultra-wide lane ambiguity for multiple epochs and calculating the integer value of the ultra-wide lane ambiguity; A filtering module is used to substitute the integer value of the ultra-wide lane ambiguity into the double-difference ultra-wide lane carrier phase observation equation, establish a double-difference carrier phase observation equation and a double-difference pseudo-range observation equation corresponding to the at least two frequency points, perform Kalman filtering according to the double-difference carrier phase observation equation, the double-difference pseudo-range observation equation and the double-difference ultra-wide lane carrier phase observation equation after substituting the integer value of the ultra-wide lane ambiguity, and obtain a floating-point solution of the ambiguity corresponding to at least two frequency points in the double-difference carrier phase observation equation.

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