Non-combined carrier phase epoch-to-epoch differential speed measurement method, system, device and medium

Abstract

The present invention discloses a non-combined carrier phase inter-epoch differential velocity measurement method, system, device and medium, wherein the method comprises: obtaining satellite observation data, wherein the observation data comprises carrier phase and satellite elevation angle; preprocessing and error correction of the obtained observation data; constructing a velocity measurement observation equation of a non-combined multi-frequency multi-system phase inter-epoch differential method according to the corrected carrier phase observation value, wherein the ionospheric delay error is used as an estimation parameter; weighting is performed according to the satellite elevation angle to construct a random model; and the three-dimensional velocity of the receiver and the ionospheric delay error are calculated according to the velocity measurement observation equation and the random model. The present invention parameterizes the ionospheric delay error based on the original carrier phase observation value, combines the satellite elevation angle, realizes the velocity estimation of the high-precision receiver, and retains the ionospheric delay parameter at the same time, provides observation data for geophysical research, and can be widely used in the field of satellite measurement.

Description

Technical Field

[0001] The present invention relates to the field of satellite measurement, and in particular to a non-combined carrier phase epoch-to-epoch differential velocity measurement method, system, device and medium. Background Art

[0002] Speed ​​is an important parameter to describe the motion state of an object. The continuous development of the Global Navigation Satellite System (GNSS) has provided a new high-precision speed measurement method. Compared with traditional speed measurement methods such as laser, sound wave, and radar speed measurement, GNSS speed measurement has the characteristics of all-weather, real-time, continuous, and global coverage. In addition to being widely used in intelligent transportation, unmanned driving, precision agriculture and other fields, it is also used in co-seismic displacement monitoring, surface deformation process research and many other fields.

[0003] GNSS velocity measurement mainly includes position difference method, original Doppler value method and time-differenced carrier phase (TDCP) method. The position difference method obtains velocity by taking the difference of positioning results, and the velocity measurement accuracy is greatly affected by the positioning results; the original Doppler value method solves the instantaneous velocity of the carrier by building a velocity observation model, which is affected by the accuracy of Doppler observation values. Its velocity measurement accuracy is generally in the range of cm / s to dm / s, and some low-cost GNSS receivers cannot output this type of observation value; TDCP eliminates ambiguity parameters through carrier phase epoch difference, and also weakens the influence of atmospheric delay. When the sampling rate is high (≥1Hz), the velocity measurement accuracy can reach mm / s level. It has been widely used in real-time vehicle navigation, wave and tsunami measurement, and earthquake displacement monitoring.

[0004] In recent years, GPS modernization, BDS global networking, and continuous improvement of GLONASS and Galileo have greatly increased the number of visible satellites and signal frequency, which not only enhances the strength of satellite space geometry, but also improves the stability of parameter solution, which helps to further improve the accuracy of GNSS velocity measurement. However, the current TDCP velocity measurement mainly uses a single-frequency or dual-frequency ionosphere-free combination method, which is not conducive to expanding to multi-frequency data processing. Summary of the invention

[0005] In order to solve at least one of the technical problems existing in the prior art to a certain extent, the object of the present invention is to provide a non-combined carrier phase epoch-to-epoch differential speed measurement method, system, device and medium.

[0006] The technical solution adopted by the present invention is:

[0007] A non-combined carrier phase epoch-to-epoch differential speed measurement method comprises the following steps:

[0008] Acquire observation data of satellites in the GNSS system, wherein the observation data includes carrier phase and satellite elevation angle;

[0009] Preprocessing and error correction of the obtained observation data;

[0010] According to the corrected carrier phase observation value, a velocity measurement observation equation of a non-combined multi-frequency multi-system phase epoch difference method is constructed, wherein the ionospheric delay error is used as an estimation parameter;

[0011] Determine weights according to the satellite altitude angles and construct a random model;

[0012] The three-dimensional velocity of the receiver and the ionospheric delay error are calculated according to the velocity measurement observation equation and the random model.

[0013] Further, the preprocessing and error correction of the obtained observation data includes:

[0014] Performing quality detection on the observation data, and eliminating observation data with low signal-to-noise ratio and observation data containing cycle slips and gross errors;

[0015] The tropospheric model and the satellite antenna phase center correction model are used to perform error correction on the observation data to obtain corrected observation data.

[0016] Further, the expression of the speed measurement observation equation is as follows:

[0017]

[0018] Where s represents the GNSS system; i represents the satellite number; r represents the receiver; f represents the carrier frequency; ΔL represents the difference in carrier phase observations between epochs; Δρ represents the change in the geometric distance from the satellite to the receiver between adjacent epochs; c represents the speed of light in a vacuum; Δt r represents the receiver clock speed; Δt represents the satellite clock speed; ΔT represents the change in tropospheric delay; ΔI represents the change in ionospheric delay; is the ionospheric coefficient; Δε represents multipath and observation noise; i∈[1,sn], f n ∈[1,Fn], sn represents the number of satellites, and Fn represents the frequency number.

[0019] Furthermore, the expression of the geometric distance change Δρ from the satellite to the receiver in adjacent epochs is as follows:

[0020]

[0021] Where, t j ,t j-1 Represents two adjacent epochs; R represents the unit direction vector from receiver r to satellite i; s,i , r are the coordinate vectors of the ith satellite and the receiver r respectively; Δr is the change in the position of the receiver before and after the epoch.

[0022] Furthermore, the expression of the constructed random model is as follows:

[0023]

[0024] Among them, e represents the satellite altitude angle, α represents the satellite cutoff altitude angle, and thre represents the threshold; α∈[0,thre].

[0025] Further, the calculating of the three-dimensional velocity and ionospheric delay error of the receiver according to the velocity measurement observation equation and the random model includes:

[0026] Taking the ionospheric delay error as the parameter to be estimated, the three-dimensional velocity of the receiver and the change of the ionospheric delay are obtained by using the least squares estimation method according to the velocity measurement observation equation and the random model.

[0027] Furthermore, taking the ionospheric delay error as the parameter to be estimated, the fth satellite of the i-th satellite n The frequency error observation equation is as follows:

[0028]

[0029]

[0030] in, Indicates the number of satellites i and f n The residuals of the observations in frequency; Indicates the number of satellites i and f n The difference between the observed and calculated values ​​in frequency; Indicates the f n The wavelength of the frequency; the parameters to be determined include the change in the position of the receiver before and after the epoch Δr, the change in the difference between the before and after epoch Δt r , ionospheric delay

[0031] When the number of satellites reaches 4 or more, the parameters to be determined can be solved to obtain the change in the position of the receiver and the change in the ionospheric delay.

[0032] Another technical solution adopted by the present invention is:

[0033] A non-combined carrier phase epoch-to-epoch differential speed measurement system, comprising:

[0034] A data acquisition module is used to obtain observation data of satellites in the GNSS system, wherein the observation data includes carrier phase and satellite altitude angle;

[0035] A data correction module, used for preprocessing and error correction of the obtained observation data;

[0036] An equation building module is used to build a velocity observation equation of a non-combined multi-frequency multi-system phase epoch difference method according to the corrected carrier phase observation value, wherein the ionospheric delay error is used as an estimated parameter;

[0037] A model building module is used to determine the weights according to the satellite altitude angle and build a random model;

[0038] The velocity solving module is used to calculate the three-dimensional velocity of the receiver and the ionospheric delay error according to the velocity measurement observation equation and the random model.

[0039] Another technical solution adopted by the present invention is:

[0040] A non-combined carrier phase epoch-to-epoch differential speed measuring device, comprising:

[0041] at least one processor;

[0042] at least one memory for storing at least one program;

[0043] When the at least one program is executed by the at least one processor, the at least one processor implements the above method.

[0044] Another technical solution adopted by the present invention is:

[0045] A computer-readable storage medium stores a program executable by a processor, wherein the program executable by the processor is used to execute the method described above when executed by the processor.

[0046] The beneficial effects of the present invention are as follows: the present invention parameterizes the ionospheric delay error based on the original carrier phase observation value, combines the satellite altitude angle, realizes the velocity estimation of the high-precision receiver, improves the velocity measurement accuracy and its robustness, and effectively retains the ionospheric delay parameters, providing richer observation data for geophysical research such as earthquake monitoring. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the embodiments of the present invention or the drawings of related technical solutions in the prior art are introduced below. It should be understood that the drawings introduced below are only for the convenience of clearly describing some embodiments of the technical solutions of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0048] Figure 1It is a flowchart of the steps of a non-combined carrier phase epoch-to-epoch differential velocity measurement method in an embodiment of the present invention;

[0049] Figure 2 It is a flow chart of the multi-frequency multi-system carrier phase epoch differential speed measurement method in an embodiment of the present invention. DETAILED DESCRIPTION

[0050] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and are not to be construed as limitations of the present invention. For the step numbers in the following embodiments, they are only provided for the convenience of explanation, and the order between the steps is not limited in any way, and the execution order of each step in the embodiment can be adaptively adjusted according to the understanding of those skilled in the art.

[0051] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., and orientations or positional relationships indicated are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0052] In the description of the present invention, "several" means one or more, "more" means more than two, "greater than", "less than", "exceed" etc. are understood as not including the number itself, and "above", "below", "within" etc. are understood as including the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0053] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific content of the technical solution.

[0054] like Figure 1 and Figure 2 As shown, this embodiment provides a non-combined carrier phase epoch differential speed measurement method, including the following steps:

[0055] S1. Obtain observation data of satellites in the GNSS system, where the observation data includes carrier phase and satellite elevation angle.

[0056] For the global GNSS system, it collects multi-frequency and multi-system GNSS pseudorange, carrier phase and other observation data as well as broadcast ephemeris.

[0057] S2. Preprocess and correct errors of the obtained observation data.

[0058] Wherein, step S2 includes steps S21-S22:

[0059] S21. Perform quality detection on the observation data and eliminate observation data with low signal-to-noise ratio and observation data containing cycle slips and gross errors.

[0060] In this embodiment, the cycle slip detection adopts the classic TurboEdit method, and the observation data with high signal-to-noise ratio is selected to participate in the subsequent parameter solution. When performing differential velocity measurement between carrier phase epochs, the broadcast ephemeris data block required for the current epoch calculation should remain the same as that of the previous epoch to prevent the satellite orbit and clock error from jumping due to the ephemeris replacement.

[0061] S22. Use the tropospheric model and satellite antenna phase center correction model to perform error correction on the observation data to obtain corrected observation data.

[0062] The Saastamoinen model and igs antenna file are used to correct the tropospheric dry delay and antenna phase center deviation and its variation respectively.

[0063] S3. Based on the observed value of the corrected carrier phase, a velocity observation equation of the phase epoch difference method of the non-combined multi-frequency and multi-system is constructed, in which the ionospheric delay error is used as an estimated parameter.

[0064] Based on the carrier phase observation value after error correction in step S2, the non-combined multi-frequency multi-system TDCP speed measurement observation equation is constructed:

[0065]

[0066] Where s represents the GNSS system; i represents the satellite number; r represents the receiver; f represents the carrier frequency; ΔL represents the difference in carrier phase observations between epochs; Δρ represents the change in the geometric distance from the satellite to the receiver between adjacent epochs; c represents the speed of light in a vacuum; Δt r Indicates the receiver clock speed; Δt i represents the satellite clock speed; ΔT is the change in tropospheric delay; ΔI represents the change in ionospheric delay; is the ionospheric coefficient; Δε represents multipath and observation noise; i∈[1,sn],f n ∈[1,Fn], sn=40 represents the number of satellites, and Fn=3 represents the number of frequencies.

[0067] Among them, in formula (1) It can be expressed as follows:

[0068]

[0069] Where, t j ,t j-1 Represents two adjacent epochs; R represents the unit direction vector from receiver r to satellite i; s,i , r are the coordinate vectors of the ith satellite and the receiver r respectively; Δr is the change in the position of the receiver before and after the epoch.

[0070] S4. Determine the weights according to the satellite altitude angle and construct a random model.

[0071] The expression of the random model is as follows:

[0072]

[0073] Where, e represents the satellite elevation angle; α represents the satellite cutoff elevation angle, α∈[0,thre], and thre=30° represents the threshold.

[0074] S5. Calculate the three-dimensional velocity of the receiver and the ionospheric delay error based on the velocity observation equation and the random model.

[0075] Taking the ionospheric error as the parameter to be estimated, the least squares estimation method is used to solve the three-dimensional velocity of the carrier (i.e., the receiver, used to receive satellite signals) and the ionospheric parameters. Taking the ionospheric delay error as the parameter to be estimated, the fth satellite of the i-th satellite n The frequency error observation equation is as follows:

[0076]

[0077]

[0078] In the formula, Indicates the number of satellites i and f n The residuals of the observations in frequency; Indicates the number of satellites i and f n The difference between the observed and calculated values ​​in frequency; Indicates the f n The wavelength of the frequency; the parameters to be determined include the carrier position change Δr, the difference between the previous and next epochs Δt r , ionospheric delay

[0079] When the number of observed satellites reaches 4 or more, the least squares estimation method can be used to calculate the change in carrier position and the change in ionospheric delay.

[0080] Finally, we can further find the epoch t j and t j-1 The average speed between vel.

[0081]

[0082] Where Δr is the change in carrier position; t j ,t j-1 represents two adjacent epochs; vel is the three-dimensional velocity of the carrier.

[0083] This embodiment also provides a non-combined carrier phase epoch-to-epoch differential speed measurement system, including:

[0084] A data acquisition module is used to obtain observation data of satellites in the GNSS system, wherein the observation data includes carrier phase and satellite altitude angle;

[0085] A data correction module, used for preprocessing and error correction of the obtained observation data;

[0086] An equation building module is used to build a velocity observation equation of a non-combined multi-frequency multi-system phase epoch difference method according to the corrected carrier phase observation value, wherein the ionospheric delay error is used as an estimated parameter;

[0087] A model building module is used to determine the weights according to the satellite altitude angle and build a random model;

[0088] The velocity solving module is used to calculate the three-dimensional velocity of the receiver and the ionospheric delay error according to the velocity measurement observation equation and the random model.

[0089] A non-combined carrier phase epoch-to-epoch differential speed measurement system of this embodiment can execute a non-combined carrier phase epoch-to-epoch differential speed measurement method provided by an embodiment of the method of the present invention, can execute any combination of implementation steps of the method embodiment, and has the corresponding functions and beneficial effects of the method.

[0090] This embodiment also provides a non-combined carrier phase epoch differential speed measurement device, including:

[0091] at least one processor;

[0092] at least one memory for storing at least one program;

[0093] When the at least one program is executed by the at least one processor, the at least one processor implements Figure 1 The method shown.

[0094] A non-combined carrier phase epoch-to-epoch differential speed measurement device of this embodiment can execute a non-combined carrier phase epoch-to-epoch differential speed measurement method provided by the method embodiment of the present invention, can execute any combination of implementation steps of the method embodiment, and has the corresponding functions and beneficial effects of the method.

[0095] The present application also discloses a computer program product or a computer program, which includes a computer instruction stored in a computer-readable storage medium. A processor of a computer device can read the computer instruction from the computer-readable storage medium, and the processor executes the computer instruction, so that the computer device executes Figure 1 The method shown.

[0096] This embodiment also provides a storage medium, which stores instructions or programs that can execute a non-combined carrier phase epoch-to-epoch differential speed measurement method provided by an embodiment of the method of the present invention. When the instructions or programs are run, any combination of implementation steps of the method embodiment can be executed, and the corresponding functions and beneficial effects of the method can be obtained.

[0097] In some selectable embodiments, the function / operation mentioned in the block diagram may not occur in the order mentioned in the operation diagram. For example, depending on the function / operation involved, the two boxes shown in succession can actually be executed substantially simultaneously or the boxes can sometimes be executed in reverse order. In addition, the embodiment presented and described in the flow chart of the present invention is provided by way of example, for the purpose of providing a more comprehensive understanding of technology. The disclosed method is not limited to the operation and logic flow presented herein. Selectable embodiments are expected, wherein the order of various operations is changed and the sub-operation of a part for which is described as a larger operation is performed independently.

[0098] In addition, although the present invention is described in the context of functional modules, it should be understood that, unless otherwise specified, one or more of the functions and / or features described may be integrated into a single physical device and / or software module, or one or more functions and / or features may be implemented in separate physical devices or software modules. It is also understood that a detailed discussion of the actual implementation of each module is unnecessary for understanding the present invention. More specifically, in view of the properties, functions, and internal relationships of the various functional modules in the device disclosed herein, the actual implementation of the module will be understood within the conventional skills of the engineer. Therefore, those skilled in the art can implement the present invention set forth in the claims without excessive experimentation using ordinary techniques. It is also understood that the specific concepts disclosed are merely illustrative and are not intended to limit the scope of the present invention, which is determined by the full scope of the appended claims and their equivalents.

[0099] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc., which can store program codes.

[0100] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in conjunction with such instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in conjunction with such instruction execution systems, devices or apparatuses.

[0101] More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk case (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be a paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, deciphering or, if necessary, processing in another suitable manner, and then stored in a computer memory.

[0102] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0103] In the above description of this specification, the description with reference to the terms "one embodiment / example", "another embodiment / example" or "certain embodiments / examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0104] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

[0105] The above is a specific description of the preferred implementation of the present invention, but the present invention is not limited to the above embodiments. Those skilled in the art may make various equivalent modifications or substitutions without violating the spirit of the present invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of this application.

Claims

1. A non-combined carrier phase epoch-to-epoch differential velocity measurement method, characterized in that: The following steps are involved: Acquire observation data of satellites in the GNSS system, wherein the observation data includes carrier phase and satellite elevation angle; Preprocessing and error correction of the obtained observation data; According to the corrected carrier phase observation value, a velocity measurement observation equation of a non-combined multi-frequency multi-system phase epoch difference method is constructed, wherein the ionospheric delay error is used as an estimation parameter; Determine weights according to the satellite altitude angles and construct a random model; Calculating the three-dimensional velocity of the receiver and the ionospheric delay error according to the velocity measurement observation equation and the random model; The expression of the speed measurement observation equation is as follows: Where s represents the GNSS system; i represents the satellite number; r represents the receiver; f represents the carrier frequency; ΔL represents the difference in carrier phase observations between epochs; Δρ represents the change in the geometric distance from the satellite to the receiver between adjacent epochs; c represents the speed of light in a vacuum; Δt r represents the receiver clock speed; Δt represents the satellite clock speed; ΔT represents the change in tropospheric delay; ΔI represents the change in ionospheric delay; is the ionospheric coefficient; Δε represents multipath and observation noise; i∈[1,sn], f n ∈[1,Fn], sn represents the number of satellites, and Fn represents the frequency number; The expression of the constructed random model is as follows: Among them, e represents the satellite altitude angle, α represents the satellite cutoff altitude angle, and thre represents the threshold; α∈[0,thre].

2. The non-combined carrier phase epoch-to-epoch differential velocity measurement method according to claim 1, characterized in that: The preprocessing and error correction of the obtained observation data includes: Performing quality detection on the observation data, and eliminating observation data with low signal-to-noise ratio and observation data containing cycle slips and gross errors; The tropospheric model and the satellite antenna phase center correction model are used to perform error correction on the observation data to obtain corrected observation data.

3. The non-combined carrier phase epoch-to-epoch differential velocity measurement method according to claim 1, characterized in that: The expression of the geometric distance change Δρ from the satellite to the receiver in adjacent epochs is as follows: Where, t j ,t j-1 Represents two adjacent epochs; R represents the unit direction vector from receiver r to satellite i; s,i , r are the coordinate vectors of the ith satellite and the receiver r respectively; Δr is the change in the position of the receiver before and after the epoch.

4. The non-combined carrier phase epoch-to-epoch differential velocity measurement method according to claim 2, characterized in that: The method of calculating the three-dimensional velocity and ionospheric delay error of the receiver according to the velocity measurement observation equation and the random model includes: taking the ionospheric delay error as a parameter to be estimated, and obtaining the change of the three-dimensional velocity and ionospheric delay of the receiver according to the velocity measurement observation equation and the random model by using a least squares estimation method.

5. The non-combined carrier phase epoch-to-epoch differential velocity measurement method according to claim 4, characterized in that: Taking the ionospheric delay error as the parameter to be estimated, the fth satellite of the i-th satellite n The frequency error observation equation is as follows: in, Indicates the number of satellites i and f n The residuals of the observations in frequency; Indicates the number of satellites i and f n The difference between the observed value and the calculated value on the frequency; the parameters to be determined include the change in the position of the receiver before and after the epoch Δr, the change in the difference between the before and after epoch Δt r , ionospheric delay When the number of satellites reaches 4 or more, the parameters to be determined can be solved to obtain the change in the position of the receiver and the change in the ionospheric delay.

6. A non-combined carrier phase epoch-to-epoch differential velocity measurement system, applied to a non-combined carrier phase epoch-to-epoch differential velocity measurement method as claimed in any one of claims 1 to 5, characterized in that: include: A data acquisition module is used to obtain observation data of satellites in the GNSS system, wherein the observation data includes carrier phase and satellite altitude angle; A data correction module, used for preprocessing and error correction of the obtained observation data; An equation building module is used to build a velocity observation equation of a non-combined multi-frequency multi-system phase epoch difference method according to the corrected carrier phase observation value, wherein the ionospheric delay error is used as an estimated parameter; A model building module is used to determine the weights according to the satellite altitude angle and build a random model; The velocity solving module is used to calculate the three-dimensional velocity of the receiver and the ionospheric delay error according to the velocity measurement observation equation and the random model.

7. A non-combined carrier phase epoch-to-epoch differential speed measurement device, characterized in that: include: at least one processor; at least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor implements the method according to any one of claims 1 to 5.

8. A computer-readable storage medium storing a program executable by a processor, characterized in that: The processor-executable program is used to perform the method according to any one of claims 1 to 5 when executed by the processor.

Images