A baseline double-difference ambiguity fixing solution verification method and device and a storage medium
By calculating the fixed solution of baseline double-difference ambiguity and the root mean square ratio of the time series of ionosphere-free combined residuals, the problem of inaccurate baseline double-difference ambiguity verification is solved, and the accuracy of network RTK positioning is improved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- SOUTH SURVEYING & MAPPING INSTR
- Filing Date
- 2022-06-16
- Publication Date
- 2026-07-21
Smart Images
Figure CN115166796B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of network RTK positioning technology, and in particular to a baseline double-difference ambiguity fixed solution verification method, device and storage medium. Background Technology
[0002] Network RTK (Real-time kinematic) refers to self-carrier phase differential technology, which is used to process the differential method of carrier phase observations between two measurement stations in real time. The most commonly used technologies are Virtual Reference Station (VRS) and FKP.
[0003] Virtual reference stations are a common technique. Specifically, multiple GNSS satellite continuous tracking reference stations (also called reference stations) are established within a certain area to cover that area, providing real-time, high-precision error correction information to positioning users within that area, enabling them to obtain high-precision positioning information. This technique is called network RTK technology. The coordinates of these reference stations are known. In network RTK technology, a virtual reference station is generated near the user using these coordinates. During positioning calculation, the double-difference ambiguity between each reference station is first calculated, then the double-difference atmospheric error is solved, and finally, the atmospheric error of the virtual reference station is obtained using interpolation, thus obtaining the virtual observation value. The user can then use this virtual observation value for differential positioning. Because the virtual reference station is very close to the user, the initialization time and accuracy of RTK positioning must be guaranteed. Therefore, the accuracy of the virtual observation value of the virtual reference station becomes one of the key factors affecting the quality of network RTK service. The accuracy of virtual observations depends on the accuracy of error correction, which in turn depends on the correctness of the calculated baseline double-difference ambiguity. Therefore, in network RTK positioning, a method for verifying baseline double-difference ambiguity is urgently needed. However, most existing methods for verifying baseline double-difference ambiguity suffer from inaccurate verification, which in turn affects the accuracy of subsequent virtual observation calculations and impacts user positioning. Summary of the Invention
[0004] In order to overcome the shortcomings of the prior art, one of the objectives of this invention is to provide a baseline double-difference ambiguity fixed solution verification method, which can solve the problems of inaccuracy of existing baseline double-difference ambiguity fixed verification methods.
[0005] The second objective of this invention is to provide a baseline double-difference ambiguity fixed resolution verification device, which can solve the problems of inaccuracy in existing baseline double-difference ambiguity fixed resolution verification methods.
[0006] The third objective of this invention is to provide a storage medium that can solve the problems of inaccuracy in existing baseline double-difference ambiguity fixed verification methods.
[0007] One of the objectives of this invention is achieved through the following technical solution:
[0008] A baseline double-difference ambiguity fixed solution verification method includes:
[0009] Acquisition Steps: Acquire the baseline double-difference ambiguity fixed solution, which includes the fixed solution of the double-difference ambiguity of L1 carrier and L2 carrier;
[0010] The residual calculation steps are as follows: Obtain the ionosphere-free observation values of multiple epochs, and combine them with the fixed solution of the double difference ambiguity of the two carriers to obtain the residuals of the optimal solution of the ionosphere-free combination and the residuals of the suboptimal solution of the ionosphere-free combination, as well as the time series corresponding to the residuals of the optimal solution of the ionosphere-free combination and the time series corresponding to the residuals of the suboptimal solution of the ionosphere-free combination.
[0011] Judgment steps: Determine whether the baseline double-difference ambiguity fixed solution meets the requirements based on the time series of the residuals of the optimal solution without ionosphere and the time series of the residuals of the suboptimal solution without ionosphere.
[0012] Further, the judgment step specifically includes: first, calculating the root mean square (RMS) of the time series of the residuals of the optimal solution without ionosphere and the root mean square (RMS) of the time series of the residuals of the suboptimal solution without ionosphere; then, judging whether the baseline double-difference ambiguity fixed solution meets the requirements based on the ratio of the two RMS; wherein, the formula for calculating the RMS of the time series is: ν i Let m be the time series of the i-th epoch; m is the total number of epochs, i∈[1,m].
[0013] Furthermore, in the judgment step, when the ratio of the two root mean squares is greater than a preset threshold, the fixed baseline double difference ambiguity meets the requirements.
[0014] Furthermore, the process includes the following steps prior to the acquisition step:
[0015] Steps for calculating fixed width alley ambiguity: Calculate the fixed width alley ambiguity using the MW combination method;
[0016] Steps for calculating ionosphere-free ambiguity: Obtain the ionosphere-free combination and estimate the ionosphere-free ambiguity based on the Kalman filter algorithm;
[0017] The steps for calculating fixed baseline double-difference ambiguity are as follows: The double-difference ambiguity of L1 carrier and L2 carrier is calculated based on the ionospheric ambiguity and the fixed wide-lane ambiguity. The LAMBDA search algorithm is then used to obtain the fixed solution of the double-difference ambiguity of L1 carrier and L2 carrier.
[0018] Furthermore, the formula for calculating the fixed width ambiguity is as follows:
[0019]
[0020] Where, N wl For a fixed width ambiguity;
[0021] φ mw =φ wl -P nl In the formula, φ mw For the ambiguity of the wide alley, φ wl For carrier wide-lane combination, P nl It is a pseudo-distance narrow alley combination;
[0022] Carrier wide-lane combination φ wl for: φ1 and φ2 are the L1 carrier and L2 carrier, respectively; f1 and f2 are the frequencies of the L1 carrier and L2 carrier, respectively.
[0023] Pseudo-distance narrow alley combination P nl for: P1 and P2 are the pseudoranges of the L1 carrier and the L2 carrier, respectively.
[0024] Furthermore, the formula for calculating the double-difference ambiguity of the L1 carrier is:
[0025] Where N1 is the double-difference ambiguity of the L1 carrier, N if For ionospheric ambiguity, N wl For a fixed width ambiguity;
[0026] The double-difference ambiguity of the L2 carrier is: N2 = N wl -N1; where N2 is the double-difference ambiguity of the L2 carrier.
[0027] Furthermore, the calculation formula for the ionosphere-free combination is as follows:
[0028]
[0029] Where, φ if It is an ionosphere-free combination; denoted as the narrow-lane wavelength, c as the beam in vacuum, f1 and f2 as the frequencies of carrier L1 and carrier L2, respectively; T as the tropospheric delay; and ρ as the geometric distance between the satellite and the reference station.
[0030] Furthermore, the equation for the ionosphere-free composite residual is:
[0031]
[0032] Where ν is the residual of the non-ionosphere composite; These are observations of the ionosphere-free combination.
[0033] The second objective of this invention is achieved by the following technical solution:
[0034] A baseline double-difference ambiguity fixed resolution verification device includes a memory and a processor. The memory stores a fixed baseline double-difference ambiguity fixed resolution verification program that runs on the processor. The baseline double-difference ambiguity fixed resolution verification program is a computer program. When the processor executes the baseline double-difference ambiguity fixed resolution verification program, it implements the steps of a baseline double-difference ambiguity fixed resolution verification method as one of the objectives of this invention.
[0035] The third objective of this invention is achieved by the following technical solution:
[0036] A storage medium, which is a computer-readable storage medium, stores a computer program thereon, the computer program being a baseline double-difference ambiguity fixed resolution verification program, the baseline double-difference ambiguity fixed resolution verification program being executed by a processor as a baseline double-difference ambiguity fixed resolution verification method as one of the objectives of this invention.
[0037] Compared with the prior art, the beneficial effects of the present invention are as follows:
[0038] This invention solves for the ionospheric combined residuals by using optimal and suboptimal solutions based on the calculated fixed baseline double-difference ambiguity and the known coordinate system information of the reference station. It then calculates the time series of these two sets of ionospheric combined residuals using observation data from multiple epochs. Finally, it uses the time series to determine whether the fixed baseline double-difference ambiguity is fixed as required. This invention is simple to solve and accurate in its verification, solving problems such as inaccurate verification of fixed baseline double-difference ambiguity in existing technologies. Attached Figure Description
[0039] Figure 1 The flowchart provides a baseline double-difference ambiguity fixed solution verification method. Detailed Implementation
[0040] The present invention will now be further described in conjunction with the accompanying drawings and specific embodiments. It should be noted that, without conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.
[0041] Example 1
[0042] This invention provides a method for verifying fixed-baseline double-difference ambiguities. It calculates the ionospheric-free combined residuals using the known coordinates of a reference station and the calculated fixed-baseline double-difference ambiguities. Two sets of ionospheric-free combined residuals are then obtained using optimal and suboptimal combinations. Time series of these two sets of ionospheric-free combined residuals are obtained using observation data from multiple epochs. These two time series are then used to determine whether the fixed-baseline double-difference ambiguity is fixed as required. This invention provides more accurate ambiguity verification, which is beneficial for improving the accuracy of subsequent virtual observations.
[0043] This invention provides a preferred embodiment of a baseline double-difference ambiguity fixed resolution verification method, such as... Figure 1 As shown, it includes the following steps:
[0044] Step S1: Obtain the baseline double-difference ambiguity fixed solution. This baseline double-difference ambiguity fixed solution includes the fixed solutions for the double-difference ambiguities of the two carriers, specifically the fixed solutions for the double-difference ambiguities of carrier L1 and carrier L2. The present invention aims to determine whether the fixed solutions for the double-difference ambiguities of the two carriers meet the requirements.
[0045] Preferably, when a network RTK virtual reference station performs positioning, it first resolves the baseline double-difference ambiguity, then fixes the baseline double-difference ambiguity, and then calculates the double-difference ionospheric correction and tropospheric correction by combining the known coordinates of the reference station. Finally, the ionospheric error and tropospheric error can be obtained by interpolation algorithm, thereby realizing the calculation of the observation values of the network RTK virtual reference station.
[0046] The solution of baseline double-difference ambiguity generally includes three parts: first, the fixed wide-lane ambiguity and ionospheric ambiguity are calculated; then, the double-difference ambiguity of the two carriers is calculated based on the fixed wide-lane ambiguity and ionospheric ambiguity; and finally, the double-difference ambiguity of the two carriers is fixed to obtain the fixed solution of the corresponding double-difference ambiguity.
[0047] The fixed wide-lane ambiguity is first calculated using the MW combination method, and then smoothed based on observation data from multiple epochs to obtain the fixed wide-lane ambiguity.
[0048]
[0049] Where, Nwl For a fixed width ambiguity; φ mw The ambiguity is the width of the alley.
[0050] The formula for calculating the ambiguity of the wide alleyway is: φ mw =φ wl -P nl (2).
[0051] Where, φ mw For the ambiguity of the wide alley, φ wl For carrier wide-lane combination, P nl It is a pseudo-distance narrow alley combination.
[0052] Preferably, the carrier wide-lane combination φ wl for: φ1 and φ2 are the L1 carrier and L2 carrier, respectively; f1 and f2 are the frequencies of the L1 carrier and L2 carrier, respectively.
[0053] Pseudo-distance narrow alley combination P nl for: P1 and P2 are the pseudoranges of the L1 carrier and L2 carrier, respectively, both in meters.
[0054] Preferably, the ionosphere-free ambiguity is obtained by estimating the ionosphere-free combination based on the acquired ionosphere-free combination using a Kalman filter algorithm.
[0055] The calculation formula for the non-ionized combination is as follows:
[0056]
[0057] Where, φ if It is an ionosphere-free combination; ρ is the narrow-lane wavelength, c is the beam in vacuum; T is the tropospheric delay; ρ is the geometric distance between the satellite and the reference station, also known as the station-satellite geometric distance; N1 and N2 are the double-difference ambiguity of the L1 carrier and the double-difference ambiguity of the L2 carrier, respectively.
[0058] The ionosphere ambiguity can be estimated by calculating the ionosphere combination according to formula (3).
[0059] The specific calculation formula for the double-difference ambiguity of two carriers, based on the ionospheric ambiguity and the fixed wide-lane ambiguity, is as follows:
[0060] The double-difference ambiguity N1 of the L1 carrier is: Where, N if This is for ionospheric ambiguity.
[0061] The double-difference ambiguity of the L2 carrier can be derived from the relationship between the double-difference ambiguity of the two carriers and the fixed wide-lane ambiguity. Specifically, the double-difference ambiguity N2 of the L2 carrier is: N2 = N wl -N1.
[0062] Step S2: Obtain ionospheric observations from multiple epochs, and combine them with the fixed solution of the double-difference ambiguity of the two carriers to obtain the residuals of the optimal solution and the suboptimal solution of the ionospheric combination, as well as the time series corresponding to the residuals of the optimal solution and the suboptimal solution of the ionospheric combination.
[0063] The formula for calculating the residual of the non-ionospheric composite is:
[0064]
[0065] Where ν is the residual of the non-ionosphere composite; These are observations of the ionosphere-free combination.
[0066] More specifically, based on formulas (3) and (4), the residual ν of the non-ionized combination is:
[0067]
[0068] Step S3: Determine whether the baseline double-difference ambiguity fixed solution meets the requirements based on the time series of the residuals of the optimal solution without ionosphere and the time series of the residuals of the suboptimal solution without ionosphere.
[0069] When the baseline double-difference ambiguity fixed solution meets the requirements, network RTK positioning can be initiated.
[0070] Preferably, step S3 further includes: firstly calculating the root mean square of the time series of the residuals of the optimal solution without ionosphere and the root mean square of the time series of the residuals of the suboptimal solution without ionosphere, and then determining whether the baseline double-difference ambiguity fixed solution meets the requirements based on the ratio of the two root mean squares.
[0071] Specifically, the formula for calculating the root mean square (RMS) of a time series is:
[0072] Where, ν i Let m be the time series of the i-th epoch; m is the total number of epochs, i∈[1,m].
[0073] That is, this embodiment also stipulates that when the ratio of the two root mean squares is greater than a preset threshold, the fixed baseline double difference ambiguity meets the requirements.
[0074] Specifically, the root mean square of the time series of the residuals of the optimal solution for the ionosphere-free combination is set to rms. 1 :
[0075]
[0076] Similarly, the root mean square (RMS) of the time series of residuals from suboptimal solutions of ionosphere-free combinations 2 for:
[0077]
[0078] Among them, rms 1 rms 2 These are the root mean square (RMS) of the time series of the residuals of the optimal solution without ionosphere and the root mean square (RMS) of the time series of the residuals of the suboptimal solution without ionosphere, respectively. These are the time series of the i-th epoch of the residual of the optimal solution of the ionosphere-free combination and the time series of the i-th epoch of the residual of the suboptimal solution of the ionosphere-free combination, respectively.
[0079] Preferably, in this embodiment, when RMS is set... 2 / rms 1 When the value exceeds the preset threshold, the fixed solution of the double difference ambiguity of the two carriers is considered to meet the requirements.
[0080] In this embodiment, the preset threshold is set based on experience and is defined manually in advance according to the satellite's elevation angle. For example, the larger the satellite's elevation angle, the smaller the preset threshold value will be.
[0081] Preferably, the range of the preset threshold is 1.5 to 3.
[0082] Preferably, the present invention further includes: calculating the double-difference ionospheric correction and tropospheric correction based on the verified fixed baseline double-difference ambiguity and the lease table information of the two reference stations; and then calculating the ionospheric error and tropospheric error of the virtual reference station through an interpolation algorithm based on the double-difference ionospheric correction and tropospheric correction, so as to calculate the observation value of the virtual reference station and realize network RTK positioning.
[0083] The formula for calculating the double-difference ionospheric correction is:
[0084]
[0085] The formula for calculating the tropospheric delay correction is:
[0086]
[0087] Where I1 is the double-difference ionospheric correction and T1 is the tropospheric delay correction.
[0088] The method for verifying the correctness of the fixation of the double-difference ambiguity of the reference station provided by this invention uses a reference station with known coordinates to verify the fixed solution of the calculated double-difference ambiguity, which can greatly improve the accuracy and reliability of the verification.
[0089] Example 2
[0090] A baseline double-difference ambiguity fixed resolution verification device includes a memory and a processor. The memory stores a baseline double-difference ambiguity fixed resolution verification program that runs on the processor. The baseline double-difference ambiguity fixed resolution verification program is a computer program. When the processor executes the baseline double-difference ambiguity fixed resolution verification program, it performs the following steps:
[0091] Acquisition Steps: Acquire the baseline double-difference ambiguity fixed solution, which includes the fixed solution of the double-difference ambiguity of L1 carrier and L2 carrier;
[0092] The residual calculation steps are as follows: Obtain the ionosphere-free observation values of multiple epochs, and combine them with the fixed solution of the double difference ambiguity of the two carriers to obtain the residuals of the optimal solution of the ionosphere-free combination and the residuals of the suboptimal solution of the ionosphere-free combination, as well as the time series corresponding to the residuals of the optimal solution of the ionosphere-free combination and the time series corresponding to the residuals of the suboptimal solution of the ionosphere-free combination.
[0093] Judgment steps: Determine whether the baseline double-difference ambiguity fixed solution meets the requirements based on the time series of the residuals of the optimal solution without ionosphere and the time series of the residuals of the suboptimal solution without ionosphere.
[0094] Further, the judgment step specifically includes: first, calculating the root mean square (RMS) of the time series of the residuals of the optimal solution without ionosphere and the root mean square (RMS) of the time series of the residuals of the suboptimal solution without ionosphere; then, judging whether the baseline double-difference ambiguity fixed solution meets the requirements based on the ratio of the two RMS; wherein, the formula for calculating the RMS of the time series is: ν i Let m be the time series of the i-th epoch; m is the total number of epochs, i∈[1,m].
[0095] Furthermore, in the judgment step, when the ratio of the two root mean squares is greater than a preset threshold, the fixed baseline double difference ambiguity meets the requirements.
[0096] Furthermore, the process includes the following steps prior to the acquisition step:
[0097] Steps for calculating fixed width alley ambiguity: Calculate the fixed width alley ambiguity using the MW combination method;
[0098] Steps for calculating ionosphere-free ambiguity: Obtain the ionosphere-free combination and estimate the ionosphere-free ambiguity based on the Kalman filter algorithm;
[0099] The steps for calculating fixed baseline double-difference ambiguity are as follows: The double-difference ambiguity of L1 carrier and L2 carrier is calculated based on the ionospheric ambiguity and the fixed wide-lane ambiguity. The LAMBDA search algorithm is then used to obtain the fixed solution of the double-difference ambiguity of L1 carrier and L2 carrier.
[0100] Furthermore, the formula for calculating the fixed width ambiguity is as follows:
[0101]
[0102] Where, N wl For a fixed width ambiguity;
[0103] φ mw =φ wl -P nl In the formula, φ mw For the ambiguity of the wide alley, φ wl For carrier wide-lane combination, P nl It is a pseudo-distance narrow alley combination;
[0104] Carrier wide-lane combination φ wl for: φ1 and φ2 are the L1 carrier and L2 carrier, respectively; f1 and f2 are the frequencies of the L1 carrier and L2 carrier, respectively.
[0105] Pseudo-distance narrow alley combination P nl For: P1 and P2 are the pseudoranges of the L1 carrier and the L2 carrier, respectively.
[0106] Furthermore, the formula for calculating the double-difference ambiguity of the L1 carrier is:
[0107] Where N1 is the double-difference ambiguity of the L1 carrier, N if For ionospheric ambiguity, N wl For a fixed width ambiguity;
[0108] The double-difference ambiguity of the L2 carrier is: N2 = N wl -N1; where N2 is the double-difference ambiguity of the L2 carrier.
[0109] Furthermore, the calculation formula for the ionosphere-free combination is as follows:
[0110]
[0111] Where, φif It is an ionosphere-free combination; denoted as the narrow-lane wavelength, c as the beam in vacuum, f1 and f2 as the frequencies of carrier L1 and carrier L2, respectively; T as the tropospheric delay; and ρ as the geometric distance between the satellite and the reference station.
[0112] Furthermore, the equation for the ionosphere-free composite residual is:
[0113]
[0114] Where ν is the residual of the non-ionosphere composite; These are observations of the ionosphere-free combination.
[0115] Example 3
[0116] A storage medium, which is a computer-readable storage medium, stores a computer program thereon, the computer program being a baseline double-difference ambiguity fixed resolution verification program, which, when executed by a processor, performs the following steps:
[0117] Acquisition Steps: Acquire the baseline double-difference ambiguity fixed solution, which includes the fixed solution of the double-difference ambiguity of L1 carrier and L2 carrier;
[0118] The residual calculation steps are as follows: Obtain the ionosphere-free observation values of multiple epochs, and combine them with the fixed solution of the double difference ambiguity of the two carriers to obtain the residuals of the optimal solution of the ionosphere-free combination and the residuals of the suboptimal solution of the ionosphere-free combination, as well as the time series corresponding to the residuals of the optimal solution of the ionosphere-free combination and the time series corresponding to the residuals of the suboptimal solution of the ionosphere-free combination.
[0119] Judgment steps: Determine whether the baseline double-difference ambiguity fixed solution meets the requirements based on the time series of the residuals of the optimal solution without ionosphere and the time series of the residuals of the suboptimal solution without ionosphere.
[0120] Further, the judgment step specifically includes: first, calculating the root mean square (RMS) of the time series of the residuals of the optimal solution without ionosphere and the root mean square (RMS) of the time series of the residuals of the suboptimal solution without ionosphere; then, judging whether the baseline double-difference ambiguity fixed solution meets the requirements based on the ratio of the two RMS; wherein, the formula for calculating the RMS of the time series is: ν i Let m be the time series of the i-th epoch; m is the total number of epochs, i∈[1,m].
[0121] Furthermore, in the judgment step, when the ratio of the two root mean squares is greater than a preset threshold, the fixed baseline double difference ambiguity meets the requirements.
[0122] Furthermore, the process includes the following steps prior to the acquisition step:
[0123] Steps for calculating fixed width alley ambiguity: Calculate the fixed width alley ambiguity using the MW combination method;
[0124] Steps for calculating ionosphere-free ambiguity: Obtain the ionosphere-free combination and estimate the ionosphere-free ambiguity based on the Kalman filter algorithm;
[0125] The steps for calculating fixed baseline double-difference ambiguity are as follows: The double-difference ambiguity of L1 carrier and L2 carrier is calculated based on the ionospheric ambiguity and the fixed wide-lane ambiguity. The LAMBDA search algorithm is then used to obtain the fixed solution of the double-difference ambiguity of L1 carrier and L2 carrier.
[0126] Furthermore, the formula for calculating the fixed width ambiguity is as follows:
[0127]
[0128] Where, N wl For a fixed width ambiguity;
[0129] φ mw =φ wl -P nl In the formula, φ mw For the ambiguity of the wide alley, φ wl For carrier wide-lane combination, P nl It is a pseudo-distance narrow alley combination;
[0130] Carrier wide-lane combination φ wl for: φ1 and φ2 are the L1 carrier and L2 carrier, respectively; f1 and f2 are the frequencies of the L1 carrier and L2 carrier, respectively.
[0131] Pseudo-distance narrow alley combination P nl for: P1 and P2 are the pseudoranges of the L1 carrier and the L2 carrier, respectively.
[0132] Furthermore, the formula for calculating the double-difference ambiguity of the L1 carrier is:
[0133] Where N1 is the double-difference ambiguity of the L1 carrier, N if For ionospheric ambiguity, N wl For a fixed width ambiguity;
[0134] The double-difference ambiguity of the L2 carrier is: N2 = N wl -N1; where N2 is the double-difference ambiguity of the L2 carrier.
[0135] Furthermore, the calculation formula for the ionosphere-free combination is as follows:
[0136]
[0137] Where, φ if It is an ionosphere-free combination; denoted as the narrow-lane wavelength, c as the beam in vacuum, f1 and f2 as the frequencies of carrier L1 and carrier L2, respectively; T as the tropospheric delay; and ρ as the geometric distance between the satellite and the reference station.
[0138] Furthermore, the equation for the ionosphere-free composite residual is:
[0139]
[0140] Where ν is the residual of the non-ionosphere composite; These are observations of the ionosphere-free combination.
[0141] The above embodiments are merely preferred embodiments of the present invention and should not be construed as limiting the scope of protection of the present invention. Any non-substantial changes and substitutions made by those skilled in the art based on the present invention shall fall within the scope of protection claimed by the present invention.
Claims
1. A method for verifying baseline double-difference ambiguity with a fixed solution, characterized in that, include: Acquisition Steps: Acquire the baseline double-difference ambiguity fixed solution, which includes the fixed solution of the double-difference ambiguity of L1 carrier and L2 carrier; The residual calculation steps are as follows: obtain the observation values of the ionosphere-free combination composed of multiple epochs, and solve the residuals of the optimal solution and the suboptimal solution of the ionosphere-free combination by combining the fixed solution of the double difference ambiguity of the two carriers, as well as the time series corresponding to the residuals of the optimal solution and the suboptimal solution of the ionosphere-free combination. Judgment Steps: The determination of whether the baseline double-difference ambiguity fixed solution meets the requirements is based on the time series of the residuals of the optimal solution and the suboptimal solution without ionosphere. Specifically, this includes: first, calculating the root mean square (RMS) of the time series of the residuals of the optimal solution and the suboptimal solution without ionosphere; then, determining whether the baseline double-difference ambiguity fixed solution meets the requirements based on the ratio of the two RMS values. When the ratio of the two RMS values is greater than a preset threshold, the fixed baseline double-difference ambiguity meets the requirements. The root mean square of the time series... The calculation formula is: , For the first Time series of each epoch; The total number of epochs, ∈[1, ].
2. The baseline double-difference ambiguity fixed solution verification method according to claim 1, characterized in that, The steps before obtaining the information also include: Steps for calculating fixed width alley ambiguity: Calculate the fixed width alley ambiguity using the MW combination method; Steps for calculating ionosphere-free ambiguity: Obtain the ionosphere-free combination and estimate the ionosphere-free ambiguity based on the Kalman filter algorithm; The steps for calculating fixed baseline double-difference ambiguity are as follows: The double-difference ambiguity of L1 carrier and L2 carrier is calculated based on the ionospheric ambiguity and the fixed wide-lane ambiguity. The LAMBDA search algorithm is then used to obtain the fixed solution of the double-difference ambiguity of L1 carrier and L2 carrier.
3. The baseline double-difference ambiguity fixed solution verification method according to claim 2, characterized in that, in, The formula for calculating fixed width ambiguity is: in, For a fixed width ambiguity; = - In the formula, For the ambiguity of the wide alley, For carrier wide-lane combination, It is a pseudo-distance narrow alley combination; Carrier wide-lane combination for: , These are L1 carrier and L2 carrier, respectively; , These are the frequencies of the L1 carrier and the L2 carrier, respectively. Pseudo-distance narrow alley combination for: , These are the pseudoranges of the L1 carrier and the L2 carrier, respectively.
4. The baseline double-difference ambiguity fixed solution verification method according to claim 3, characterized in that, The formula for calculating the double-difference ambiguity of L1 carrier is: in, For L1 carrier double-difference ambiguity, For ionospheric ambiguity, The fixed wide-lane ambiguity; the double-difference ambiguity of the L2 carrier is: = - ;in, For L2 carrier double-difference ambiguity.
5. The baseline double-difference ambiguity fixed solution verification method according to claim 2, characterized in that, The calculation formula for the non-ionized layer combination is as follows: in, It is an ionosphere-free combination; Let λ be the narrow-lane wavelength, and c be the beam of light in a vacuum. , These are the frequencies of the L1 carrier and the L2 carrier, respectively; T is the tropospheric delay. This represents the geometric distance between the satellite and the reference station.
6. The baseline double-difference ambiguity fixed solution verification method according to claim 5, characterized in that, The equation for the residual of the non-ionized layer combination is: in, For ionosphere-free composite residuals, These are observations of the ionosphere-free combination.
7. A baseline double-difference ambiguity fixed resolution verification device, comprising a memory and a processor, wherein the memory stores a fixed baseline double-difference ambiguity fixed resolution verification program running on the processor, the baseline double-difference ambiguity fixed resolution verification program being a computer program, characterized in that, When the processor executes the baseline double-difference ambiguity fixed resolution verification program, it implements the steps of the baseline double-difference ambiguity fixed resolution verification method as described in any one of claims 1-6.
8. A storage medium, said storage medium being a computer-readable storage medium, having stored thereon a computer program, said computer program being a baseline double-difference ambiguity fixed-resolution verification program, characterized in that, The baseline double-difference ambiguity fixed resolution verification program is executed by the processor according to the steps of the baseline double-difference ambiguity fixed resolution verification method as described in any one of claims 1-6.