A method, a terminal and a computer storage medium for generating a GNSS phase deviation product

Abstract

The present application relates to a method for generating GNSS phase bias products, a terminal, and a computer storage medium. The method for generating includes: obtaining original satellite observation data, where the original satellite observation data includes carrier phase observations and pseudorange observations of different frequencies; generating a plurality of dual-frequency phase bias products based on the carrier phase observations and pseudorange observations of different frequencies; and generating a plurality of single-frequency phase bias products based on the plurality of dual-frequency phase bias products. The method for generating GNSS phase bias products, the terminal, and the computer storage medium provided by the present application fuse a plurality of dual-frequency phase bias products by unifying the reference frequency to generate multi-frequency phase bias products, simplify the generation process of multi-frequency phase bias products, and are more conducive to commercial applications.

Description

Technical Field

[0001] This application belongs to the technical field of satellite navigation, and particularly relates to a method for generating a GNSS phase deviation product, a terminal, and a computer storage medium. Background Art

[0002] As a high-precision positioning technology of the Global Navigation Satellite System (GNSS), the Precise Point Positioning (PPP) technology uses the precise satellite orbits and precise satellite clock offset products released by the International GNSS Service (IGS) to accurately correct various errors, and performs position calculation on a single GNSS user receiver, so as to achieve high-precision positioning of GNSS users. At present, there are mainly two difficulties restricting the application of PPP positioning technology: the ambiguity does not have an integer property and a fixed solution cannot be directly obtained; the initialization time is relatively long. In order to make up for the problems existing in the PPP positioning technology, the PrecisePoint Positioning-Real Time Kinematic (abbreviated as PPP-RTK) has emerged and has become a popular technology in the current high-precision market with its advantages of high precision and fast convergence.

[0003] The PPP-RTK product mainly consists of six parts: satellite precise orbit product, satellite precise clock offset product, satellite pseudorange deviation product, satellite phase deviation product, tropospheric delay product, and ionospheric delay product; among them, the products related to frequency are mainly the satellite pseudorange deviation product and the satellite phase deviation product. The satellite pseudorange deviation product is only related to the code deviation, and the technologies in all aspects are relatively mature. At present, different GNSS chips on the market support different frequencies, resulting in different demands for phase deviation products from PPP-RTK users. How to meet the needs of all users poses a great challenge to the PPP-RTK service. On the one hand, in order to simplify the algorithm and reduce the complexity of generating satellite phase deviation products, PPP-RTK service providers only provide satellite phase deviation products with fixed and common frequencies, resulting in restrictions on users when choosing GNSS chips and reducing the flexibility of GNSS chip selection; on the other hand, the satellite phase deviation product is related to whether the PPP-RTK product can achieve a fixed solution. In order to meet the needs of important customers, PPP-RTK service providers can only adjust the frequency of the satellite phase deviation product to be consistent with the customer's needs. Obviously, neither of the above two compromise methods is a long-term solution. How to solve the multi-frequency phase deviation product has become an urgent problem to be solved.

[0004] At present, the multi-frequency phase bias products are mainly solved by the combination of ultra-wide lane, wide lane and narrow lane. Taking the GPS system as an example, the three frequencies of the GPS system are L1, L2 and L5 respectively; when calculating the triple-frequency phase bias products, first, perform ultra-wide lane combination to solve the ultra-wide lane phase bias products; second, perform wide lane combination to solve the wide lane phase bias products; finally, solve the narrow lane phase bias products. However, when using this method, users need to fix the ambiguity and solve the phase bias products in the fixed order of ultra-wide lane, wide lane and narrow lane, and the implementation process is relatively complex, which is not conducive to commercial applications. Summary of the Invention

[0005] In view of the above technical problems, the present application provides a method, a terminal and a computer storage medium for generating GNSS phase bias products, so as to simplify the generation process of multi-frequency phase bias products and facilitate commercial applications.

[0006] The present application provides a method for generating GNSS phase bias products, including:

[0007] Obtain satellite raw observation data, where the satellite raw observation data includes carrier phase observations and pseudorange observations of different frequencies;

[0008] Generate a plurality of dual-frequency phase bias products according to the carrier phase observations and pseudorange observations of different frequencies;

[0009] Generate a plurality of single-frequency phase bias products according to the plurality of dual-frequency phase bias products.

[0010] In one embodiment, before the step of generating a plurality of dual-frequency phase bias products according to the carrier phase observations and pseudorange observations of different frequencies, it includes:

[0011] Select one frequency from the different frequencies as the reference frequency;

[0012] Combine each non-reference frequency in the different frequencies with the reference frequency respectively to determine a plurality of frequency groups.

[0013] In one embodiment, the step of generating a plurality of dual-frequency phase bias products according to the carrier phase observations and pseudorange observations of different frequencies includes:

[0014] Perform ionospheric-free combination on the carrier phase observations of the non-reference frequencies in each frequency group and the carrier phase observations of the reference frequency to obtain the ionospheric-free combination of each frequency group;

[0015] Perform ambiguity fixing on the ionospheric-free combination of each frequency group to determine the ionospheric-free combination ambiguity of each frequency group.

[0016] In one embodiment, the step of generating a plurality of dual-frequency phase deviation products according to the carrier phase observations and pseudo-range observations of different frequencies further includes:

[0017] Perform MW combination on the carrier phase observations and pseudo-range observations of the non-reference frequencies and the carrier phase observations and pseudo-range observations of the reference frequency in each frequency group to obtain the MW combination of each frequency group;

[0018] Perform ambiguity fixing on the MW combination of each frequency group to determine the wide-lane ambiguity of each frequency group;

[0019] Determine the wide-lane phase deviation value of each frequency group according to the wide-lane ambiguity of each frequency group.

[0020] In one embodiment, the step of generating a plurality of dual-frequency phase deviation products according to the carrier phase observations and pseudo-range observations of different frequencies further includes:

[0021] Determine the narrow-lane ambiguity of each frequency group according to the ionosphere-free combination ambiguity of each frequency group and the wide-lane ambiguity of each frequency group;

[0022] Determine the narrow-lane phase deviation value of each frequency group according to the narrow-lane ambiguity of each frequency group.

[0023] In one embodiment, the step of generating a plurality of single-frequency phase deviation products according to the plurality of dual-frequency phase deviation products includes:

[0024] Calculate a plurality of single-frequency phase deviation values according to the following formula:

[0025]

[0026] Wherein, and respectively represent the wide-lane phase deviation value and the narrow-lane phase deviation value of the first frequency group; and respectively represent the wide-lane phase deviation value and the narrow-lane phase deviation value of the second frequency group; k represents the satellite number; α1 if 、β1 if respectively represent the ionosphere-free combination coefficients of the first frequency group; α2 if 、β2 if respectively represent the ionosphere-free combination coefficients of the second frequency group; α1 WL 、β1 WL 、α1 NL 、β1 NL respectively represent the MW combination coefficients of the first frequency group; α2 WL 、β2 WL 、α2 NL 、β2 NLrespectively represent the MW combination coefficients of the second frequency group; represent the pseudorange deviation value of the reference frequencies of the first frequency group and the second frequency group; represent the pseudorange deviation value of the non-reference frequencies in the first frequency group; represent the pseudorange deviation value of the non-reference frequencies in the second frequency group; represent the phase deviation value of the reference frequencies of the first frequency group and the second frequency group; represent the phase deviation value of the non-reference frequencies in the first frequency group; represent the phase deviation value of the non-reference frequencies in the second frequency group.

[0027] In one embodiment, the step of generating a plurality of single-frequency phase deviation products according to the plurality of dual-frequency phase deviation products includes:

[0028] Calculate the ionosphere-free combination coefficients of the first frequency group according to the following formula:

[0029]

[0030] Calculate the ionosphere-free combination coefficients of the second frequency group according to the following formula:

[0031]

[0032] where f0, f1, and f2 respectively represent the frequency values of the reference frequencies of the first frequency group and the second frequency group, the non-reference frequencies in the first frequency group, and the non-reference frequencies in the second frequency group.

[0033] In one embodiment, the step of generating a plurality of single-frequency phase deviation products according to the plurality of dual-frequency phase deviation products further includes:

[0034] Calculate the MW combination coefficients of the first frequency group according to the following formula:

[0035]

[0036]

[0037] Calculate the MW combination coefficients of the second frequency group according to the following formula:

[0038]

[0039]

[0040] where f0, f1, and f2 respectively represent the frequency values of the reference frequencies of the first frequency group and the second frequency group, the non-reference frequencies in the first frequency group, and the non-reference frequencies in the second frequency group.

[0041] The present application also provides a terminal, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the above-mentioned generation method are implemented.

[0042] The present application also provides a computer storage medium, which stores a computer program. When the computer program is executed by a processor, the steps of the above-mentioned generation method are implemented.

[0043] A method for generating a GNSS phase deviation product, a terminal, and a computer storage medium provided by the present application fuse multiple dual-frequency phase deviation products by unifying a reference frequency to generate a multi-frequency phase deviation product, simplifying the generation process of the multi-frequency phase deviation product and being more conducive to commercial application. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 is a schematic flowchart of the generation method provided in Embodiment 1 of the present application;

[0045] Figure 2 is a schematic structural diagram of the terminal provided in Embodiment 2 of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0046] The technical solution of the present application will be further described in detail below with reference to the accompanying drawings of the specification and specific embodiments. Unless otherwise defined, all technical and scientific terms used in the present application have the same meaning as commonly understood by those skilled in the technical field to which the present application belongs. The terms used in the specification of the present application herein are only for the purpose of describing specific embodiments and are not intended to limit the present application. The "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0047] Figure 1 is a schematic flowchart of the generation method provided in Embodiment 1 of the present application. As Figure 1 shown, the method for generating a multi-frequency phase deviation product of the present application may include the following steps:

[0048] Step S101: Obtain satellite raw observation data, where the satellite raw observation data includes carrier phase observations and pseudorange observations of different frequencies;

[0049] Optionally, before step S101, it includes: determining the type of satellite navigation system.

[0050] Among them, the types of satellite navigation systems include GPS navigation systems, Beidou navigation systems, Galileo navigation systems, and so on. Exemplarily, if the type of the satellite navigation system is a GPS navigation system, carrier phase observations and pseudorange observations of satellites in the GPS navigation system at three frequencies, namely L1, L2, and L5, are obtained through a ground reference station, where L1, L2, and L5 are the operating frequencies of the GPS navigation system.

[0051] Step S102: Generate a plurality of dual-frequency phase deviation products based on carrier phase observations and pseudorange observations at different frequencies;

[0052] In one embodiment, before step S102, it includes:

[0053] Select one frequency as a reference frequency from different frequencies;

[0054] Combine each non-reference frequency among different frequencies with the reference frequency respectively to determine a plurality of frequency groups.

[0055] Taking the GPS navigation system as an example, generally L1 is selected as the reference frequency among the three frequencies L1, L2, and L5, and two frequency groups can be obtained. The first frequency group includes two frequencies, L1 and L2, and the second frequency group includes two frequencies, L1 and L5.

[0056] In one embodiment, step S102 includes:

[0057] Perform an ionospheric-free combination of the carrier phase observations of the non-reference frequencies in each frequency group with the carrier phase observations of the reference frequency to obtain the ionospheric-free combinations of each frequency group;

[0058] Perform ambiguity fixing on the ionospheric-free combinations of each frequency group to determine the ionospheric-free combination ambiguities of each frequency group.

[0059] In one embodiment, step S102 further includes:

[0060] Perform an MW combination on the carrier phase observations, pseudorange observations of the non-reference frequencies in each frequency group, and the carrier phase observations, pseudorange observations of the reference frequency to obtain the MW combinations of each frequency group;

[0061] Perform ambiguity fixing on the MW combinations of each frequency group to determine the wide-lane ambiguities of each frequency group;

[0062] Determine the wide-lane phase deviation values of each frequency group according to the wide-lane ambiguities of each frequency group.

[0063] Among them, the MW combination is a combined observation value algorithm, which is obtained by subtracting the narrow-lane combination of pseudorange observations from the wide-lane combination of carrier phase observations at the same epoch.

[0064] In one embodiment, step S102 further includes:

[0065] Determine the narrow-lane ambiguity of each frequency group according to the ionosphere-free combination ambiguity of each frequency group and the wide-lane ambiguity of each frequency group;

[0066] Determine the narrow-lane phase deviation value of each frequency group according to the narrow-lane ambiguity of each frequency group.

[0067] Step S103: Generate multiple single-frequency phase deviation products according to multiple dual-frequency phase deviation products.

[0068] In one embodiment, step S103 includes:

[0069] Calculate multiple single-frequency phase deviation values according to the following formula:

[0070]

[0071] Wherein, and respectively represent the wide-lane phase deviation value and the narrow-lane phase deviation value of the first frequency group; and respectively represent the wide-lane phase deviation value and the narrow-lane phase deviation value of the second frequency group; k represents the satellite number; α1 if , β1 if respectively represent the ionosphere-free combination coefficients of the first frequency group; α2 if , β2 if respectively represent the ionosphere-free combination coefficients of the second frequency group; α1 WL , β1 WL , α1 NL , β1 NL respectively represent the MW combination coefficients of the first frequency group; α2 WL , β2 WL , α2 NL , β2 NL respectively represent the MW combination coefficients of the second frequency group; represents the pseudorange deviation value of the reference frequency between the first frequency group and the second frequency group; represents the pseudorange deviation value of the non-reference frequency in the first frequency group; represents the pseudorange deviation value of the non-reference frequency in the second frequency group; represents the phase deviation value of the reference frequency between the first frequency group and the second frequency group; represents the phase deviation value of the non-reference frequency in the first frequency group; represents the phase deviation value of the non-reference frequency in the second frequency group.

[0072] Among them, the pseudorange deviation values of each frequency can be calculated from the pseudorange phase observation values of each frequency.

[0073] Optionally, the ionospheric-free combination coefficients of the first frequency group are calculated according to the following formula:

[0074]

[0075] Optionally, the ionospheric-free combination coefficients of the second frequency group are calculated according to the following formula:

[0076]

[0077] Among them, f0, f1, and f2 respectively represent the reference frequencies of the first and second frequency groups, the non-reference frequency in the first frequency group, and the frequency values of the non-reference frequencies in the second frequency group.

[0078] Optionally, the MW combination coefficients of the first frequency group are calculated according to the following formula:

[0079]

[0080]

[0081] Optionally, the MW combination coefficients of the second frequency group are calculated according to the following formula:

[0082]

[0083]

[0084] Among them, f0, f1, and f2 respectively represent the reference frequencies of the first and second frequency groups, the non-reference frequency in the first frequency group, and the frequency values of the non-reference frequencies in the second frequency group.

[0085] Taking the GPS navigation system as an example, the first frequency group includes two frequencies, L1 and L2, that is, the L1L2 frequency group, and the second frequency group includes two frequencies, L1 and L5, that is, the L1L5 frequency group. The reference frequency of the first and second frequency groups is L1;

[0086] First, determine the ionospheric-free combination ambiguities of the L1L2 frequency group and the L1L5 frequency group respectively: Perform an ionospheric-free combination on the carrier phase observation values of the L1 frequency and the L2 frequency in the L1L2 frequency group to obtain the ionospheric-free combination of the L1L2 frequency group and determine the ionospheric-free combination ambiguity of the L1L2 frequency group; Using the same method, replace the L2 frequency with the L5 frequency to determine the ionospheric-free combination ambiguity of the L1L5 frequency group, which will not be elaborated here;

[0087] Secondly, calculate the wide-lane phase deviation values and narrow-lane phase deviation values of the L1L2 frequency group and the L1L5 frequency group respectively: perform MW combination on the carrier phase observations and pseudorange observations of the L2 frequency and the carrier phase observations and pseudorange observations of the L1 frequency in the L1L2 frequency group to obtain the MW combination of the L1L2 frequency group; perform ambiguity fixing on the MW combination of the L1L2 frequency group to determine the wide-lane ambiguity of the L1L2 frequency group; determine the wide-lane phase deviation value of the L1L2 frequency group according to the wide-lane ambiguity of the L1L2 frequency group; determine the narrow-lane ambiguity of the L1L2 frequency group according to the ionosphere-free combination ambiguity of the L1L2 frequency group and the wide-lane ambiguity of the L1L2 frequency group; determine the narrow-lane phase deviation value of the L1L2 frequency group according to the narrow-lane ambiguity of the L1L2 frequency group; using the same method, replace the L2 frequency with the L5 frequency to determine the wide-lane phase deviation value and narrow-lane phase deviation value of the L1L5 frequency group, which will not be elaborated here;

[0088] Finally, substitute the wide-lane phase deviation values and narrow-lane phase deviation values of the L1L2 frequency group and the wide-lane phase deviation values and narrow-lane phase deviation values of the L1L5 frequency group into the above matrix equation, and combine with the pseudorange deviation values of L1, L2, and L3 to solve the phase deviation values of the three frequencies of L1, L2, and L3, and synchronously broadcast the phase deviation values of these three frequencies to the user so that the user can select the phase deviation products corresponding to the frequencies according to their own needs.

[0089] It is worth mentioning that the generation method of the present application is not only applicable to the GPS navigation system, but also applicable to other global satellite navigation systems, such as the Beidou navigation system and the Galileo navigation system; in addition, the generation method of the present application is not only applicable to the three-frequency phase deviation products, but also for more than three frequencies, such as four-frequency and five-frequency phase deviation products. By expanding the equation on the basis of the existing rules in the above matrix equation, the generation method of the present application can also be used for solution.

[0090] The generation method provided in the first embodiment of the present application simplifies the generation process of the multi-frequency phase deviation product by unifying the reference frequency and fusing multiple dual-frequency phase deviation products, which is more conducive to commercial application.

[0091] Figure 2 It is a schematic structural diagram of the terminal provided in the second embodiment of the present application. The terminal of the present application includes: a processor 110, a memory 111, and a computer program 112 stored in the memory 111 and executable on the processor 110. When the processor 110 executes the computer program 112, the steps in the above-mentioned generation method embodiment are implemented.

[0092] The terminal may include, but is not limited to, a processor 110 and a memory 111. Those skilled in the art can understand, Figure 2These are merely examples of the terminal and do not constitute a limitation thereto. It may include more or fewer components than shown in the figures, or combine certain components, or have different components. For example, the terminal may further include input / output devices, network access devices, buses, etc.

[0093] The so-called processor 110 may be a central processing unit (CPU), or may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0094] The memory 111 may be an internal storage unit of the terminal, such as the hard disk or memory of the terminal. The memory 111 may also be an external storage device of the terminal, such as a plug-in hard disk equipped on the terminal, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. Further, the memory 111 may also include both the internal storage unit and the external storage device of the terminal. The memory 111 is used to store the computer program and other programs and data required by the terminal. The memory 111 may also be used to temporarily store data that has been output or is to be output.

[0095] This application also provides a computer storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the generation method described above are implemented.

[0096] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope recorded in this specification.

[0097] In this article, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion. In addition to the listed elements, it may also include other elements not specifically listed.

[0098] As described above, it is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed in the present application can easily think of changes or substitutions, which should all be covered within the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claimed rights.

Claims

1. A method for generating a GNSS phase deviation product, characterized in that, Including: Obtain original satellite observation data, where the original satellite observation data includes carrier phase observations and pseudorange observations at different frequencies; Select one frequency from the different frequencies as the reference frequency; Combine each non-reference frequency among the different frequencies with the reference frequency respectively to determine a plurality of frequency groups; Generate a plurality of dual-frequency phase deviation products based on the carrier phase observations and pseudorange observations at the different frequencies, including: Perform MW combination on the carrier phase observations and pseudorange observations of the non-reference frequencies in each frequency group and the carrier phase observations and pseudorange observations of the reference frequency to obtain the MW combination of each frequency group; Perform ambiguity fixing on the MW combination of each frequency group to determine the wide-lane ambiguity of each frequency group; Determine the wide-lane phase deviation value of each frequency group according to the wide-lane ambiguity of each frequency group; Perform ionosphere-free combination on the carrier phase observations of the non-reference frequencies and the carrier phase observations of the reference frequency in each frequency group to obtain the ionosphere-free combination of each frequency group; Perform ambiguity fixing on the ionosphere-free combination of each frequency group to determine the ionosphere-free combination ambiguity of each frequency group; Determine the narrow-lane ambiguity of each frequency group according to the ionosphere-free combination ambiguity of each frequency group and the wide-lane ambiguity of each frequency group; Determine the narrow-lane phase deviation value of each frequency group according to the narrow-lane ambiguity of each frequency group; Generate single-frequency phase deviation products for each non-reference frequency and the reference frequency according to the wide-lane phase deviation values and narrow-lane phase deviation values of each frequency group.

2. The generation method according to claim 1, wherein The step of generating single-frequency phase deviation products for each non-reference frequency and the reference frequency according to the wide-lane phase deviation values and narrow-lane phase deviation values of each frequency group includes: Calculate a plurality of single-frequency phase deviation values according to the following formula: Wherein, and respectively represent the wide-lane phase deviation value and the narrow-lane phase deviation value of the first frequency group; and respectively represent the wide-lane phase deviation value and the narrow-lane phase deviation value of the second frequency group; k represents the satellite number; α1 if and β1 if respectively represent the ionosphere-free combination coefficients of the first frequency group; α2 if and β2 if respectively represent the ionosphere-free combination coefficients of the second frequency group; α1 WL and β1 WL and α1 NL and β1 NL respectively represent the MW combination coefficients of the first frequency group; α2 WL and β2 WL and α2 NL and β2 NL respectively represent the MW combination coefficients of the second frequency group; represents the pseudorange deviation value of the reference frequencies of the first frequency group and the second frequency group; represents the pseudorange deviation value of the non-reference frequencies in the first frequency group; represents the pseudorange deviation value of the non-reference frequencies in the second frequency group; represents the phase deviation value of the reference frequencies of the first frequency group and the second frequency group; represents the phase deviation value of the non-reference frequencies in the first frequency group; represents the phase deviation value of the non-reference frequencies in the second frequency group.

3. The generation method according to claim 2, wherein Generating single-frequency phase deviation products for each non-reference frequency and the reference frequency according to the wide-lane phase deviation values and narrow-lane phase deviation values of each frequency group includes: Calculate the ionosphere-free combination coefficient of the first frequency group according to the following formula: Calculate the ionosphere-free combination coefficient of the second frequency group according to the following formula: Where f0, f1, and f2 respectively represent the frequency values of the reference frequency of the first frequency group and the second frequency group, the non-reference frequency in the first frequency group, and the non-reference frequency in the second frequency group.

4. The generation method according to claim 3, wherein Generating single-frequency phase deviation products for each non-reference frequency and the reference frequency according to the wide-lane phase deviation values and narrow-lane phase deviation values of each frequency group further includes: Calculate the MW combination coefficient of the first frequency group according to the following formula: Calculate the MW combination coefficient of the second frequency group according to the following formula: Where f0, f1, and f2 respectively represent the frequency values of the reference frequency of the first frequency group and the second frequency group, the non-reference frequency in the first frequency group, and the non-reference frequency in the second frequency group.

5. A terminal, characterized in that, The terminal includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps of the generation method according to any one of claims 1 to 4.

6. A computer storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, the steps of the generation method according to any one of claims 1 to 4 are implemented.

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