A reference star selection method, device and receiver

Abstract

The embodiment of the present invention discloses a reference satellite selection method, device and receiver. In a non-open scene, the number of wide lanes that can be fixed for each observation satellite can be determined according to the floating point ambiguity and carrier phase fractional deviation of the observation satellite, and then the observation satellite with the largest number of wide lanes that can be fixed is used as the target reference satellite, which meets the requirement of selecting the observation satellite with the largest number of wide lanes that can be fixed as the target reference satellite in a non-open scene, and improves the accuracy of the reference satellite.

Description

Technical Field

[0001] The present invention relates to the field of positioning technology, and in particular to a reference star selection method, device and receiver. Background Art

[0002] Precise Point Positioning-Ambiguity Resolution (PPP-AR) technology is an improved PPP technology that can fix the ambiguity in PPP, thereby improving positioning accuracy. The ambiguity fixation effect directly affects the positioning accuracy of PPP. In the ambiguity fixation, the selection of reference stars plays an important role in improving the ambiguity fixation effect.

[0003] Currently, the reference star is mainly determined based on the satellite's altitude angle, and the ambiguity fixing effect is poor. Summary of the invention

[0004] The embodiments of the present invention provide a reference star selection method, device and receiver, which can improve the accuracy of the reference star.

[0005] In a first aspect, an embodiment of the present invention provides a reference star selection method, which is applied to fixation of blur in a non-open scene, and the method includes:

[0006] Obtain the observation data and carrier phase fractional deviation of each observation satellite;

[0007] Determine the floating point ambiguity of each observation satellite according to each observation data;

[0008] Taking each observation satellite as a preset reference satellite, the single-difference wide-lane ambiguity and the single-difference wide-lane ambiguity residual between the preset reference satellite and other observation satellites are determined according to the floating-point ambiguity and carrier phase fractional deviation of each observation satellite;

[0009] According to the single-difference wide-lane ambiguity residual, the number of fixable wide-lane in the single-difference wide-lane ambiguity is determined;

[0010] The observation satellite with the largest number of fixed wide lanes is determined as the target reference satellite.

[0011] In a second aspect, an embodiment of the present invention provides a reference star selection method, which is applied to fix blur in an open scene, and the method includes:

[0012] Obtain the observation data and carrier phase decimal deviation of each observation satellite in this epoch;

[0013] According to each observation data, the floating point ambiguity and the continuous ambiguity fixed arc length of each observation satellite are determined;

[0014] Taking each observation satellite as a preset reference satellite, the single-difference wide-lane ambiguity and the single-difference wide-lane ambiguity residual between the preset reference satellite and other observation satellites are determined according to the floating-point ambiguity and carrier phase fractional deviation of each observation satellite;

[0015] Determining the number of fixable wide lanes in the single-difference wide lane ambiguity according to the single-difference wide lane ambiguity residual, and determining the number of fixable wide lanes as the number of fixable wide lanes of the observation satellite;

[0016] The target reference satellite for this epoch is determined based on the number of fixable wide lanes and the length of the continuous ambiguity fixed arc of each observation satellite.

[0017] In a third aspect, an embodiment of the present invention provides a reference star selection device, which is applied to fix ambiguity in a non-open scene, and the device includes:

[0018] An information acquisition module is used to obtain the observation data and carrier phase decimal deviation of each observation satellite;

[0019] A floating point ambiguity determination module is used to determine the floating point ambiguity of each observation satellite according to each observation data;

[0020] The residual determination module is used to determine the single-difference wide-lane ambiguity and the single-difference wide-lane ambiguity residual between the preset reference satellite and other observation satellites according to the floating-point ambiguity and carrier phase fractional deviation of each observation satellite, respectively, with each observation satellite as the preset reference satellite;

[0021] A module for determining the number of fixable wide lanes, used for determining the number of fixable wide lanes in the single-difference wide lane ambiguity according to the single-difference wide lane ambiguity residual;

[0022] The target reference satellite determination module is used to determine the observation satellite with the largest number of fixable wide lanes as the target reference satellite.

[0023] In a fourth aspect, an embodiment of the present invention provides a reference star selection device, which is applied to fix blur in an open scene, and the device includes:

[0024] The information acquisition module is used to obtain the observation data and carrier phase decimal deviation of each observation satellite in this epoch;

[0025] A floating point ambiguity determination module is used to determine the floating point ambiguity and the continuous ambiguity fixed arc length of each observation satellite according to each observation data;

[0026] The residual determination module is used to determine the single-difference wide-lane ambiguity and the single-difference wide-lane ambiguity residual between the preset reference satellite and other observation satellites according to the floating-point ambiguity and carrier phase fractional deviation of each observation satellite, respectively, with each observation satellite as the preset reference satellite;

[0027] A module for determining the number of fixable wide lanes, used to determine the number of fixable wide lanes in the single-difference wide lane ambiguity according to the single-difference wide lane ambiguity residual, and determine the number of fixable wide lanes as the number of fixable wide lanes of the observed satellite;

[0028] The target reference satellite determination module is used to determine the target reference satellite of this epoch based on the number of fixable wide lanes and the continuous ambiguity fixed arc length of each observation satellite.

[0029] In a fifth aspect, an embodiment of the present invention provides a receiver, including:

[0030] processor;

[0031] a memory for storing computer program instructions;

[0032] When the computer program instructions are executed by a processor, the method according to the first aspect or the method according to the second aspect is implemented.

[0033] The reference star selection method, device and receiver provided by the embodiments of the present invention can determine the number of fixable wide lanes of each observation satellite according to the floating-point ambiguity and carrier phase fractional deviation of the observation satellite in a non-open scene, and then use the observation satellite with the largest number of fixable wide lanes as the target reference satellite, which meets the requirement of selecting the observation satellite with the largest number of fixable wide lanes as the target reference satellite in a non-open scene, and improves the accuracy of the reference satellite. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solution of the embodiment of the present invention, the following briefly introduces the drawings required for use in the embodiment of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0035] Figure 1 A schematic diagram of an application scenario of a reference star selection method provided by an embodiment of the present invention;

[0036] Figure 2 A flowchart of a reference star selection method provided by an embodiment of the present invention;

[0037] Figure 3 A flowchart of another reference star selection method provided by an embodiment of the present invention;

[0038] Figure 4 A flowchart of another reference star selection method provided by an embodiment of the present invention;

[0039] Figure 5 A flowchart of another reference star selection method provided by an embodiment of the present invention;

[0040] Figure 6A partial flow chart of a reference star selection method provided by an embodiment of the present invention;

[0041] Figure 7 A structural diagram of a reference star selection device provided by an embodiment of the present invention;

[0042] Figure 8 A structural diagram of another reference star selection device provided by an embodiment of the present invention;

[0043] Fig. 9 A structural diagram of a receiver provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0044] The features and exemplary embodiments of various aspects of the present invention will be described in detail below. In order to make the purpose, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and Examples. It should be understood that the specific embodiments described herein are only configured to explain the present invention and are not configured to limit the present invention. For those skilled in the art, the present invention can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present invention by illustrating examples of the present invention.

[0045] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "include..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0046] The traditional reference star selection scheme is based on the altitude angle of the observation satellite. For example, the fixable observation satellites are sorted according to their altitude angles, and the observation satellite with the largest altitude angle is selected as the reference star. This method considers only a single factor, resulting in poor accuracy of the reference star, which in turn affects the fixation effect of the ambiguity.

[0047] To this end, an embodiment of the present invention provides a reference star selection method, which can improve the accuracy of the reference star.

[0048] Figure 1 A schematic diagram of an application scenario of a reference star selection method provided by an embodiment of the present invention.

[0049] This scenario includes receivers and observation satellites. The receiver achieves positioning through interaction with the observation satellite. The receiver here can be mobile or fixed. There can be one or more receivers and multiple observation satellites. Figure 1 Take one receiver 10 and three observation satellites 11 as an example. When multiple receivers 10 are included, the interaction process between each receiver 10 and the observation satellite 11 is similar.

[0050] Considering that in reality, some observation satellites 11 may be blocked by trees, buildings, etc., affecting the interaction between the observation satellite 11 and the receiver 10, the embodiment of the present invention Figure 1 The scenes shown are further divided into empty scenes and non-empty scenes.

[0051] The non-open scene is a scene where the signal of the observation satellite 11 is blocked. For example, in a blocking environment such as a densely built area, the signal of the observation satellite 11 is easily blocked, reflected or diffracted, etc., affecting the positioning of the receiver 10. The open scene is a scene where the signal of the observation satellite 11 is not blocked.

[0052] Different scenes have different reference satellite selection methods. For example, in non-open scenes, the reference satellite selection method corresponding to non-open scenes can be used to determine the target reference satellite; in open scenes, the reference satellite selection method corresponding to open scenes can be used to determine the target reference satellite. This can meet the needs of different scenes for target reference satellites and improve the accuracy of target reference satellites.

[0053] The following describes in detail the reference star selection method provided by the embodiment of the present invention in different scenarios in conjunction with specific embodiments. Figure 1 The receiver 10 shown performs.

[0054] Figure 2 A flowchart of a reference star selection method provided by an embodiment of the present invention, which can be applied to fix blur in non-open scenes.

[0055] like Figure 2 As shown, the reference star selection method may include the following steps:

[0056] S210, obtaining observation data and carrier phase decimal deviation of each observation satellite.

[0057] S220. Determine the floating point ambiguity of each observation satellite according to each observation data.

[0058] S230, taking each observation satellite as a preset reference satellite, and determining the single-difference wide-lane ambiguity and single-difference wide-lane ambiguity residual between the preset reference satellite and other observation satellites according to the floating-point ambiguity and carrier phase fractional deviation of each observation satellite.

[0059] S240. Determine the number of fixable wide lanes in the single-difference wide lane ambiguity according to the single-difference wide lane ambiguity residual.

[0060] S250, determining the observation satellite with the largest number of fixed wide lanes as the target reference satellite.

[0061] Therefore, in non-open scenes, the number of fixable wide lanes of each observation satellite can be determined according to the floating-point ambiguity and carrier phase fractional deviation of the observation satellite, and then the observation satellite with the largest number of fixable wide lanes can be used as the target reference satellite, which meets the requirement of selecting the observation satellite with the largest number of fixable wide lanes as the target reference satellite in non-open scenes and improves the accuracy of the reference satellite.

[0062] The above steps are described in detail below:

[0063] In S210, the observation data may include pseudorange observation values ​​of the observed satellite, carrier phase observation values, and broadcast ephemeris, etc. Carrier phase decimal deviation, also known as uncalibrated phase decimal deviation (UPD), is the corresponding decimal part of the ambiguity.

[0064] Specifically, the receiver can receive pseudorange observation values, carrier observation values, and broadcast ephemeris sent by the observation satellite to obtain observation data, and receive carrier phase decimal deviations sent by the observation satellite.

[0065] In S220, the floating point ambiguity may be a real number estimate associated with an integer number of wavelengths or periods of the satellite signal between the receiver and the observed satellite.

[0066] In one embodiment, the observation data of each observation satellite can be input into a preset filter, and the filter estimates the floating point ambiguity of each observation satellite based on the observation data. The filter here can be a Kalman filter. Of course, other methods can also be used to estimate the floating point ambiguity of each observation satellite, which is not specifically limited in the embodiment of the present invention.

[0067] In S230, the single-difference wide-lane ambiguity is the difference between the wide-lane ambiguities of the two observation satellites. For example, the wide-lane ambiguity of the observation satellite A is WL A , the wide lane ambiguity of the observation satellite B is WL B , then the single-difference wide-lane ambiguity WL between observation satellite A and observation satellite B is A，B =WLA -WL B It should be noted that the wide lane ambiguities of the observation satellite A and the observation satellite B here are respectively the wide lane ambiguities corrected by the carrier phase fractional deviation. The specific correction process can refer to the following embodiment.

[0068] The single-difference wide-lane ambiguity residual is a value obtained by a certain operation on the single-difference wide-lane ambiguity. This value can reflect whether the related single-difference wide-lane ambiguity can be fixed. For example, when the single-difference wide-lane ambiguity residual is less than or equal to the set threshold, it is considered that the related single-difference wide-lane ambiguity can be fixed.

[0069] For example, assuming that the scene includes observation satellite A, observation satellite B and observation satellite C, the single difference wide lane ambiguity residual between observation satellite A and observation satellite B is res A，B , the single-difference wide-lane ambiguity residual between observation satellite A and observation satellite C is res A，C , if res A，B and res A，C are all less than or equal to the set threshold, then it is considered that the single-difference wide-lane ambiguity corresponding to the observed satellite A can be fixed; if res A，B Less than or equal to the set threshold, res A，C If it is greater than the set threshold, it is considered that the single-difference wide-lane ambiguity between observation satellite A and observation satellite B can be fixed.

[0070] The preset reference satellite can be any observation satellite in the relevant scene, that is, when calculating the single-difference wide-lane ambiguity between a certain observation satellite and other observation satellites, a certain observation satellite can be determined as the preset reference satellite. For example, when calculating the single-difference wide-lane ambiguity between observation satellite A and other observation satellites, observation satellite A can be determined as the preset reference satellite.

[0071] In S240, specifically, the number of fixable single-difference wide-lane ambiguities may be counted, and the number may be determined as the number of fixable wide-lanes in the single-difference wide-lane ambiguities corresponding to the relevant observation satellites.

[0072] As mentioned above, if res A，B and res A，C are all less than or equal to the set threshold, then it can be determined that the number of fixable wide lanes in the single-difference wide lane ambiguity corresponding to the observed satellite A is 2; if res A，B Less than or equal to the set threshold, res A，C If it is greater than the set threshold, it can be determined that the number of fixable wide lanes in the single-difference wide lane ambiguity corresponding to the observed satellite A is 1.

[0073] In S250, the target reference satellite is an observation satellite used for ambiguity fixation. In a non-open scene, since the satellite signal of the observation satellite is easily blocked, the observation satellite with the largest number of wide lanes that can be fixed is usually selected as the target reference satellite.

[0074] The traditional method is to use the observation satellite with the highest altitude angle as the target reference satellite. However, in non-open scenes, the observation satellite with the highest altitude angle is not necessarily the observation satellite with the largest number of fixed wide lanes, and the accuracy of the target reference satellite obtained in this way is poor.

[0075] The embodiment of the present invention directly determines the number of fixable wide lanes of each observation satellite based on the single-difference wide lane ambiguity residuals between the observation satellites, and uses the observation satellite with the largest number of fixable wide lanes as the target reference satellite, which meets the requirements of non-open scenes for target reference satellites and improves the accuracy of the target reference satellite.

[0076] In one embodiment, the above-mentioned floating-point ambiguity may include a first floating-point ambiguity of the observation satellite at a first frequency point and a second floating-point ambiguity of the observation satellite at a second frequency point. Correspondingly, the above-mentioned carrier phase fractional deviation may include a first carrier phase fractional deviation of the observation satellite at the first frequency point and a second carrier phase fractional deviation of the observation satellite at the second frequency point.

[0077] Based on the floating point ambiguity and carrier phase fractional deviation of different frequency points, the single-difference wide-lane ambiguity and single-difference wide-lane ambiguity residual of each observed satellite can be determined.

[0078] In one embodiment, the above S230 may include:

[0079] S2301. Determine a difference between a first floating point ambiguity and a second floating point ambiguity.

[0080] S2302. According to the first carrier phase fractional deviation and the second carrier phase fractional deviation, the difference is corrected to obtain the wide lane ambiguity of each observation satellite.

[0081] S2303. Determine the difference between the wide lane ambiguity of the preset reference satellite and the other observation satellites as the single difference wide lane ambiguity between the preset reference satellite and the other observation satellites.

[0082] S2304. Determine the single-difference wide-lane ambiguity residual between the preset reference satellite and other observation satellites based on the single-difference wide-lane ambiguity between the preset reference satellite and other observation satellites in combination with a preset single-difference wide-lane ambiguity residual formula.

[0083] Therefore, the single-difference wide-lane ambiguity of each observation satellite is determined according to the floating-point ambiguity and carrier phase fractional deviation of different frequencies. Then, based on the single-difference wide-lane ambiguity and the single-difference wide-lane ambiguity residual formula, the single-difference wide-lane ambiguity residual between the preset reference satellite and other observation satellites is determined, which provides a basis for determining the number of fixable wide lanes and improves the accuracy of the target reference satellite.

[0084] The following is a detailed description of each step of S230, as shown below:

[0085] In S2301, the receiver may obtain a first floating point ambiguity of each observation satellite at a first frequency point and a second floating point ambiguity at a second frequency point, and subtract the first floating point ambiguity from the second floating point ambiguity to obtain a difference between the first floating point ambiguity and the second floating point ambiguity.

[0086] For example, the first floating point ambiguity of the observed satellite i at the first frequency point and the second floating point ambiguity at the second frequency point are L1 i and L2 i , then the difference between the first floating point ambiguity and the second floating point ambiguity is L1 i -L2 i .

[0087] In S2302, illustratively, the difference in S2301 may be corrected according to the following formula:

[0088] WL i =L12 i +b1 i -b2 i

[0089] Among them, WL i is the corrected wide lane ambiguity of the observed satellite i, L12 i is the difference between the first floating point ambiguity and the second floating point ambiguity of the observed satellite i, b1 i b2 is the fractional deviation of the first carrier phase of the observed satellite i at the first frequency point, i is the fractional deviation of the second carrier phase of the observed satellite i at the second frequency point. Thus, the corrected wide lane ambiguity of each observed satellite can be obtained.

[0090] In S2303, each observation satellite can be used as a preset reference satellite in turn, and then the difference in wide-lane ambiguity between the preset reference satellite and other observation satellites is calculated to obtain the single-difference wide-lane ambiguity between the preset reference satellite and other observation satellites.

[0091] For example, the wide lane ambiguities of observation satellite i and observation satellite k are WL i and WL k, then the single-difference wide-lane ambiguity WL between the observation satellite i and the observation satellite k is i，k =WL i -WL k .

[0092] In S2304, in one embodiment, the preset single-difference wide-lane ambiguity residual formula may be as follows:

[0093] res i，k =fabs[WL i，k -floor(WL i，k +α)]

[0094] Among them, res i，k is the single-difference wide-lane ambiguity residual between the observed satellite i and the observed satellite k, fabs represents the absolute value, floor represents rounding, and α is a constant, for example, α=0.5.

[0095] In one embodiment, the above S240 may include:

[0096] Counting the number of single-difference wide-lane ambiguity residuals in the single-difference wide-lane ambiguity that are less than or equal to a preset residual threshold;

[0097] The number is determined as the number of fixable wide lanes in the single-difference wide lane ambiguity.

[0098] Here, the size of the preset residual threshold can be set according to actual needs, for example, it can be set to 0.25.

[0099] Specifically, for each observation satellite, the number of single-difference wide-lane ambiguity residuals between the observation satellite and other observation satellites that are less than or equal to 0.25 can be counted, and the number can be recorded as the number of fixable wide lanes in the single-difference wide-lane ambiguity of the observation satellite, that is, the number of fixable wide lanes of the observation satellite.

[0100] Therefore, in non-open scenes, the number of fixable wide lanes of the observation satellite can be directly determined, which meets the demand for target reference satellites in non-open scenes and can improve the accuracy of subsequent target reference satellites.

[0101] In actual applications, some observation satellites may have cycle slips or low altitude angles, which may affect the determination of the target reference satellite. Based on this consideration, in one embodiment, before S230, the method may further include the following steps:

[0102] Filter each observation satellite according to its altitude angle and whether there is a cycle slip mark;

[0103] An observation satellite with an elevation angle greater than a preset elevation angle and no cycle slip mark is determined as a preset reference satellite.

[0104] Due to the obstruction of obstacles such as trees, electric poles, buildings or hills, the receiver may interrupt the tracking of satellite signals, resulting in the interruption of the counter count. The cycle slip is the number of whole cycles lost due to the interruption of the counter. When the counter count is interrupted, a cycle slip mark can be added to the observed satellite, indicating that the observed satellite has a cycle slip.

[0105] Specifically, each observation satellite can be screened according to its altitude angle and whether there is a cycle slip mark, and observation satellites with altitude angles greater than a preset altitude angle and without a cycle slip mark are selected as candidate satellites for target reference satellites, that is, preset reference satellites.

[0106] Therefore, by screening the observation satellites and filtering out the observation satellites with low elevation angles or cycle slips, the accuracy of the preset reference satellites can be improved, and then the accuracy of the target reference satellites can be improved.

[0107] The following is a detailed description of the reference star selection method in an open scene, as shown below:

[0108] Figure 3 A flowchart of another reference star selection method provided by an embodiment of the present invention, which can be applied to fix blur in open scenes.

[0109] like Figure 3 As shown, the method may include the following steps:

[0110] S310. Obtain observation data and carrier phase decimal deviation of each observation satellite in this epoch.

[0111] S320. Determine the floating point ambiguity and continuous ambiguity fixed arc length of each observation satellite based on each observation data.

[0112] S330, taking each observation satellite as a preset reference satellite, and determining the single-difference wide-lane ambiguity and single-difference wide-lane ambiguity residual between the preset reference satellite and other observation satellites according to the floating-point ambiguity and carrier phase fractional deviation of each observation satellite.

[0113] S340. Determine the number of fixable wide lanes in the single-difference wide lane ambiguity according to the single-difference wide lane ambiguity residual, and determine the number of fixable wide lanes as the number of fixable wide lanes of the observed satellite.

[0114] S350. Determine the target reference satellite for this epoch based on the number of fixable wide lanes and the length of the continuous ambiguity fixed arc of each observation satellite.

[0115] Therefore, in open scenes, the target reference satellite is determined based on the number of fixable wide lanes and the continuous ambiguity fixed arc length of the observation satellite, which increases the consideration factors and effectively solves the problem of poor accuracy of the target reference satellite due to the single consideration factor in the traditional method, thereby improving the accuracy of the target reference satellite.

[0116] Epoch can be understood as the measurement time interval or data frequency. For example, if a measurement is being performed and recorded every 5 seconds, the epoch is 5 seconds. Here, the epoch can be the interval between two satellite signal receptions by the receiver.

[0117] The execution process of S310, S330 and S340 is the same as the execution process of S210, S230 and S240 in the non-empty scene. For details, please refer to the description of S210, S230 and S240. For the sake of brevity, they will not be repeated here.

[0118] In S320, the continuous ambiguity fixation arc length may be the number of epochs in which the ambiguity is continuously fixed up to the current epoch, and if the ambiguity of an epoch in the middle is not fixed, it is recalculated. For example, the observation satellite i includes five epochs before the current epoch, namely, epoch 1, epoch 2, epoch 3, epoch 4 and epoch 5, the ambiguity of epoch 2 is not fixed, and the ambiguities of epoch 1, epoch 3, epoch 4 and epoch 5 are all fixed, then it can be determined that the continuous ambiguity fixation arc length of the observation satellite i up to the current epoch is 3.

[0119] The process of determining the floating point blur can be referred to in the non-empty scene, and will not be repeated here for the sake of brevity.

[0120] In S350, in an open scene, the embodiment of the present invention determines the target reference satellite based on the number of fixable wide lanes of each observation satellite and the fixed arc length of continuous ambiguity. Compared with the traditional method of determining the target reference satellite only based on the altitude angle, the embodiment of the present invention considers more factors, thereby improving the accuracy of the target reference satellite.

[0121] Figure 4 A flowchart of another reference star selection method provided by an embodiment of the present invention, which can be applied to open scenes.

[0122] like Figure 4 As shown, the method may include the following steps:

[0123] S410. Obtain observation data and carrier phase decimal deviation of each observation satellite in this epoch.

[0124] S420. Determine the floating point ambiguity and the continuous ambiguity fixed arc length of each observation satellite according to each observation data.

[0125] S430, taking each observation satellite as a preset reference satellite, and determining the single-difference wide-lane ambiguity and single-difference wide-lane ambiguity residual between the preset reference satellite and other observation satellites according to the floating-point ambiguity and carrier phase fractional deviation of each observation satellite.

[0126] S440. Determine the number of fixable wide lanes in the single-difference wide lane ambiguity according to the single-difference wide lane ambiguity residual, and determine the number of fixable wide lanes as the number of fixable wide lanes of the observed satellite.

[0127] S450: Determine an observation satellite whose number of fixable wide lanes is greater than the average number of fixable wide lanes as a first candidate reference satellite.

[0128] S460. Determine the target reference satellite for this epoch based on the observation satellite with the largest continuous ambiguity fixed arc length among the first candidate reference satellites.

[0129] Therefore, the observation satellites are screened according to the number of fixable wide lanes. Among the observation satellites whose number of fixable wide lanes is greater than the average number of fixable wide lanes, the target reference satellite is further determined according to the observation satellite with the largest continuous ambiguity fixed arc length, thereby improving the accuracy of the target reference satellite.

[0130] The process of S410-S440 is the same as the process of S310-S340. For details, please refer to the description of S310-S340. For the sake of brevity, it will not be repeated here.

[0131] The other steps of this method are described in detail below:

[0132] In S450, the average number of fixable wide lanes is the average of the number of fixable wide lanes of each observation satellite. For example, the scenario includes n observation satellites, and the corresponding number of fixable wide lanes is num1, num2, ..., numn, respectively. Then, the average number of fixable wide lanes can be determined by the following formula:

[0133]

[0134] Among them, num_mean is the average number of wide lanes that can be fixed for each observation satellite.

[0135] The embodiment of the present invention compares the number of fixable wide lanes of each observation satellite with num_mean, screens each observation satellite, and selects an observation satellite whose number of fixable wide lanes is greater than the average number of fixable wide lanes as the first candidate reference satellite, thereby improving the accuracy of the target reference satellite.

[0136] After the first candidate reference satellite is determined, the target reference satellite for this epoch can be determined based on the observation satellite with the largest continuous ambiguity fixed arc length among the first candidate reference satellites.

[0137] It can be understood that there may be one or more observation satellites with the largest continuous ambiguity fixed arc length among the first candidate reference satellites.

[0138] In one embodiment, when there is one observation satellite with the largest continuous ambiguity fixed arc length among the first candidate reference satellites, the observation satellite with the largest continuous ambiguity fixed arc length can be directly determined as the target reference satellite of this epoch.

[0139] In one embodiment, when there are multiple observation satellites with the largest continuous ambiguity fixed arc length among the first candidate reference satellites, the observation satellite with the largest continuous ambiguity fixed arc length can be used as the second candidate reference satellite; and the target reference satellite of this epoch is determined based on the observation satellite with the largest continuous no-cycle-slip ambiguity arc length among the second candidate satellites, wherein the continuous no-cycle-slip ambiguity arc length is determined based on the observation data of the observation satellite.

[0140] The arc length of the continuous non-cycle-slip ambiguity may be the number of epochs corresponding to the continuous ambiguity without cycle slips. If a cycle slip occurs in one of the epochs, it is recalculated.

[0141] Specifically, when there are multiple observation satellites with the largest continuous ambiguity fixed arc length among the first candidate reference satellites, the observation satellite with the largest continuous ambiguity fixed arc length can be used as the second candidate reference satellite, and then the target reference satellite of this epoch is determined based on the observation satellite with the largest continuous non-cycle slip ambiguity arc length among the second candidate reference satellites.

[0142] Therefore, when there are multiple observation satellites with the largest continuous ambiguity fixed arc length, the continuous non-cycle slip ambiguity arc length is added on the basis of the continuous ambiguity fixed arc length, and the target reference satellite of this epoch is determined based on the observation satellite with the largest continuous non-cycle slip ambiguity arc length, thereby improving the accuracy of the target reference satellite.

[0143] It can be understood that since there are multiple observation satellites with the largest continuous ambiguity fixed arc length, there may be one or more observation satellites with the largest continuous non-cycle slip ambiguity arc length among the observation satellites with the largest continuous ambiguity fixed arc length, that is, there may be one or more observation satellites with the largest continuous non-cycle slip ambiguity arc length among the second candidate reference satellites.

[0144] In one embodiment, when there is one observation satellite with the largest continuous non-cycle slip ambiguity arc length among the second candidate reference satellites, the observation satellite with the largest continuous non-cycle slip ambiguity arc length can be directly determined as the target reference satellite of this epoch.

[0145] In one embodiment, when there are multiple observation satellites with the largest continuous non-cycle slip ambiguity arc length among the second candidate reference satellites, the observation satellite with the largest continuous non-cycle slip ambiguity arc length can be determined as the third candidate satellite; and the observation satellite with the largest altitude angle among the third candidate satellites can be determined as the target reference satellite of this epoch.

[0146] Therefore, when there are multiple observation satellites with the largest arc length of continuous non-cycle slip ambiguity, the altitude angle is added on the basis of the arc length of continuous non-cycle slip ambiguity, and the observation satellite with the largest altitude angle among the third candidate satellites is determined as the target reference satellite of this epoch. Compared with the traditional method of directly determining the target reference satellite based on the altitude angle, the embodiments of the present invention take more comprehensive factors into consideration and the accuracy of the target reference satellite is higher.

[0147] In open scenes, since the satellite signals of the observation satellites are not easily blocked, in some cases, the target reference satellite of the previous epoch can be directly used as the target reference satellite of the current epoch, eliminating the need to calculate the target reference satellite for each epoch, thus simplifying the process and saving time.

[0148] Based on this, an embodiment of the present invention provides a reference star selection method, including: Figure 5 Steps shown:

[0149] S510. Determine whether the target reference satellite of this epoch needs to be switched. If so, execute S520. Otherwise, execute S5140.

[0150] S520. Obtain observation data and carrier phase decimal deviation of each observation satellite in this epoch.

[0151] S530. Determine the floating point ambiguity and the continuous ambiguity fixed arc length of each observation satellite according to each observation data.

[0152] S540, taking each observation satellite as a preset reference satellite, and determining the single-difference wide-lane ambiguity and single-difference wide-lane ambiguity residual between the preset reference satellite and other observation satellites according to the floating-point ambiguity and carrier phase fractional deviation of each observation satellite.

[0153] S550. Determine the number of fixable wide lanes in the single-difference wide lane ambiguity according to the single-difference wide lane ambiguity residual, and determine the number of fixable wide lanes as the number of fixable wide lanes of the observed satellite.

[0154] S560: Determine an observation satellite whose number of fixable wide lanes is greater than the average number of fixable wide lanes as a first candidate reference satellite.

[0155] S570: Is there one observation satellite with the largest continuous ambiguity fixed arc length among the first candidate reference satellites? If so, execute S580; otherwise, execute S590.

[0156] S580. Determine the observation satellite with the largest continuous ambiguity fixed arc length as the target reference satellite for this epoch.

[0157] S590. The observation satellite with the largest continuous ambiguity fixed arc length is selected as the second candidate reference satellite.

[0158] S5100. Is there one observation satellite with the largest continuous non-cycle slip ambiguity arc length among the second candidate reference satellites? If so, execute S5110; otherwise, execute S5120.

[0159] S5110. Determine the observation satellite with the largest continuous non-cycle slip ambiguity arc length as the target reference satellite for this epoch.

[0160] S5120. Determine the observation satellite with the largest continuous non-cycle slip ambiguity arc length as the third candidate satellite.

[0161] S5130. Determine the observation satellite with the largest elevation angle among the third candidate satellites as the target reference satellite for this epoch.

[0162] S5140. Use the target reference satellite of the previous epoch as the target reference satellite of the current epoch.

[0163] Therefore, before determining the target reference satellite of this epoch, it is judged whether the target reference satellite of this epoch needs to be switched. If switching is required, the target reference satellite of this epoch can be determined according to the process of the above embodiment. If switching is not required, the target reference satellite of the previous epoch can be directly used as the target reference satellite of this epoch without repeating the above process, which simplifies the operation and saves time.

[0164] The processes of S520 - S5130 can refer to the above-mentioned embodiment, and will not be described again here for the sake of brevity.

[0165] In one embodiment, Figure 6 As shown, S510 may include the following steps:

[0166] S5101. Determine the average fixable wide-lane residual of each observation satellite in this epoch based on the single-difference wide-lane ambiguity residual of each observation satellite in this epoch.

[0167] S5102: Is the number of fixable wide lanes of the target reference satellite in the previous epoch greater than the average number of fixable wide lanes in the current epoch? If so, execute S5103; otherwise, execute S5105.

[0168] S5103: Is the average fixable wide lane residual of the target reference satellite in the previous epoch smaller than the average fixable wide lane residual in the current epoch? If so, execute S5104; otherwise, execute S5105.

[0169] S5104. Determine that the target reference satellite of this epoch does not need to be switched.

[0170] S5105. Determine whether the target reference satellite of this epoch needs to be switched.

[0171] The average fixable wide lane residual is the mean of the fixable wide lane residuals of each observation satellite. The fixable wide lane residual of each observation satellite can be determined by the following formula:

[0172]

[0173] Among them, resi is the average residual of the fixed wide lane of the observation satellite i, and res i，mi represents the single-difference wide-lane ambiguity residual between observed satellite i and observed satellite mi.

[0174] The average fixable wide lane residual of each observation satellite can be determined by the following formula:

[0175]

[0176] Among them, res_mean is the average fixable wide-lane residual of each observation satellite, and n is the number of observation satellites.

[0177] Specifically, if the number of fixable wide lanes of the target reference satellite in the previous epoch in this epoch is greater than the average number of fixable wide lanes in this epoch, and the average residual of the fixable wide lanes of the target reference satellite in the previous epoch in this epoch is less than the average residual of the average fixable wide lanes in this epoch, it can be determined that the target reference satellite in this epoch does not need to be switched.

[0178] If at least one of the following conditions is not met: the number of fixable wide lanes of the target reference satellite in the previous epoch in this epoch is greater than the average number of fixable wide lanes in this epoch, and the average residual of the fixable wide lanes of the target reference satellite in the previous epoch in this epoch is less than the average residual of the average fixable wide lanes in this epoch, then it can be determined that the target reference satellite in this epoch needs to be switched.

[0179] For example, the number of wide lanes that can be fixed for the target reference satellite in the previous epoch in the current epoch is less than or equal to the average number of wide lanes that can be fixed in the current epoch; or,

[0180] If the average fixable wide-lane residual of the target reference satellite in the previous epoch in this epoch is greater than or equal to the average fixable wide-lane residual in this epoch, it can be determined that the target reference satellite in this epoch needs to be switched.

[0181] Therefore, the number of fixable wide lanes and the average residual of the fixable wide lanes of the target reference satellite in the previous epoch are compared with those in the current epoch to determine whether the target reference satellite in the current epoch needs to be switched, which can save some unnecessary operations, save time and improve efficiency.

[0182] The process of determining the preset reference satellite in an open scene is the same as the process of determining the preset reference satellite in a non-open scene. For details, please refer to the description in the non-open scene. For the sake of brevity, it will not be repeated here.

[0183] Based on the same inventive concept, the embodiment of the present invention further provides a reference star selection device, which can be applied to fix the ambiguity in non-open scenes. Figure 7 The reference star selection provided by the embodiment of the present invention is described in detail.

[0184] Figure 7 A structural diagram of a reference star selection device provided in an embodiment of the present invention.

[0185] like Figure 7 As shown, the reference star selection device may include:

[0186] The information acquisition module 71 is used to obtain the observation data and carrier phase decimal deviation of each observation satellite;

[0187] A floating point ambiguity determination module 72, used to determine the floating point ambiguity of each observation satellite according to each observation data;

[0188] The residual determination module 73 is used to determine the single-difference wide-lane ambiguity and the single-difference wide-lane ambiguity residual between the preset reference satellite and other observation satellites according to the floating-point ambiguity and carrier phase fractional deviation of each observation satellite, respectively, with each observation satellite as the preset reference satellite;

[0189] A module 74 for determining the number of fixable wide lanes, configured to determine the number of fixable wide lanes in the single-difference wide lane ambiguity according to the single-difference wide lane ambiguity residual;

[0190] The target reference satellite determination module 75 is used to determine the observation satellite with the largest number of fixable wide lanes as the target reference satellite.

[0191] The reference star selection device is described in detail below, specifically as follows:

[0192] In one embodiment, the floating point ambiguity includes a first floating point ambiguity of a first frequency point of the observed satellite and a second floating point ambiguity of a second frequency point, and the carrier phase decimal deviation includes a first carrier phase decimal deviation of the first frequency point and a second carrier phase decimal deviation of the second frequency point;

[0193] The residual determination module 73 is specifically used for:

[0194] determining a difference between the first floating point ambiguity and the second floating point ambiguity;

[0195] According to the first carrier phase fractional deviation and the second carrier phase fractional deviation, the difference is corrected to obtain the wide lane ambiguity of each observation satellite;

[0196] Determine the difference between the wide lane ambiguity of the preset reference satellite and the other observation satellite as the single difference wide lane ambiguity between the preset reference satellite and the other observation satellite;

[0197] According to the single-difference wide-lane ambiguity between the preset reference satellite and other observation satellites, combined with a preset single-difference wide-lane ambiguity residual formula, the single-difference wide-lane ambiguity residual between the preset reference satellite and other observation satellites is determined.

[0198] In one embodiment, the wide lane number determination module 74 may be fixed, specifically used for:

[0199] Counting the number of single-difference wide-lane ambiguity residuals in the single-difference wide-lane ambiguity that are less than or equal to a preset residual threshold;

[0200] The number is determined as the number of fixable wide lanes in the single-difference wide lane ambiguity.

[0201] In one embodiment, the device may further include:

[0202] A screening module is used to screen each observation satellite according to the elevation angle of each observation satellite and whether there is a cycle slip mark before determining the single-difference wide-lane ambiguity and the single-difference wide-lane ambiguity residual between the preset reference satellite and other observation satellites according to the floating-point ambiguity and carrier phase fractional deviation of each observation satellite respectively as the preset reference satellite;

[0203] The preset reference satellite determination module is used to determine an observation satellite with an altitude angle greater than a preset altitude angle and no cycle slip mark as a preset reference satellite.

[0204] Therefore, in non-open scenes, the number of fixable wide lanes of each observation satellite can be determined according to the floating-point ambiguity and carrier phase fractional deviation of the observation satellite, and then the observation satellite with the largest number of fixable wide lanes can be used as the target reference satellite, which meets the requirement of selecting the observation satellite with the largest number of fixable wide lanes as the target reference satellite in non-open scenes and improves the accuracy of the reference satellite.

[0205] Figure 7 Each module in the device shown has the function of realizing Figure 2 The functions of each step in the process can achieve the corresponding technical effects, so for the sake of brevity, they will not be described in detail here.

[0206] Based on the same inventive concept, the embodiment of the present invention further provides a reference star selection device, which can be applied to fix blur in an open scene. Figure 8 The reference star selection device provided in the embodiment of the present invention is described in detail.

[0207] Figure 8 A structural diagram of another reference star selection device provided in an embodiment of the present invention.

[0208] like Figure 8 As shown, the reference star selection device may include:

[0209] The information acquisition module 81 is used to obtain the observation data and carrier phase decimal deviation of each observation satellite in the current epoch;

[0210] A floating point ambiguity determination module 82 is used to determine the floating point ambiguity and the continuous ambiguity fixed arc length of each observation satellite according to each observation data;

[0211] The residual determination module 83 is used to determine the single-difference wide-lane ambiguity and the single-difference wide-lane ambiguity residual between the preset reference satellite and other observation satellites according to the floating-point ambiguity and carrier phase fractional deviation of each observation satellite, respectively, with each observation satellite as the preset reference satellite;

[0212] A module 84 for determining the number of fixable wide lanes, configured to determine the number of fixable wide lanes in the single-difference wide lane ambiguity according to the single-difference wide lane ambiguity residual, and determine the number of fixable wide lanes as the number of fixable wide lanes of the observed satellite;

[0213] The target reference satellite determination module 85 is used to determine the target reference satellite of this epoch based on the number of fixable wide lanes and the continuous ambiguity fixed arc length of each observation satellite.

[0214] The reference star selection device is described in detail below, specifically as follows:

[0215] In one embodiment, the target reference satellite determination module 85 includes:

[0216] A first candidate reference satellite determination module is used to determine an observation satellite whose number of fixable wide lanes is greater than an average number of fixable wide lanes as a first candidate reference satellite, wherein the average number of fixable wide lanes is the average of the numbers of fixable wide lanes of each observation satellite;

[0217] The target reference satellite determination unit is used to determine the target reference satellite of this epoch according to the observation satellite with the largest continuous ambiguity fixed arc length among the first candidate reference satellites.

[0218] In one embodiment, the target reference satellite determination unit includes:

[0219] A second candidate reference satellite determination subunit is configured to, when there are multiple observation satellites with the largest continuous ambiguity fixed arc length among the first candidate reference satellites, use the observation satellite with the largest continuous ambiguity fixed arc length as the second candidate reference satellite;

[0220] A target reference satellite determination subunit is used to determine the target reference satellite of the current epoch according to the observed satellite with the largest continuous non-cycle slip ambiguity arc length among the second candidate satellites;

[0221] Among them, the length of the continuous non-cycle slip ambiguity arc is determined according to the observation data of the observation satellite.

[0222] In one embodiment, the target reference satellite determination subunit is specifically configured to:

[0223] In the case that there are multiple observation satellites with the largest continuous non-cycle slip ambiguity arc length, determining the observation satellite with the largest continuous non-cycle slip ambiguity arc length as the third candidate satellite;

[0224] The observation satellite with the largest elevation angle among the third candidate satellites is determined as the target reference satellite for this epoch.

[0225] In one embodiment, the device may further include:

[0226] A judgment module, used to judge whether the target reference satellite of this epoch needs to be switched;

[0227] The judgment module is specifically used for:

[0228] According to the single-difference wide-lane ambiguity residuals of each observation satellite in this epoch, the average fixable wide-lane average residual of each observation satellite in this epoch is determined;

[0229] If the number of fixable wide lanes of the target reference satellite in the previous epoch in this epoch is greater than the average number of fixable wide lanes in this epoch, and the average residual of the fixable wide lanes of the target reference satellite in the previous epoch in this epoch is less than the average residual of the average fixable wide lanes in this epoch, then it is determined that the target reference satellite in this epoch does not need to be switched; otherwise, it is determined that the target reference satellite in this epoch needs to be switched.

[0230] Figure 8 Each module in the device shown has the function of realizing Figure 3-Figure 6 The functions of each step in the process can achieve the corresponding technical effects, so for the sake of brevity, they will not be described in detail here.

[0231] Based on the same inventive concept, the embodiment of the present invention further provides a receiver. Fig. 9 The receiver provided by the embodiment of the present invention is described in detail.

[0232] like Fig. 9As shown, the receiver may include a processor 91 and a memory 92 for storing computer program instructions.

[0233] The processor 91 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured as one or more integrated circuits for implementing the embodiments of the present invention.

[0234] The memory 92 may include a large capacity memory for data or instructions. By way of example and not limitation, the memory 92 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive or a combination of two or more of these. In one example, the memory 92 may include a removable or non-removable (or fixed) medium, or the memory 92 is a non-volatile solid-state memory. In one example, the memory 92 may be a read-only memory (ROM). In one example, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), an electrically rewritable ROM (EAROM) or a flash memory or a combination of two or more of these.

[0235] The processor 91 reads and executes the computer program instructions stored in the memory 92 to implement Figure 2-Figure 6 The method in the embodiment shown in the figure is achieved Figure 2-Figure 6 The corresponding technical effects achieved by executing the method in the illustrated embodiment are not described in detail here for the sake of brevity.

[0236] In one example, the receiver may further include a communication interface 93 and a bus 94. Fig. 9 As shown, the processor 91, the memory 92, and the communication interface 93 are connected via a bus 94 and communicate with each other.

[0237] The communication interface 93 is mainly used to implement the communication between the modules, devices and / or equipment in the embodiment of the present invention.

[0238] Bus 94 includes hardware, software or both, and couples the components of the receiver to each other. For example, but not limitation, the bus may include an accelerated graphics port (Accelerated Graphics Port, AGP) or other graphics bus, an enhanced industry standard architecture (Extended Industry Standard Architecture, EISA) bus, a front-side bus (FrontSide Bus, FSB), a hypertransport (Hyper Transport, HT) interconnection, an industry standard architecture (Industry Standard Architecture, ISA) bus, an infinite bandwidth interconnection, a low pin count (LPC) bus, a memory bus, a microchannel architecture (MCA) bus, a peripheral component interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a serial advanced technology attachment (SATA) bus, a video electronics standard association local (VLB) bus or other suitable bus or a combination of two or more of these. Where appropriate, bus 94 may include one or more buses. Although the embodiments of the present invention describe and illustrate specific buses, the present invention contemplates any suitable bus or interconnection.

[0239] The receiver can perform the reference satellite selection method in the embodiment of the present invention based on the observation data of each observation satellite currently received and the carrier phase fractional deviation, thereby realizing the combination of Figure 2-Figure 6 The reference star selection method described and Figure 7-Figure 8 A reference star selection device is described.

[0240] In addition, in combination with the reference star selection method in the above embodiment, the embodiment of the present invention can provide a computer storage medium for implementation. The computer storage medium stores computer program instructions; when the computer program instructions are executed by a processor, any one of the reference star selection methods in the above embodiment is implemented.

[0241] It should be clear that the present invention is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present invention is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present invention.

[0242] The functional blocks shown in the above-described block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), appropriate firmware, plug-in, function card, etc. When implemented in software, the elements of the present invention are programs or code segments used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or a communication link by a data signal carried in a carrier. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (Radio Frequency, RF) links, etc. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

[0243] It should also be noted that the exemplary embodiments mentioned in the present invention describe some methods or systems based on a series of steps or devices. However, the present invention is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiments, or in a different order from the embodiments, or several steps can be performed simultaneously.

[0244] Aspects of the embodiments of the present invention are described above with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present invention. It should be understood that each box in the flowchart and / or block diagram and the combination of each box in the flowchart and / or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device to produce a machine so that these instructions executed by the processor of the computer or other programmable data processing device enable the implementation of the function / action specified in one or more boxes of the flowchart and / or block diagram. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field programmable logic circuit. It can also be understood that each box in the block diagram and / or flowchart and the combination of boxes in the block diagram and / or flowchart can also be implemented by dedicated hardware that performs a specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions.

[0245] The above is only a specific implementation of the present invention. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working process of the system, module and unit described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here. It should be understood that the protection scope of the present invention is not limited to this. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be covered within the protection scope of the present invention.

Claims

1. A reference star selection method, characterized in that: Applied to blur fixation in non-empty scenes, the method includes: Obtain the observation data and carrier phase fractional deviation of each observation satellite; Determine the floating point ambiguity of each of the observation satellites according to each of the observation data; Taking each of the observation satellites as a preset reference satellite, determining the single-difference wide-lane ambiguity and the single-difference wide-lane ambiguity residual between the preset reference satellite and other observation satellites according to the floating-point ambiguity and carrier phase fractional deviation of each of the observation satellites; Determining the number of fixable wide lanes in the single-difference wide lane ambiguity according to the single-difference wide lane ambiguity residual; The observation satellite with the largest number of fixed wide lanes is determined as the target reference satellite.

2. The method according to claim 1, characterized in that The floating point ambiguity includes a first floating point ambiguity of a first frequency point and a second floating point ambiguity of a second frequency point of the observed satellite, and the carrier phase decimal deviation includes a first carrier phase decimal deviation of the first frequency point and a second carrier phase decimal deviation of the second frequency point; Determining the single-difference wide-lane ambiguity and the single-difference wide-lane ambiguity residual between the preset reference satellite and other observation satellites according to the floating-point ambiguity and carrier phase fractional deviation of each observation satellite comprises: determining a difference between the first floating point ambiguity and the second floating point ambiguity; According to the first carrier phase fractional deviation and the second carrier phase fractional deviation, the difference is corrected to obtain the wide lane ambiguity of each of the observation satellites; Determine the difference between the wide lane ambiguity of the preset reference satellite and the other observation satellite as the single difference wide lane ambiguity between the preset reference satellite and the other observation satellite; According to the single-difference wide-lane ambiguity between the preset reference satellite and other observation satellites, in combination with a preset single-difference wide-lane ambiguity residual formula, the single-difference wide-lane ambiguity residual between the preset reference satellite and other observation satellites is determined.

3. The method according to claim 1, characterized in that The determining, according to the single-difference wide-lane ambiguity residual, the number of fixable wide-lane in the single-difference wide-lane ambiguity comprises: Counting the number of single-difference wide-lane ambiguity residuals in the single-difference wide-lane ambiguity that are less than or equal to a preset residual threshold; The number is determined as the number of fixable wide lanes in the single-difference wide lane ambiguity.

4. The method according to any one of claims 1 to 3, characterized in that: Before determining the single-difference wide-lane ambiguity and the single-difference wide-lane ambiguity residual between the preset reference satellite and other observation satellites according to the floating-point ambiguity and carrier phase fractional deviation of each observation satellite respectively as the preset reference satellite, the method further includes: Filtering each of the observation satellites according to the altitude angle of each of the observation satellites and whether a cycle slip mark exists; An observation satellite with an elevation angle greater than a preset elevation angle and no cycle slip mark is determined as a preset reference satellite.

5. A reference star selection method, characterized in that: Applied to blur fixation in an open scene, the method includes: Obtain the observation data and carrier phase decimal deviation of each observation satellite in this epoch; Determining the floating point ambiguity and the continuous ambiguity fixed arc length of each observation satellite according to each of the observation data; Taking each of the observation satellites as a preset reference satellite, determining the single-difference wide-lane ambiguity and the single-difference wide-lane ambiguity residual between the preset reference satellite and other observation satellites according to the floating-point ambiguity and carrier phase fractional deviation of each of the observation satellites; Determining the number of fixable wide lanes in the single-difference wide lane ambiguity according to the single-difference wide lane ambiguity residual, and determining the number of fixable wide lanes as the number of fixable wide lanes of the observation satellite; The target reference satellite of this epoch is determined according to the number of fixable wide lanes and the continuous ambiguity fixed arc length of each observation satellite.

6. The method according to claim 5, characterized in that Determining the target reference satellite of the current epoch according to the number of fixable wide lanes and the continuous ambiguity fixed arc length of each observation satellite comprises: Determine an observation satellite whose number of fixable wide lanes is greater than an average number of fixable wide lanes as a first candidate reference satellite, wherein the average number of fixable wide lanes is an average of the numbers of fixable wide lanes of the observation satellites; The target reference satellite of this epoch is determined according to the observation satellite with the largest continuous ambiguity fixed arc length among the first candidate reference satellites.

7. The method according to claim 6, characterized in that The step of determining the target reference satellite of the current epoch according to the observation satellite with the largest continuous ambiguity fixed arc length among the first candidate reference satellites comprises: When there are multiple observation satellites with the largest continuous ambiguity fixed arc length among the first candidate reference satellites, taking the observation satellite with the largest continuous ambiguity fixed arc length as the second candidate reference satellite; Determine the target reference satellite of this epoch according to the observed satellite with the largest continuous non-cycle slip ambiguity arc length among the second candidate reference satellites; The continuous non-cycle-slip ambiguity arc length is determined based on the observation data of the observation satellite.

8. The method according to claim 7, characterized in that The step of determining the target reference satellite of the current epoch according to the observed satellite with the largest arc length of continuous non-cycle slip ambiguity among the second candidate satellites comprises: In the case that there are multiple observation satellites with the largest continuous no-cycle-slip ambiguity arc length, determining the observation satellite with the largest continuous no-cycle-slip ambiguity arc length as the third candidate satellite; The observation satellite with the largest elevation angle among the third candidate satellites is determined as the target reference satellite of this epoch.

9. The method according to claim 5, characterized in that Also includes: Determine whether the target reference satellite of this epoch needs to be switched; The determining whether the target reference satellite of the current epoch needs to be switched includes: Determining an average fixable widelane average residual of each of the observation satellites in the present epoch according to the single-difference widelane ambiguity residual of each of the observation satellites in the present epoch; If the number of fixable wide lanes of the target reference satellite in the previous epoch in this epoch is greater than the average number of fixable wide lanes in this epoch, and the average residual of the fixable wide lanes of the target reference satellite in the previous epoch in this epoch is less than the average residual of the average fixable wide lanes in this epoch, then it is determined that the target reference satellite in this epoch does not need to be switched; otherwise, it is determined that the target reference satellite in this epoch needs to be switched.

10. A reference star selection device, characterized in that: Applied to blur fixation in non-open scenes, the device comprises: An information acquisition module is used to obtain the observation data and carrier phase decimal deviation of each observation satellite; A floating point ambiguity determination module, used for determining the floating point ambiguity of each observation satellite according to each observation data; A residual determination module is used to determine the single-difference wide-lane ambiguity and the single-difference wide-lane ambiguity residual between the preset reference satellite and other observation satellites according to the floating-point ambiguity and carrier phase fractional deviation of each observation satellite, respectively, taking each observation satellite as a preset reference satellite; A module for determining the number of fixable wide lanes, configured to determine the number of fixable wide lanes in the single-difference wide lane ambiguity according to the single-difference wide lane ambiguity residual; The target reference satellite determination module is used to determine the observation satellite with the largest number of fixable wide lanes as the target reference satellite.

11. A reference star selection device, characterized in that: Applied to fix blur in open scenes, the device comprises: The information acquisition module is used to obtain the observation data and carrier phase decimal deviation of each observation satellite in this epoch; A floating point ambiguity determination module, used for determining the floating point ambiguity and the continuous ambiguity fixed arc length of each observation satellite according to each observation data; A residual determination module is used to determine the single-difference wide-lane ambiguity and the single-difference wide-lane ambiguity residual between the preset reference satellite and other observation satellites according to the floating-point ambiguity and carrier phase fractional deviation of each observation satellite, respectively, taking each observation satellite as a preset reference satellite; A module for determining the number of fixable wide lanes, configured to determine the number of fixable wide lanes in the single-difference wide lane ambiguity according to the single-difference wide lane ambiguity residual, and determine the number of fixable wide lanes as the number of fixable wide lanes of the observation satellite; The target reference satellite determination module is used to determine the target reference satellite of this epoch based on the number of fixable wide lanes and the continuous ambiguity fixed arc length of each observation satellite.

12. A receiver, characterized in that: include: processor; a memory for storing computer program instructions; When the computer program instructions are executed by the processor, the method according to any one of claims 1 to 4 or the method according to any one of claims 5 to 9 is implemented.

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