High-precision navigation system and method, and navigation terminal device

Abstract

The present invention provides a high-precision navigation system and method, and a navigation terminal device. The navigation terminal device is configured to: obtain satellite observation data of multiple satellite navigation systems; use the satellite observation data of the satellite navigation system based on code division multiple access technology to perform position positioning to obtain the position of the navigation terminal device. Afterwards, the obtained position of the navigation terminal device and the estimated receiver clock error are brought into the pseudo-range observation value and phase observation value of the satellite navigation system based on frequency division multiple access technology to calculate the receiver pseudo-range residual and the receiver phase residual; the calculated receiver pseudo-range residual and the receiver phase residual are filtered and smoothed to obtain the converged receiver pseudo-range deviation and the receiver phase deviation of the satellite navigation system based on frequency division multiple access technology; the satellite observation data, the receiver pseudo-range deviation, and the receiver phase deviation of the satellite navigation system based on frequency division multiple access technology are fixed for integer ambiguity.

Description

Technical Field

[0001] The present invention relates to the field of navigation, and in particular to a high-precision navigation system and method, and a navigation terminal device. Background Art

[0002] Real Time Kinematic (RTK) of the Global Navigation Satellite System (GNSS) is a low-cost, high-precision positioning technology route. The global satellite navigation system includes the United States' GPS, Russia's GLONASS, China's BEIDOU, and the European Union's GALILEO. Among them, GPS, BEIDOU and GALILEO navigation signals are based on Code Division Multiple Access (CDMA). Therefore, the frequencies of signals in the same frequency band of different satellite signals are the same. The GLONASS navigation signal is based on Frequency Division Multiple Access (FDMA). The frequency of the navigation dual-frequency signal band is between L1: 1602.0–1615.5MHz, and L2, 1246.0–1256.5MHz. The navigation satellite system broadcasts pseudo-range and phase observation values. Due to the defects of GNSS satellites and equipment, a certain delay occurs during signal transmission (satellite end) and reception (receiver end), which in turn generates hardware biases on the satellite and receiver ends in pseudorange and phase observations in different frequency bands, namely, satellite / receiver pseudorange and phase biases. Since different satellites have the same observation frequency in the same frequency band, the pseudorange and phase observations of the CDMA-based GPS, BEIDOU and GALILEO systems can eliminate satellite and receiver biases through inter-satellite and inter-station double differences. The traditional GLONASS ambiguity fixation method estimates the ambiguity floating point solution by decomposing the double difference observations into a linear combination of double difference ambiguities and inter-station single difference ambiguities, and using single difference phase and pseudorange to roughly estimate the single difference ambiguity. Since the GLONASS system is based on FDMA, satellite biases can only be eliminated through inter-station single differences, and receiver biases cannot be eliminated through inter-satellite single differences. As a result, the GLONASS floating point ambiguity cannot be directly fixed.

[0003] Therefore, it is necessary to propose a new solution to overcome the related problems. Summary of the invention

[0004] One of the objects of the present invention is to provide a high-precision navigation system and method, which can estimate the receiver pseudorange bias and receiver phase bias of GLONASS without increasing the computational load of the navigation terminal device, thereby fixing the integer ambiguity of GLONASS.

[0005] A second object of the present invention is to provide a navigation terminal device, which can estimate the receiver pseudorange deviation and receiver phase deviation of GLONASS without increasing the calculation load of the navigation terminal device, thereby fixing the integer ambiguity of GLONASS.

[0006] To achieve the purpose of the invention, according to one aspect of the present invention, the present invention provides a high-precision navigation system, which includes: a navigation server; a navigation terminal device, which is configured to: obtain satellite observation data of multiple satellite navigation systems, wherein the satellite observation data includes pseudorange observation values, phase observation values ​​and Doppler observation values, at least one satellite navigation system is based on code division multiple access technology, and at least one satellite navigation system is based on frequency division multiple access technology; use the satellite observation data of the satellite navigation system based on code division multiple access technology to perform position positioning to obtain the position of the navigation terminal device; then, the high-precision navigation system: obtains the navigation terminal device The position of the equipment and the estimated receiver clock error are introduced into the pseudorange observation value and phase observation value of the satellite navigation system based on frequency division multiple access technology to calculate the receiver pseudorange residual and the receiver phase residual; the calculated receiver pseudorange residual is filtered and smoothed to obtain the converged receiver pseudorange deviation of the satellite navigation system based on frequency division multiple access technology; the calculated receiver phase residual is filtered and smoothed to obtain the converged receiver phase deviation of the satellite navigation system based on frequency division multiple access technology; the satellite observation data, receiver pseudorange deviation and receiver phase deviation of the satellite navigation system based on frequency division multiple access technology are fixed with integer ambiguity.

[0007] According to another aspect of the present invention, the present invention provides a high-precision navigation method, which includes: a navigation terminal device obtains satellite observation data of multiple satellite navigation systems, wherein the satellite observation data includes pseudorange observation values, phase observation values ​​and Doppler observation values, at least one satellite navigation system is based on code division multiple access technology, and at least one satellite navigation system is based on frequency division multiple access technology; using the satellite observation data of the satellite navigation system based on code division multiple access technology to perform position positioning to obtain the position of the navigation terminal device; bringing the obtained position of the navigation terminal device and the estimated receiver clock error into the pseudorange observation values ​​and phase observation values ​​of the satellite navigation system based on frequency division multiple access technology to calculate the receiver pseudorange residual and the receiver phase residual; filtering and smoothing the calculated receiver pseudorange residual to obtain the converged receiver pseudorange deviation of the satellite navigation system based on frequency division multiple access technology; filtering and smoothing the calculated receiver phase residual to obtain the converged receiver phase deviation of the satellite navigation system based on frequency division multiple access technology; and fixing the integer ambiguity of the satellite observation data, receiver pseudorange deviation and receiver phase deviation of the satellite navigation system based on frequency division multiple access technology.

[0008] According to another aspect of the present invention, the present invention provides a navigation terminal device, which includes a satellite positioning receiver, a processing module, and a wireless transmission module, and the navigation terminal device is configured to: obtain satellite observation data of multiple satellite navigation systems, wherein the satellite observation data includes pseudorange observation values, phase observation values ​​and Doppler observation values, at least one satellite navigation system is based on code division multiple access technology, and at least one satellite navigation system is based on frequency division multiple access technology; use the satellite observation data of the satellite navigation system based on code division multiple access technology to perform position positioning to obtain the position of the navigation terminal device; bring the obtained position of the navigation terminal device and the estimated receiver clock difference into the pseudorange observation values ​​and phase observation values ​​of the satellite navigation system based on frequency division multiple access technology to calculate the receiver pseudorange residual and the receiver phase residual; fix the satellite observation data, receiver pseudorange deviation, and receiver phase deviation of the satellite navigation system based on frequency division multiple access technology for integer ambiguity; wherein the receiver pseudorange deviation of the satellite navigation system based on frequency division multiple access technology is obtained by filtering and smoothing the calculated receiver pseudorange residual, and the receiver phase deviation of the satellite navigation system based on frequency division multiple access technology is obtained by filtering and smoothing the calculated receiver phase residual.

[0009] Compared with the prior art, the present invention can estimate the receiver pseudorange deviation and receiver phase deviation of GLONASS by using the positions located by other satellite navigation systems without increasing the computational load of the navigation terminal device, thereby fixing the integer ambiguity of GLONASS. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 A schematic diagram of the structure of a high-precision navigation system in one embodiment of the present invention;

[0011] Figure 2 A schematic diagram of the structure of a navigation terminal device in an embodiment of the present invention;

[0012] Figure 3 FIG. 4 is a flow chart of a high-precision navigation method in one embodiment of the present invention. DETAILED DESCRIPTION

[0013] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the specific implementation methods, structures, features and effects of the present invention are described in detail below in conjunction with the accompanying drawings and preferred embodiments.

[0014] In order to estimate the receiver pseudorange bias and receiver phase bias of GLONASS without increasing the computational load of the navigation terminal device, thereby fixing the integer ambiguity of GLONASS, the position of the navigation terminal device can be first obtained by positioning using other satellite navigation systems (such as Beidou, GPS or Galileo). It should be noted that the position of the navigation terminal device in this article refers to the position of the satellite positioning receiver of the navigation terminal device. Since the navigation terminal device and the satellite positioning receiver are integrated, they are no longer strictly distinguished.

[0015] Figure 1 FIG. 1 is a schematic diagram of the structure of a high-precision navigation system 100 of the present invention in one embodiment. The high-precision navigation system 100 includes a navigation terminal device 102 and a navigation server 106 .

[0016] There may be a plurality of navigation terminal devices 102. The navigation terminal device 102 may be installed on a motor vehicle to perform high-precision navigation for the driving navigation of the motor vehicle, especially unmanned driving. The navigation terminal device 102 may communicate with the navigation server 106 via a wireless network 104. The wireless network 104 may be a 2G, 3G, 4G or 5G network, or a combination of multiple networks, such as Bluetooth + 4G, Wifi + 4G, Wifi + Internet + 5G, etc. The present invention has no requirements for the specific type of the wireless network 104, as long as it can support stable communication.

[0017] Figure 2 FIG. 2 is a schematic diagram of the structure of a navigation terminal device 102 in one embodiment of the present invention. The navigation terminal device 102 includes a satellite positioning receiver 220 , a processing module 230 and a wireless transmission module 240 .

[0018] Figure 3 FIG. 1 is a flow chart of a high-precision navigation method in one embodiment of the present invention. Figure 3 Let's introduce the specific implementation scheme of the high-precision navigation method 400 in the present invention.

[0019] In step 410, the navigation terminal device obtains satellite observation data of multiple satellite navigation systems, wherein at least one satellite navigation system is based on code division multiple access (CDMA) technology, such as Beidou, GPS or Galileo, and at least one satellite navigation system is based on frequency division multiple access FDMA, such as GLONASS.

[0020] Specifically, the satellite positioning receiver 220 of the navigation terminal device obtains satellite observation data of multiple satellite navigation systems, and the satellite observation data includes pseudorange observation values, phase observation values ​​and Doppler observation values.

[0021] Step 420, using satellite observation data of a satellite navigation system based on code division multiple access technology to perform position positioning to obtain the position of the navigation terminal device.

[0022] The specific implementation of step 420 will be described in detail below.

[0023] Step 430, the obtained position of the navigation terminal device and the estimated receiver clock error are brought into the pseudorange observation value and phase observation value of the satellite navigation system based on the frequency division multiple access technology to calculate the receiver pseudorange residual and the receiver phase residual.

[0024] Specifically,

[0025] The receiver pseudorange residual and receiver phase residual are:

[0026]

[0027]

[0028] …

[0029]

[0030]

[0031]

[0032] …

[0033]

[0034] Among them, the subscripts "P" and "L" represent pseudorange observations and phase observations, the superscript "1-n" represents the satellite number, and Δv is the residual. is the receiver pseudorange bias of satellite i in the satellite navigation system based on frequency division multiple access technology, is the receiver phase deviation of satellite i in the satellite navigation system based on frequency division multiple access technology, is the random noise of pseudorange observation value and phase observation value.

[0035] Step 440, filtering and smoothing the calculated receiver pseudorange residual to obtain a converged receiver pseudorange deviation of the satellite navigation system based on frequency division multiple access technology.

[0036] Step 450, filtering and smoothing the calculated receiver phase residual to obtain a converged receiver phase deviation of the satellite navigation system based on frequency division multiple access technology.

[0037] It should be noted that when the reference station of the satellite navigation system based on the frequency division multiple access technology is changed, it is necessary to estimate the receiver pseudorange bias and receiver phase bias of the satellite navigation system based on the frequency division multiple access technology.

[0038] Step 460, the satellite observation data, the receiver pseudorange deviation, and the receiver phase deviation of the satellite navigation system based on the frequency division multiple access technology are fixed for integer ambiguity.

[0039] Specifically, the satellite observation data, receiver pseudorange bias, and receiver phase bias of the satellite navigation system based on frequency division multiple access technology are fixed for integer ambiguity, including:

[0040] Based on the receiver pseudorange bias and receiver phase bias of GLONASS, the single-difference pseudorange observation and phase observation of GLONASS are corrected to obtain the corrected double-difference pseudorange observation and phase observation of GLONASS:

[0041]

[0042]

[0043]

[0044] Sk, Sj are non-reference and reference satellites respectively,

[0045] Integer ambiguity fixation is performed based on the corrected GLONASS double-difference pseudorange observations and phase observations. Specifically, the position and ambiguity parameters can be estimated together according to formulas (13), (14) and (3) and (4) mentioned below, so as to perform ambiguity search and fixation.

[0046] Finally, the position of the navigation terminal device is obtained and updated again by using the satellite observation data of the satellite navigation system based on frequency division multiple access technology and fixed integer ambiguity for position positioning.

[0047] Due to the characteristics of FDMA of GLONASS system signals, its ambiguity fixation depends on the accurate estimation of receiver pseudorange bias and receiver phase bias. On the one hand, the hardware delay of low-cost GNSS chips themselves is unstable. On the other hand, when actually using the network RTK enhanced correction service, if the correction provider does not provide the receiver bias, the user cannot reliably fix the ambiguity. Based on the navigation cloud server, the present invention provides a method for estimating the pseudorange phase bias of a GLONASS receiver and fixing the integer ambiguity without increasing the terminal computing load, thereby improving the terminal ambiguity fixation rate and positioning accuracy.

[0048] Steps 430 and 460 may be performed by the navigation terminal device 102, and steps 440 and 450 may be performed by the navigation server, in which case intermediate data needs to be transmitted between the navigation terminal device 102 and the navigation server 106. Of course, in some embodiments, steps 430, 440 and 450, and step 460 may all be performed on the navigation terminal device 102.

[0049] The specific process of step 420 of performing position positioning using satellite observation data of a satellite navigation system based on code division multiple access technology will be described in detail below. In this process, unless otherwise specified, satellite observation data and related data refer to satellite observation data of a satellite navigation system based on code division multiple access technology, rather than satellite observation data of GLONASS. It specifically includes the following steps.

[0050] Step 320: The navigation terminal device calculates a floating-point solution and a variance of the satellite ambiguity based on the satellite observation data.

[0051] Specifically, the navigation terminal device 102 also obtains the pseudo-range observation value and phase observation value of the reference station. The reference station is a commonly used technology in satellite navigation. The reference station is a navigation station with a known position. The setting of the reference station is helpful for high-precision satellite positioning. The navigation terminal device 102 obtains the ambiguity floating-point solution through real-time dynamic positioning (RTK) floating-point solution based on the pseudo-range observation value and phase observation value of the reference station and the pseudo-range observation value and phase observation value obtained by the local navigation terminal device 102 (also referred to as the user station). and the variance and

[0052] The specific calculation process is as follows:

[0053] For short-range RTK (baseline less than 20 km), the single-difference GNSS observation model between the reference station and the user station is as follows:

[0054]

[0055]

[0056] In formulas (1) and (2), Δ represents the single difference between stations; P and L represent the GNSS pseudorange and phase observations, respectively; the subscripts i and s represent the frequency and satellite PRN number, respectively; p is the position; c is the speed of light; t is the clock error; r is the receiver; d is the pseudorange deviation; u is the phase deviation; N is the ambiguity. ε is the observation error.

[0057] Select reference satellites to form double difference observations between non-reference satellites and reference satellites, eliminating receiver clock errors and pseudorange phase deviations.

[0058]

[0059]

[0060] Represents the intersatellite single difference.

[0061] For GPS, GLONASS, GALILLEO and BEIDOU systems, the estimated state parameters are the position and double-difference ambiguity corrections:

[0062]

[0063] Estimate the ambiguity float solution and variance via least squares or Kalman filtering.

[0064] Step 330: the wireless transmission module 240 of the navigation terminal device 102 may obtain the ambiguity floating point solution. and the variance and Uploaded to the navigation server 106 via the network 104 .

[0065] Step 340: the navigation terminal device 102 solves the ambiguity floating point solution and the variance and The first set of integer ambiguities and variances are calculated using the first integer ambiguity search and verification strategy, wherein the first set of integer ambiguities and variances includes multiple integer ambiguities and variances, and each integer ambiguity and variance corresponds to a frequency band of a satellite.

[0066] Step 350: the navigation server 106 solves the ambiguity floating point solution and the variance and The second set of integer ambiguities and variances are calculated using the second integer ambiguity search and verification strategy, wherein the second set of integer ambiguities and variances includes multiple integer ambiguities and variances, and each integer ambiguity and variance corresponds to a frequency band of a satellite.

[0067] It should be noted that step 340 and step 350 are performed synchronously by the navigation terminal device 102 and the navigation server 106 respectively, and there is no order relationship between the two. The computational amount required for the first integer ambiguity search and verification strategy is less than the computational amount required for the second integer ambiguity search and verification strategy.

[0068] Preferably, the first full-cycle ambiguity search and verification strategy includes:

[0069] Set the maximum fixed ambiguity number and the minimum tracking epoch number and the maximum ambiguity variance

[0070] The ambiguities and variances that meet the conditions are used to determine the optimal group of candidate integer ambiguities and variances and the suboptimal group of candidate integer ambiguities and variances in the search space by using the least squares criterion;

[0071] According to the optimal group of candidate integer ambiguities and variances and the suboptimal group of candidate integer ambiguities and variances, it is determined whether to fix the first group of integer ambiguities and variances based on the optimal group of candidate integer ambiguities and variances (verification step).

[0072] The preferred second integer ambiguity search and verification strategy includes:

[0073] Set the minimum number of tracking epochs and the maximum ambiguity variance

[0074] The qualified ambiguities and variances are used in the search space by using the least squares criterion to determine m groups of candidate integer ambiguities and variances, where m is greater than or equal to 3;

[0075] The second set of integer ambiguities and variances are calculated based on the m sets of candidate integer ambiguities and variances (verification step).

[0076] Since the first integer ambiguity search and verification strategy sets a maximum fixed ambiguity number, while the second integer ambiguity search and verification strategy does not set a maximum fixed ambiguity number, the computational complexity of the first integer ambiguity search and verification strategy can be reduced. In addition, the verification step in the first integer ambiguity search and verification strategy saves more computational complexity than the verification step in the second integer ambiguity search and verification strategy.

[0077] In one embodiment, the first integer ambiguity search and verification strategy includes:

[0078] The ambiguity floating point solution and variance are transformed into Z space to remove the correlation between ambiguities, and the ambiguity floating point solution and variance in Z space are obtained, that is, and

[0079] Set the maximum fixed blur Minimum number of tracking epochs and the maximum ambiguity variance Discard those that do not meet the minimum tracking epoch number and the maximum ambiguity variance If the number of remaining ambiguities exceeds The fuzziness with larger variance is discarded;

[0080] The ambiguities and variances that meet the conditions are determined in the search space by the least squares criterion to determine the optimal group of candidate integer ambiguities and variances. and And the candidate integer ambiguity and variance of the suboptimal group and

[0081] Calculate the corresponding residual squared sum ratio value R,

[0082]

[0083] If R is greater than a predetermined threshold, the optimal group of candidate integer ambiguities and variances are fixed; otherwise, after removing the ambiguity with the largest variance, the remaining ambiguities and variances are continued to be determined in the search space by the least squares criterion to obtain the next optimal group of candidate integer ambiguities and variances. and And the candidate integer ambiguity and variance of the suboptimal group and

[0084] The fixed satellite integer modulus ambiguity and variance in Z space are converted to normal space to obtain the first set of integer ambiguity and variance, that is, and

[0085] In one embodiment, the second integer ambiguity search and verification strategy includes:

[0086] The ambiguity floating point solution and variance are transformed into Z space to remove the correlation between ambiguities. The ambiguity floating point solution and variance in Z space are obtained, that is, and

[0087] Set the minimum number of tracking epochs and the maximum ambiguity variance Need to discard those that do not meet the minimum number of tracking epochs and the maximum ambiguity variance The fuzziness and variance of

[0088] The ambiguities and variances that meet the conditions are determined in the search space by the least squares criterion to obtain the optimal m groups of candidate integer ambiguities and variances. and

[0089] Calculate the chi value of each group of candidate integer ambiguity. The chi value of the kth group of candidate integer ambiguity is calculated as follows

[0090]

[0091] Get the chi corresponding to the optimal combination of fuzziness b (i.e. the smallest chi).

[0092] The weight of each group of candidate integer ambiguities is calculated according to the chi value:

[0093]

[0094]

[0095] Calculate the weighted average z of the integer ambiguity and variance w and Q w :

[0096] and

[0097] The weighted average integer ambiguity and variance z in Z space w and Q w Converting to normal space gives the second set of integer ambiguities and variances, namely: and

[0098] In step 360, the navigation terminal device 102 selects a plurality of integer ambiguities and variances from the first set of integer ambiguities and variances and the second set of integer ambiguities and variances to form a selected set of integer ambiguities and variances. Preferably, a plurality of more reliable integer ambiguities and variances are selected to form the selected set of integer ambiguities and variances.

[0099] In one embodiment, for There is a fixed integer ambiguity in If there is no fixed integer ambiguity in The fixed integer ambiguity in can be set to 1.0-e8 corresponding to the variance, but it can also be set to other values, such as zero;

[0100] for Neutralization There is a fixed integer ambiguity in both. If the difference between the two is less than a predetermined threshold, such as 0.01 week, it is considered to be fixed correctly and the or The fixed integer ambiguity in , otherwise, it is considered to be fixed error, and the initial floating point ambiguity and variance are used;

[0101] for Neutralization The integer ambiguity is not fixed in Neutralization In the example, floating point ambiguities and variances are used as unfixed integer ambiguities and variances, so we use Floating point blurriness and variance in ;

[0102] for The fixed integer ambiguity in There is no fixed integer ambiguity in The fixed integer ambiguities and variances in .

[0103] In step 370, the navigation terminal device 102 may perform positioning based on the integer ambiguity and variance of the filtered group and the satellite observation data, thereby obtaining the precise position of the navigation terminal device.

[0104] In this part of the invention, the ambiguity fixation and verification method is optimized for low-cost navigation terminal devices to ensure high fixation rate and reliability of ambiguity fixation. Figure 3 As shown, steps 310, 320, 330, 340, 360, and 370 are implemented on the navigation terminal device, and step 350 is implemented on the navigation server. The high-precision navigation system in the present invention can be run on a low-cost (e.g., $50) navigation terminal device, and only requires a small amount of calculation to support fast fixation of integer ambiguity, thereby resolving the contradiction between the high fixation rate of integer ambiguity and the limited memory and computing power of the low-cost navigation terminal device, as well as the contradiction between the reliability of integer ambiguity verification and the limited memory and computing power of the low-cost navigation terminal device.

[0105] For the relevant implementation details of the high-precision navigation method, please refer to the high-precision navigation system mentioned above, which will not be repeated here.

[0106] In this document, the terms "comprises," "comprising," or any other variations thereof, are intended to cover a non-exclusive inclusion of elements other than those listed and may also include additional elements not expressly listed.

[0107] In this document, the directional words such as front, back, top, and bottom are defined by the positions of the components in the drawings and the positions of the components relative to each other, and are only for the sake of clarity and convenience in expressing the technical solution. It should be understood that the use of the directional words should not limit the scope of protection claimed in this application.

[0108] In the absence of conflict, the above embodiments and features in the embodiments may be combined with each other.

[0109] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A high-precision navigation system, characterized in that: It includes: Navigation server; A navigation terminal device, configured to: obtain satellite observation data of multiple satellite navigation systems, wherein the satellite observation data includes pseudorange observation values, phase observation values ​​and Doppler observation values, at least one satellite navigation system is based on code division multiple access technology, and at least one satellite navigation system is based on frequency division multiple access technology; The position of the navigation terminal device is obtained by using the satellite observation data of the satellite navigation system based on code division multiple access technology to locate the position; Then, the high-precision navigation system: brings the obtained position of the navigation terminal device and the estimated receiver clock error into the pseudo-range observation equation and phase observation equation of the satellite navigation system based on frequency division multiple access technology to calculate the receiver pseudo-range residual and the receiver phase residual; The calculated receiver pseudorange residual is filtered and smoothed to obtain the converged receiver pseudorange deviation of the satellite navigation system based on frequency division multiple access technology; the calculated receiver phase residual is filtered and smoothed to obtain the converged receiver phase deviation of the satellite navigation system based on frequency division multiple access technology; the satellite observation data, receiver pseudorange deviation and receiver phase deviation of the satellite navigation system based on frequency division multiple access technology are fixed with integer ambiguity.

2. The high-precision navigation system according to claim 1, characterized in that: Positioning is performed using satellite observation data from a satellite navigation system based on code division multiple access technology, including: Calculate the satellite ambiguity floating point solution and variance based on the satellite observation data; A first set of integer ambiguities and variances are calculated based on the obtained ambiguity floating point solutions and variances using a first integer ambiguity search and verification strategy, wherein the first set of integer ambiguities and variances includes a plurality of integer ambiguities and variances; The obtained ambiguity floating point solution and variance are uploaded to the navigation server via the network; receiving, through the network, a second set of integer ambiguities and variances of the navigation server, wherein the second set of integer ambiguities and variances are calculated by the navigation server according to the obtained ambiguity floating point solutions and variances using a second integer ambiguity search and verification strategy, the second set of integer ambiguities and variances includes a plurality of integer ambiguities and variances, and the amount of calculation required by the first integer ambiguity search and verification strategy is less than the amount of calculation required by the second integer ambiguity search and verification strategy; Selecting a plurality of integer ambiguities and variances from the first group of integer ambiguities and variances and the second group of integer ambiguities and variances to form a selected group of integer ambiguities and variances; Performing position determination based on the filtered set of integer ambiguities and variances and the satellite observation data; Among them, each integer ambiguity and variance corresponds to a frequency band of a satellite. When the base station of the satellite navigation system based on frequency division multiple access technology changes, the pseudorange deviation and phase deviation of the satellite navigation system based on frequency division multiple access technology are estimated. It also includes: using satellite observation data of a satellite navigation system based on frequency division multiple access technology and fixed integer ambiguity to perform position positioning to obtain and update the position of the navigation terminal device again.

3. The high-precision navigation system according to claim 2, characterized in that: The satellite observation data includes pseudorange observation values, phase observation values ​​and Doppler observation values. The navigation terminal device obtains the pseudorange observation values ​​and phase observation values ​​of the reference station. The ambiguity floating point solution is obtained by real-time dynamic positioning floating point solution calculation based on the pseudorange observation values ​​and phase observation values ​​of the reference station and the pseudorange observation values ​​and phase observation values ​​obtained locally by the navigation terminal device. and variance 4. The high-precision navigation system according to claim 2, characterized in that: The first full week fuzzy search and verification strategy includes: Set the maximum fixed ambiguity number and the minimum tracking epoch number and the maximum ambiguity variance The ambiguities and variances that meet the conditions are used to determine the optimal group of candidate integer ambiguities and variances and the suboptimal group of candidate integer ambiguities and variances in the search space by using the least squares criterion; According to the optimal group of candidate integer ambiguities and variances and the suboptimal group of candidate integer ambiguities and variances, it is determined whether to fix the first group of integer ambiguities and variances based on the optimal group of candidate integer ambiguities and variances.

5. The high-precision navigation system according to claim 2, characterized in that: The first full week fuzzy search and verification strategy includes: The ambiguity floating point solution and variance are transformed into Z space to remove the correlation between ambiguities, and the ambiguity floating point solution and variance in Z space are obtained, that is, and Set the maximum fixed blur Minimum number of tracking epochs and the maximum ambiguity variance Discard those that do not meet the minimum tracking epoch number and the maximum ambiguity variance If the number of remaining ambiguities exceeds The fuzziness with larger variance is discarded; The ambiguities and variances that meet the conditions are determined in the search space by the least squares criterion to determine the optimal group of candidate integer ambiguities and variances. and And the candidate integer ambiguity and variance of the suboptimal group and Calculate the corresponding residual squared sum ratio value R, If R is greater than a predetermined threshold, the optimal group of candidate integer ambiguities and variances are fixed; otherwise, after removing the ambiguity with the largest variance, the remaining ambiguities and variances are continued to be determined in the search space by the least squares criterion to obtain the next optimal group of candidate integer ambiguities and variances. and And the candidate integer ambiguity and variance of the suboptimal group and The fixed satellite integer modulus ambiguity and variance in Z space are converted to normal space to obtain the first set of integer ambiguity and variance, that is, and 6. The high-precision navigation system according to claim 2, characterized in that: The second full week fuzzy search and verification strategy includes: Set the minimum number of tracking epochs and the maximum ambiguity variance The qualified ambiguities and variances are used in the search space by using the least squares criterion to determine m groups of candidate integer ambiguities and variances, where m is greater than or equal to 3; The second set of integer ambiguities and variances are calculated based on the m sets of candidate integer ambiguities and variances.

7. The high-precision navigation system according to claim 2, characterized in that: The second full week fuzzy search and verification strategy includes: The ambiguity floating point solution and variance are transformed into Z space to remove the correlation between ambiguities, and the ambiguity floating point solution and variance in Z space are obtained, that is, and Set the minimum number of tracking epochs and the maximum ambiguity variance Need to discard those that do not meet the minimum tracking epoch number and the maximum ambiguity variance The fuzziness and variance of The ambiguities and variances that meet the conditions are determined in the search space by the least squares criterion to obtain the optimal m groups of candidate integer ambiguities and variances. and Calculate the chi value of each set of candidate integer ambiguities and obtain the chi value corresponding to the optimal combination of ambiguities. b , i.e. the smallest chi, the kth group of candidate integer ambiguity chi k The calculation is as follows The weight of each group of candidate integer ambiguities is calculated according to the chi value: Calculate the weighted average z of the integer ambiguity and variance w and Q w : and The weighted average integer ambiguity and variance z in Z space w and Q w Converting to normal space gives the second set of integer ambiguities and variances, namely: and 8. The high-precision navigation system according to claim 2, characterized in that: From the first set of integer ambiguities and variances and and the second set of integer ambiguities and variances and The multiple integer ambiguities and variances are selected to form a selection group. The integer ambiguities and variances include: for There is a fixed integer ambiguity in If there is no fixed integer ambiguity in The fixed integer ambiguity in ; for Neutralization There are fixed integer ambiguities in both. If the difference between the two is less than a predetermined threshold, it is considered that the fix is ​​correct and the or The fixed integer ambiguity in , otherwise it is considered fixed error, and the initial floating point ambiguity and variance are used; for Neutralization The integer ambiguity is not fixed in Floating point blurriness and variance in ; for The fixed integer ambiguity in There is no fixed integer ambiguity in The fixed integer ambiguities and variances in .

9. The high-precision navigation system according to claim 1, characterized in that: The receiver pseudorange residual and receiver phase residual are: Among them, the subscripts "P" and "L" represent pseudorange observations and phase observations, the superscript "1-n" represents the satellite number, and Δv is the residual. is the receiver pseudorange bias of satellite i in the satellite navigation system based on frequency division multiple access technology, is the receiver phase deviation of satellite i in the satellite navigation system based on frequency division multiple access technology, is the random noise of pseudorange observation value and phase observation value, i=0~n.

10. The high-precision navigation system according to claim 1, characterized in that: The satellite navigation system based on frequency division multiple access technology is GLONASS. The satellite observation data, receiver pseudorange bias, and receiver phase bias of the satellite navigation system based on frequency division multiple access technology are used to fix the integer ambiguity, including: Based on the receiver pseudorange bias and receiver phase bias of GLONASS, the single-difference pseudorange observation value and phase observation value of GLONASS are corrected to obtain the corrected double-difference pseudorange observation value and phase observation value of GLONASS: Sk, Sj are non-reference and reference satellites respectively, Integer ambiguity fixation is performed based on the corrected GLONASS double-difference pseudorange observations and phase observations.

11. A high-precision navigation method, characterized in that: It includes: The navigation terminal device obtains satellite observation data of multiple satellite navigation systems, wherein the satellite observation data includes pseudorange observation values, phase observation values ​​and Doppler observation values, at least one satellite navigation system is based on code division multiple access technology, and at least one satellite navigation system is based on frequency division multiple access technology; The position of the navigation terminal device is obtained by using the satellite observation data of the satellite navigation system based on code division multiple access technology to locate the position; The obtained position of the navigation terminal device and the estimated receiver clock error are introduced into the pseudo-range observation equation and phase observation equation of the satellite navigation system based on frequency division multiple access technology to calculate the receiver pseudo-range residual and receiver phase residual; The calculated receiver pseudorange residual is filtered and smoothed to obtain the converged receiver pseudorange deviation of the satellite navigation system based on frequency division multiple access technology; The calculated receiver phase residual is filtered and smoothed to obtain the converged receiver phase deviation of the satellite navigation system based on frequency division multiple access technology; The satellite observation data, receiver pseudorange bias and receiver phase bias of the satellite navigation system based on frequency division multiple access technology are fixed for integer ambiguity.

12. The high-precision navigation method according to claim 11, characterized in that: Positioning is performed using satellite observation data from a satellite navigation system based on code division multiple access technology, including: Calculate the satellite ambiguity floating point solution and variance based on the satellite observation data; A first set of integer ambiguities and variances are calculated based on the obtained ambiguity floating point solutions and variances using a first integer ambiguity search and verification strategy, wherein the first set of integer ambiguities and variances includes a plurality of integer ambiguities and variances; The obtained ambiguity floating point solution and variance are uploaded to the navigation server via the network; receiving, through the network, a second set of integer ambiguities and variances of the navigation server, wherein the second set of integer ambiguities and variances are calculated by the navigation server according to the obtained ambiguity floating point solutions and variances using a second integer ambiguity search and verification strategy, the second set of integer ambiguities and variances includes a plurality of integer ambiguities and variances, and the amount of calculation required by the first integer ambiguity search and verification strategy is less than the amount of calculation required by the second integer ambiguity search and verification strategy; Selecting a plurality of integer ambiguities and variances from the first group of integer ambiguities and variances and the second group of integer ambiguities and variances to form a selected group of integer ambiguities and variances; Performing position determination based on the filtered set of integer ambiguities and variances and the satellite observation data; Among them, each integer ambiguity and variance corresponds to a frequency band of a satellite. When the base station of the satellite navigation system based on frequency division multiple access technology changes, the pseudorange deviation and phase deviation of the satellite navigation system based on frequency division multiple access technology are estimated. It also includes: using satellite observation data of a satellite navigation system based on frequency division multiple access technology and fixed integer ambiguity to perform position positioning to obtain and update the position of the navigation terminal device again.

13. The high-precision navigation method according to claim 12, characterized in that: The satellite observation data includes pseudorange observation values, phase observation values ​​and Doppler observation values. The navigation terminal device obtains the pseudorange observation values ​​and phase observation values ​​of the reference station. The ambiguity floating point solution is obtained by real-time dynamic positioning floating point solution calculation based on the pseudorange observation values ​​and phase observation values ​​of the reference station and the pseudorange observation values ​​and phase observation values ​​obtained locally by the navigation terminal device. and variance 14. The high-precision navigation method according to claim 12, characterized in that: The first full week fuzzy search and verification strategy includes: Set the maximum fixed ambiguity number and the minimum tracking epoch number and the maximum ambiguity variance The ambiguities and variances that meet the conditions are used to determine the optimal group of candidate integer ambiguities and variances and the suboptimal group of candidate integer ambiguities and variances in the search space by using the least squares criterion; According to the optimal group of candidate integer ambiguities and variances and the suboptimal group of candidate integer ambiguities and variances, it is determined whether to fix the first group of integer ambiguities and variances based on the optimal group of candidate integer ambiguities and variances.

15. The high-precision navigation method according to claim 12, characterized in that: The first full week fuzzy search and verification strategy includes: The ambiguity floating point solution and variance are transformed into Z space to remove the correlation between ambiguities, and the ambiguity floating point solution and variance in Z space are obtained, that is, and Set the maximum fixed blur Minimum number of tracking epochs and the maximum ambiguity variance Discard those that do not meet the minimum tracking epoch number and the maximum ambiguity variance If the number of remaining ambiguities exceeds The fuzziness with larger variance is discarded; The ambiguities and variances that meet the conditions are determined in the search space by the least squares criterion to determine the optimal group of candidate integer ambiguities and variances. and And the candidate integer ambiguity and variance of the suboptimal group and Calculate the corresponding residual sum of squares ratio value R, If R is greater than a predetermined threshold, the optimal group of candidate integer ambiguities and variances are fixed; otherwise, after removing the ambiguity with the largest variance, the remaining ambiguities and variances are continued to be determined in the search space by the least squares criterion to obtain the next optimal group of candidate integer ambiguities and variances. and And the candidate integer ambiguity and variance of the suboptimal group and The fixed satellite integer modulus ambiguity and variance in Z space are converted to normal space to obtain the first set of integer ambiguity and variance, that is, and 16. The high-precision navigation method according to claim 12, characterized in that: The second full week fuzzy search and verification strategy includes: Set the minimum number of tracking epochs and the maximum ambiguity variance The qualified ambiguities and variances are used in the search space by using the least squares criterion to determine m groups of candidate integer ambiguities and variances, where m is greater than or equal to 3; The second set of integer ambiguities and variances are calculated based on the m sets of candidate integer ambiguities and variances.

17. The high-precision navigation method according to claim 12, characterized in that: The second full week fuzzy search and verification strategy includes: The ambiguity floating point solution and variance are transformed into Z space to remove the correlation between ambiguities, and the ambiguity floating point solution and variance in Z space are obtained, that is, and Set the minimum number of tracking epochs and the maximum ambiguity variance Need to discard those that do not meet the minimum tracking epoch number and the maximum ambiguity variance The fuzziness and variance of The ambiguities and variances that meet the conditions are determined in the search space by the least squares criterion to obtain the optimal m groups of candidate integer ambiguities and variances. and Calculate the chi value of each set of candidate integer ambiguities and obtain the chi value corresponding to the optimal combination of ambiguities. b , i.e. the smallest chi, the kth group of candidate integer ambiguity chi k The calculation is as follows The weight of each group of candidate integer ambiguities is calculated according to the chi value: Calculate the weighted average z of the integer ambiguity and variance w and Q w : and The weighted average integer ambiguity and variance z in Z space w and Q w Converting to normal space gives the second set of integer ambiguities and variances, namely: and 18. The high-precision navigation method according to claim 12, characterized in that: From the first set of integer ambiguities and variances and and the second set of integer ambiguities and variances and The multiple integer ambiguities and variances are selected to form a selection group. The integer ambiguities and variances include: for There is a fixed integer ambiguity in If there is no fixed integer ambiguity in The fixed integer ambiguity in ; for Neutralization There are fixed integer ambiguities in both. If the difference between the two is less than a predetermined threshold, it is considered that the fix is ​​correct and the or The fixed integer ambiguity in , otherwise it is considered fixed error, and the initial floating point ambiguity and variance are used; for Neutralization The integer ambiguity is not fixed in Floating point blurriness and variance in ; for The fixed integer ambiguity in There is no fixed integer ambiguity in The fixed integer ambiguities and variances in .

19. The high-precision navigation method according to claim 11, characterized in that: The receiver pseudorange residual and receiver phase residual are: Among them, the subscripts "P" and "L" represent pseudorange observations and phase observations, the superscript "1-n" represents the satellite number, and Δv is the residual. is the receiver pseudorange bias of satellite i in the satellite navigation system based on frequency division multiple access technology, is the receiver phase deviation of satellite i in the satellite navigation system based on frequency division multiple access technology, is the random noise of pseudorange observation value and phase observation value, i=0~n.

20. The high-precision navigation method according to claim 11, characterized in that: The satellite navigation system based on frequency division multiple access technology is GLONASS. The satellite observation data, receiver pseudorange bias, and receiver phase bias of the satellite navigation system based on frequency division multiple access technology are used to fix the integer ambiguity, including: Based on the receiver pseudorange bias and receiver phase bias of GLONASS, the single-difference pseudorange observation value and phase observation value of GLONASS are corrected to obtain the corrected double-difference pseudorange observation value and phase observation value of GLONASS: Sk, Sj are non-reference and reference satellites respectively, Integer ambiguity fixation is performed based on the corrected GLONASS double-difference pseudorange observations and phase observations.

21. A navigation terminal device, characterized in that: It includes a satellite positioning receiver, a processing module, and a wireless transmission module. The navigation terminal device is configured as follows: Obtaining satellite observation data of a plurality of satellite navigation systems, wherein the satellite observation data comprises pseudorange observation values, phase observation values ​​and Doppler observation values, at least one satellite navigation system is based on code division multiple access technology, and at least one satellite navigation system is based on frequency division multiple access technology; The position of the navigation terminal device is obtained by using the satellite observation data of the satellite navigation system based on code division multiple access technology to locate the position; The obtained position of the navigation terminal device and the estimated receiver clock error are introduced into the pseudo-range observation equation and phase observation equation of the satellite navigation system based on frequency division multiple access technology to calculate the receiver pseudo-range residual and receiver phase residual; The satellite observation data, receiver pseudorange bias, and receiver phase bias of the satellite navigation system based on frequency division multiple access technology are used to fix the integer ambiguity. The receiver pseudorange deviation of the satellite navigation system based on frequency division multiple access technology is obtained by filtering and smoothing the calculated receiver pseudorange residual, and the receiver phase deviation of the satellite navigation system based on frequency division multiple access technology is obtained by filtering and smoothing the calculated receiver phase residual.

22. The navigation terminal device according to claim 21, characterized in that: Positioning is performed using satellite observation data from a satellite navigation system based on code division multiple access technology, including: Calculate the satellite ambiguity floating point solution and variance based on the satellite observation data; A first set of integer ambiguities and variances are calculated based on the obtained ambiguity floating point solutions and variances using a first integer ambiguity search and verification strategy, wherein the first set of integer ambiguities and variances includes a plurality of integer ambiguities and variances; The obtained ambiguity floating point solution and variance are uploaded to the navigation server via the network; receiving, through the network, a second set of integer ambiguities and variances of the navigation server, wherein the second set of integer ambiguities and variances are calculated by the navigation server according to the obtained ambiguity floating point solutions and variances using a second integer ambiguity search and verification strategy, the second set of integer ambiguities and variances includes a plurality of integer ambiguities and variances, and the amount of calculation required by the first integer ambiguity search and verification strategy is less than the amount of calculation required by the second integer ambiguity search and verification strategy; Selecting a plurality of integer ambiguities and variances from the first group of integer ambiguities and variances and the second group of integer ambiguities and variances to form a selected group of integer ambiguities and variances; Performing position determination based on the filtered set of integer ambiguities and variances and the satellite observation data; Among them, each integer ambiguity and variance corresponds to a frequency band of a satellite. When the base station of the satellite navigation system based on frequency division multiple access technology changes, the pseudorange deviation and phase deviation of the satellite navigation system based on frequency division multiple access technology are estimated. It also includes: using satellite observation data of a satellite navigation system based on frequency division multiple access technology and fixed integer ambiguity to perform position positioning to obtain and update the position of the navigation terminal device again.

23. The navigation terminal device according to claim 21, characterized in that: The satellite navigation system based on frequency division multiple access technology is GLONASS. The satellite observation data, receiver pseudorange bias, and receiver phase bias of the satellite navigation system based on frequency division multiple access technology are used to fix the integer ambiguity, including: Based on the receiver pseudorange bias and receiver phase bias of GLONASS, the single-difference pseudorange observation and phase observation of GLONASS are corrected to obtain the corrected double-difference pseudorange observation and phase observation of GLONASS: Sk, Sj are non-reference and reference satellites respectively, Integer ambiguity fixation is performed based on the corrected GLONASS double-difference pseudorange observations and phase observations.

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