Method, device and GNSS terminal equipment for determining ambiguity fixed solution

Abstract

The embodiments of the present application provide a method, apparatus, and GNSS terminal device for determining an ambiguity fixed solution, which can improve the accuracy of ambiguity fixing and thereby improve positioning accuracy. The method includes: obtaining a widelane ambiguity set; determining multiple different widelane ambiguity subsets based on the widelane ambiguity set; performing calculations on the widelane ambiguity set and the multiple widelane ambiguity subsets respectively to determine a first widelane fixed solution corresponding to the widelane ambiguity set, and multiple second widelane fixed solutions; calculating a first distance between a first positioning point and a target positioning point, and calculating a second distance between each second positioning point and the target positioning point to obtain multiple second distances, wherein the first positioning point is determined based on the first widelane fixed solution, and the second positioning point is determined based on the second widelane fixed solution; performing a gross error test on the first distance and the multiple second distances to determine a gross error test result; and determining a widelane ambiguity fixed solution based on the gross error test result.

Description

Technical Field

[0001] The present application relates to the field of satellite positioning, and in particular to a method, apparatus, and GNSS terminal device for determining a fixed ambiguity solution. Background Art

[0002] In Precise Point Positioning (PPP), by receiving corrections such as orbit and clock bias broadcast by the service, real-time centimeter-level positioning accuracy can be achieved after approximately 20 minutes of convergence. This technology has no regional restrictions and offers uniform positioning accuracy globally, leading to its widespread application in fields such as geodesy. However, PPP suffers from slow convergence and limited accuracy due to factors such as the unknown initial ambiguities of carrier observations. Precise Point Positioning ambiguity resolution (PPPAR) technology, by receiving satellite UPD corrections broadcast by the service and then fixing floating-point ambiguities, can effectively accelerate PPP convergence and improve positioning accuracy.

[0003] In PPPAR technology, the fixation rate is low when fixing all satellites, so partial ambiguity fixation technology comes into being. However, when fixing partial ambiguities in existing technologies, too few factors are considered when selecting the ambiguity subset. For example, only information such as ambiguity variance or satellite elevation angle is considered, which greatly affects the accuracy of ambiguity fixation and thus reduces positioning accuracy. Summary of the Invention

[0004] The embodiments of the present application provide a method, apparatus, and GNSS terminal device for determining an ambiguity fixing solution, which can improve the accuracy of ambiguity fixing and thereby improve positioning accuracy.

[0005] In a first aspect, an embodiment of the present application provides a method for determining an ambiguity fixed solution, the method comprising:

[0006] Obtain a wide lane ambiguity set, where the wide lane ambiguity set includes n wide lane ambiguities, where n is a positive integer greater than 2;

[0007] determining a plurality of different widelane ambiguity subsets according to the widelane ambiguity set;

[0008] Calculating a widelane ambiguity set and a plurality of widelane ambiguity subsets respectively, and determining a first widelane fixed solution corresponding to the widelane ambiguity set and a plurality of second widelane fixed solutions corresponding one-to-one to the plurality of widelane ambiguity subsets;

[0009] Calculating a first distance between a first positioning point and a target positioning point, and calculating a second distance between each second positioning point and the target positioning point, to obtain a plurality of second distances, wherein the target positioning point is determined according to a floating-point filtering solution, the first positioning point is determined according to a first wide-lane fixed solution, and the second positioning point is determined according to a second wide-lane fixed solution;

[0010] Performing a gross error test on the first distance and the plurality of second distances, and determining a gross error test result;

[0011] Based on the gross error test results, the wide lane ambiguity fixed solution is determined.

[0012] In a second aspect, an embodiment of the present application provides a method for determining an ambiguity fixed solution, the method comprising:

[0013] Obtain a narrow lane ambiguity set, where the narrow lane ambiguity set includes m narrow lane ambiguities, where m is a positive integer greater than 2, and each element in the narrow lane ambiguity set is sorted according to a preset sorting rule;

[0014] When the first error ratio Ratio value is less than a first preset threshold, pruning the narrow lane ambiguity set according to the sorting to determine a narrow lane ambiguity subset, wherein the first Ratio value is determined based on the narrow lane ambiguity set;

[0015] Calculate the second Ratio value of the narrow lane ambiguity subset;

[0016] If the second ratio value is less than the first preset threshold, the maximum value in the narrow lane ambiguity subset is eliminated based on the sorting to obtain an updated narrow lane ambiguity subset; the second ratio value of the narrow lane ambiguity subset is calculated again; and if the second ratio value is greater than the first preset threshold, a narrow lane ambiguity fixed solution is determined based on the corresponding narrow lane ambiguity subset.

[0017] In a third aspect, an embodiment of the present application provides a device for determining a fixed ambiguity solution, the device comprising:

[0018] A first acquisition module is configured to acquire a wide lane ambiguity set, where the wide lane ambiguity set includes n wide lane ambiguities, where n is a positive integer greater than 2;

[0019] A first determining module is configured to determine a plurality of different widelane ambiguity subsets based on the widelane ambiguity set;

[0020] a first calculation module, configured to calculate the widelane ambiguity set and the plurality of widelane ambiguity subsets, respectively, to determine a first widelane fixed solution corresponding to the widelane ambiguity set and a plurality of second widelane fixed solutions corresponding one-to-one to the plurality of widelane ambiguity subsets;

[0021] a second calculation module, configured to calculate a first distance between the first positioning point and the target positioning point, and to calculate a second distance between each second positioning point and the target positioning point, to determine a plurality of second distances, wherein the target positioning point is determined based on a floating-point filtering solution, the first positioning point is determined based on a first wide-lane fixed solution, and the second positioning point is determined based on a second wide-lane fixed solution;

[0022] a third calculation module, configured to perform a gross error test on the first distance and the plurality of second distances, and determine a gross error test result;

[0023] The second determination module is used to determine the wide lane ambiguity fixed solution according to the gross error detection result.

[0024] In a fourth aspect, an embodiment of the present application provides a device for determining a fixed ambiguity solution, the device comprising:

[0025] a first acquisition module, configured to acquire a narrow lane ambiguity set, wherein the narrow lane ambiguity set includes m narrow lane ambiguities, where m is a positive integer greater than 2, and each element in the narrow lane ambiguity set is sorted according to a preset sorting rule;

[0026] a first processing module configured to, if a first error ratio Ratio value is less than a first preset threshold, prune the narrow lane ambiguity set according to a preset sorting rule to determine a narrow lane ambiguity subset, wherein the first Ratio value is determined based on the narrow lane ambiguity set;

[0027] A calculation module, configured to calculate a second ratio value of the narrow lane ambiguity subset;

[0028] The second processing module is configured to, when the second ratio value is less than the first preset threshold, eliminate the maximum value in the narrow lane ambiguity subset based on sorting to obtain an updated narrow lane ambiguity subset; return the calculated second ratio value for the narrow lane ambiguity subset; and, when the second ratio value is greater than the first preset threshold, determine a narrow lane ambiguity fixed solution based on the corresponding narrow lane ambiguity subset.

[0029] In a fifth aspect, an embodiment of the present application provides a GNSS terminal device, the device comprising:

[0030] A processor and a memory storing computer program instructions; the processor reads and executes the computer program instructions to implement the method for determining the ambiguity fixed solution provided in the first and second aspects of the embodiments of the present application.

[0031] In a sixth aspect, an embodiment of the present application provides a computer storage medium on which computer program instructions are stored. When the computer program instructions are executed by a processor, a method for determining a fixed ambiguity solution as provided in the first and second aspects of the embodiments of the present application is implemented.

[0032] The methods, apparatuses, and GNSS terminal devices for determining ambiguity fixed solutions provided in the embodiments of the present application obtain a widelane ambiguity set, wherein the set includes n widelane ambiguities, where n is a positive integer greater than 2. Multiple different widelane ambiguity subsets are determined based on the widelane ambiguity set. The widelane ambiguity set and the multiple widelane ambiguity subsets are calculated to determine multiple widelane fixed solutions corresponding to each widelane ambiguity set. Based on the multiple widelane fixed solutions, multiple positioning points corresponding to each widelane ambiguity set are determined. A gross error test is performed on the distances between the multiple positioning points and a target positioning point determined based on a floating-point filtering solution. The widelane ambiguity fixed solution is determined based on the results of the gross error test. Compared to the prior art, the widelane fixed solution determined by the multiple widelane ambiguity subsets is tested against the positioning point determined by the floating-point filtering solution, thereby optimizing the selection of widelane ambiguity subsets, improving the accuracy of ambiguity fixing, and thereby improving positioning accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0034] Figure 1 A schematic flow chart of a method for determining a fixed ambiguity solution provided in an embodiment of the present application;

[0035] Figure 2 A schematic flowchart of another method for determining an ambiguity fixed solution provided in an embodiment of the present application;

[0036] Figure 3 A schematic flowchart of another method for determining an ambiguity fixed solution provided in an embodiment of the present application;

[0037] Figure 4 A schematic flowchart of a method for determining a fixed ambiguity solution provided in an embodiment of the present application;

[0038] Figure 5 A schematic diagram of the structure of a device for determining a fixed ambiguity solution provided in an embodiment of the present application;

[0039] Figure 6 A schematic structural diagram of another apparatus for determining a fixed ambiguity solution provided by an embodiment of the present application;

[0040] Figure 7 A schematic diagram of the structure of a GNSS terminal device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0041] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than to limit the present application. For those skilled in the art, the present application can be implemented without the need for some of these specific details. The following description of the embodiments is merely to provide a better understanding of the present application by illustrating the examples of the present application.

[0042] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, the elements defined by the phrase "comprising..." do not exclude the presence of other identical elements in the process, method, article, or device comprising the elements.

[0043] In Precise Point Positioning (PPP), by receiving orbit, clock deviation and other corrections broadcast by the server, real-time centimeter-level positioning accuracy can be achieved after about 20 minutes of convergence. This technology has no regional restrictions and has uniform positioning accuracy worldwide. Therefore, it has been widely used in many fields such as geodesy.

[0044] However, PPP technology suffers from slow convergence and limited accuracy due to factors such as the unknown initial ambiguities of carrier observations. Precise Point Positioning Ambiguity Resolution (PPPAR) technology, on the other hand, fixes floating-point ambiguities by receiving satellite UPD corrections broadcast by the service, effectively accelerating PPP convergence and improving positioning accuracy. Because the fixation rate when fixing all satellites in PPPAR is low, partial ambiguity fixation has emerged. The core issue of partial ambiguity fixation lies in the selection of widelane and narrowlane ambiguity subsets. This involves sorting the ambiguities to be fixed according to a specific strategy, then iteratively eliminating them based on this sorting. The remaining ambiguity subsets are then fixed, and the success of the fixation is determined based on specific criteria.

[0045] In the prior art, when fixing ambiguities, the wide lane ambiguities are first determined based on the wide lane residuals or the rounding success rate. After the wide lane ambiguities are determined, the narrow lane ambiguities are sorted based on the satellite elevation angle, signal-to-noise ratio, ambiguity variance, bootstrap success rate, etc. They are then iteratively eliminated in sequence, and the remaining ambiguity subsets are fixed. Finally, whether the fixation is correct is determined based on the error ratio.

[0046] In the aforementioned prior art, the selection of widelane ambiguity subsets is determined solely based on the widelane residuals of the current epoch, which is an overly simplistic consideration. The sorting of narrowlane ambiguity subsets is based on either the satellite level (e.g., elevation angle, signal-to-noise ratio, etc.) or the ambiguity level (e.g., ambiguity variance, bootstrap success rate, etc.), which is an overly simplistic consideration. Furthermore, when determining whether ambiguity fixation is successful, the prior art only uses a single metric (e.g., Ratio) after the ambiguity fixation of the current epoch, similarly simplifying the considerations. In summary, the prior art partial ambiguity fixation schemes suffer from numerous shortcomings, significantly impacting the accuracy of ambiguity fixation and, consequently, reducing positioning accuracy.

[0047] Based on the above analysis, an embodiment of the present application provides a method for determining an ambiguity fixing solution, so as to optimize the selection of an ambiguity subset, improve the accuracy of ambiguity fixing, and thereby improve positioning accuracy.

[0048] like Figure 1 As shown, an embodiment of the present application provides a method for determining an ambiguity fixed solution, the method comprising:

[0049] S101: Obtain a wide lane ambiguity set, where the wide lane ambiguity set includes n wide lane ambiguities, where n is a positive integer greater than 2.

[0050] Specifically, the determination of the wide lane ambiguity set is explained in detail in the following steps A1 to D1 and will not be further explained here.

[0051] S102: Determine a plurality of different widelane ambiguity subsets according to the widelane ambiguity set.

[0052] In some embodiments, the number of the multiple different widelane ambiguity subsets is n, and the n widelane ambiguity subsets respectively include n-1 widelane ambiguities.

[0053] It should be noted that the satellites corresponding to the wide lane ambiguities included in any two wide lane ambiguity subsets are different.

[0054] In one example, the widelane ambiguity set includes 10 widelane ambiguities, which can be labeled as the first widelane ambiguity, the second widelane ambiguity, ... the tenth widelane ambiguity. Widelane ambiguity subsets are selected one by one by eliminating them to generate 10 widelane ambiguity subsets, each of which includes 9 widelane ambiguities. The first widelane ambiguity subset includes "the second widelane ambiguity, the third widelane ambiguity, ... the tenth widelane ambiguity," the second widelane ambiguity subset includes "the first widelane ambiguity, the third widelane ambiguity, ... the tenth widelane ambiguity," the third widelane ambiguity subset includes "the first widelane ambiguity, the second widelane ambiguity, the fourth widelane ambiguity, ... the tenth widelane ambiguity," and so on.

[0055] S103 , calculating the widelane ambiguity set and the multiple widelane ambiguity subsets respectively, and determining a first widelane fixed solution corresponding to the widelane ambiguity set and multiple second widelane fixed solutions corresponding one-to-one to the multiple widelane ambiguity subsets.

[0056] Based on the above example, the first widelane fixed solution corresponding to the widelane ambiguity set is sol_wl_all; and the widelane fixed solution determined based on the first widelane ambiguity subset is sol_wl_1, the widelane fixed solution determined based on the second widelane ambiguity subset is sol_wl_2, and so on, the widelane fixed solution determined based on the j-th widelane ambiguity subset is sol_wl_j.

[0057] Since it is necessary to calculate the corresponding positioning points based on the fixed solutions determined by multiple sets / subsets, and perform gross error testing based on the positioning points, in order to overcome the problem in the prior art that the considerations for selecting ambiguity subsets when some ambiguities are fixed are too single, it is necessary to first calculate the fixed solutions for multiple sets / subsets.

[0058] S104: Calculate a first distance between the first positioning point and the target positioning point, and calculate a second distance between each second positioning point and the target positioning point, to obtain a plurality of second distances, wherein the target positioning point is determined based on the floating-point filtering solution, the first positioning point is determined based on the first wide-lane fixed solution, and the second positioning point is determined based on the second wide-lane fixed solution.

[0059] Based on the above example, the first distance between the first positioning point and the target positioning point can be calculated using Formula 1; and the second distance between the second positioning point and the target positioning point can be calculated using Formula 2:

[0060] dist_wl_all=sqrt[(x float -x sol_wl_all ) 2 +(y float -ysol_wl_all ) 2 +(z float -z sol_wl_all ) 2 ] Formula 1

[0061] dist_wl_j=sqrt[(x float -x sol_wl_j ) 2 +(y float -y sol_wl_j ) 2 +(z float -z sol_wl_j ) 2 ] Formula 2

[0062] Wherein, dist_wl_all represents the first distance between the first positioning point and the target positioning point, and dist_wl_j represents the second distance between the second positioning point and the target positioning point; float 、y float 、z float Respectively represent the coordinates of the target positioning point in the x, y, and z directions; sol_wl_all represents the first positioning point, x sol_wl_all 、y sol_wl_all 、z sol_wl_all Respectively represent the coordinates of the first positioning point in the x, y, and z directions; sol_wl_j represents the second positioning point, x sol_wl_j 、y sol_wl_j 、z sol_wl_j Represent the coordinates of the second positioning point in the x, y, and z directions respectively.

[0063] S105: Perform a gross error test on the first distance and the plurality of second distances to determine a gross error test result.

[0064] It should be noted that the wide lane ambiguity is determined based on satellite observation data. When gross errors occur in the above observation data, the wide lane ambiguity will also lead to the existence of gross errors, thereby increasing the deviation of the positioning point. In order to avoid this situation, in the embodiment of the present application, a gross error test is performed on the above-mentioned first distance and multiple second distances to eliminate the influence of gross errors and improve the reliability of the data.

[0065] The above-mentioned gross error test can be implemented through a median test or a variance test, which is not limited in the embodiments of the present application.

[0066] S106: Determine a wide lane ambiguity fixed solution based on the gross error test result.

[0067] The method for determining ambiguity fixed solutions provided in embodiments of the present application obtains a widelane ambiguity set, wherein the set includes n widelane ambiguities, where n is a positive integer greater than 2. Multiple different widelane ambiguity subsets are determined based on the widelane ambiguity set. The widelane ambiguity set and the multiple widelane ambiguity subsets are calculated separately to determine multiple widelane fixed solutions corresponding to each widelane ambiguity set. Based on the multiple widelane fixed solutions, multiple positioning points corresponding to each widelane ambiguity set are determined. A gross error test is performed on the distances between the multiple positioning points and a target positioning point determined based on a floating-point filtering solution. The widelane ambiguity fixed solutions are determined based on the results of the gross error test. Compared to existing techniques, the widelane fixed solutions determined from the multiple widelane ambiguity subsets are tested against the positioning points determined by the floating-point filtering solution, thereby optimizing the selection of widelane ambiguity subsets, improving the accuracy of ambiguity fixing, and thereby improving positioning accuracy.

[0068] In the above S106, in some embodiments, determining the widelane ambiguity fixed solution according to the gross error test result may include:

[0069] If the gross error detection result indicates that the first distance contains a gross error, determining the target wide lane fixed solution as the wide lane ambiguity fixed solution, wherein the target wide lane fixed solution is determined based on a plurality of second wide lane fixed solutions that do not contain a gross error;

[0070] When the gross error check result indicates that the first distance does not include a gross error, the first wide lane fixed solution is determined to be a wide lane ambiguity fixed solution.

[0071] In some embodiments, the target wide lane fixed solution may be determined based on an average value or a median value of a plurality of second wide lane fixed solutions that do not contain gross errors.

[0072] It should be noted that gross error test is one of the common means to detect the reliability of observation data. By conducting gross error test, the deviation data in the observation value can be reflected according to its test results, effectively reducing the impact of abnormal observation values on positioning results and improving positioning accuracy.

[0073] In some embodiments, the above S101 may include:

[0074] Step A1: Obtain the floating point ambiguity and carrier phase bias correction of each satellite in the current epoch.

[0075] Step B1: Determine the single-difference wide-lane reference ambiguity and wide-lane residual of each satellite based on the floating-point ambiguity and carrier phase bias correction of each satellite.

[0076] In one example, the single-difference widelane reference ambiguity of the above satellite can be calculated by Equation 3, and the widelane residual of the satellite can be calculated by Equation 4:

[0077] WL i=L1 i -L2 i +b1 i -b2 i Formula 3

[0078] res_wl i =fabs[WL i -floor(WL i +0.5)] Formula 4

[0079] Among them, WL i L1 represents the single-difference wide-lane ambiguity after correction of carrier fractional bias; i 、L2 i b1 represents the floating point ambiguity of the first and second frequency points respectively; i 、b2 i Represents the carrier fractional deviation of the first and second frequency points respectively; res_wl i Represents wide lane residual; fabs represents absolute value; floor represents rounding function.

[0080] Step C1: when the widelane residual of the satellite is less than the widelane residual threshold, the single-difference widelane reference ambiguity of the satellite is determined as the widelane ambiguity, wherein the widelane residual threshold is determined according to the fixed information of the satellite in the previous epoch.

[0081] It should be noted that step C1 above is used to determine the widelane ambiguity corresponding to each satellite. Specifically, a satellite's widelane reference ambiguity is considered a widelane ambiguity only after it passes the residual test; otherwise, it is discarded. The widelane residual threshold used for residual testing is determined based on whether the widelane ambiguity for that satellite was successfully fixed in the previous epoch. In other words, the widelane residual threshold changes in real time based on the fixing information from the previous epoch. Therefore, the widelane residual threshold corresponding to that satellite must be determined before performing step C1.

[0082] In some embodiments, determining the widelane residual threshold may include:

[0083] Get the fixed information of the satellite in the last epoch;

[0084] According to the fixed information, when the wide lane ambiguity of the satellite is successfully fixed in the previous epoch, the first wide lane residual threshold is determined as the wide lane residual threshold; or,

[0085] According to the fixed information, when the wide lane ambiguity fixation of the satellite in the previous epoch fails, the second wide lane residual threshold is determined as the wide lane residual threshold;

[0086] The first wide lane residual threshold is greater than the second wide lane residual threshold.

[0087] Based on the above method, if the satellite's widelane ambiguity was successfully fixed in the previous epoch, the corresponding widelane residual threshold can be configured to a larger value; otherwise, it can be configured to a smaller value. Specifically, the first widelane residual threshold can be 0.35, and the second widelane residual threshold can be 0.25. These values are set by those skilled in the art based on empirical values and are not limited in this embodiment.

[0088] In step D1, a widelane ambiguity set is formed based on the widelane ambiguities of the satellites.

[0089] The above embodiment verifies widelane fixed solutions determined by multiple widelane ambiguity subsets against fix points determined by floating-point filtering solutions, optimizing the selection of widelane ambiguity subsets and overcoming the prior art problem of selecting widelane ambiguity subsets based solely on, for example, the widelane residuals of the current epoch, which considers too few factors. The following embodiment provides another method for determining ambiguity fixed solutions, addressing the prior art problem of selecting narrowlane ambiguity subsets based on too few factors.

[0090] like Figure 2 As shown, the embodiment of the present application provides another method for determining an ambiguity fixed solution, the method comprising:

[0091] S201 : Obtain a narrow lane ambiguity set. The narrow lane ambiguity set includes m narrow lane ambiguities, where m is a positive integer greater than 2. Each element in the narrow lane ambiguity set is sorted according to a preset sorting rule.

[0092] Specifically, the determination of the narrow lane ambiguity set and the sorting process of the narrow lane ambiguities in the narrow lane ambiguity set are explained in detail in the following steps A2 to D2, and are not further explained here.

[0093] S202 : When the first error ratio Ratio value is less than a first preset threshold, prune the narrow lane ambiguity set according to the sorting to determine a narrow lane ambiguity subset, wherein the first Ratio value is determined based on the narrow lane ambiguity set.

[0094] In some embodiments, when the first ratio value is greater than a first preset threshold, a narrow lane ambiguity fixed solution is determined based on the narrow lane ambiguity set, wherein the first ratio value is calculated based on a least squares search Lambda algorithm on the narrow lane ambiguity set.

[0095] In one example, a narrow lane ambiguity set includes 10 narrow lane ambiguities, which are labeled as the first narrow lane ambiguity, the second narrow lane ambiguity, ..., and the tenth narrow lane ambiguity, in the order described above. Narrow lane ambiguity subsets are selected one by one according to the order described above, with each narrow lane ambiguity subset determined having one less narrow lane ambiguity than the previously determined narrow lane ambiguity subset. Specifically, the first narrow lane ambiguity subset includes "the second narrow lane ambiguity, the third narrow lane ambiguity, ..., and the tenth narrow lane ambiguity," the second narrow lane ambiguity subset includes "the third narrow lane ambiguity, the fourth narrow lane ambiguity, ..., and the tenth narrow lane ambiguity," the third narrow lane ambiguity subset includes "the fourth narrow lane ambiguity, the fifth narrow lane ambiguity, ..., and the tenth narrow lane ambiguity," and so on.

[0096] S203: Calculate a second Ratio value of the narrow lane ambiguity subset.

[0097] Specifically, the second Ratio value is obtained by calculating the narrow lane ambiguity subset based on the Lambda algorithm.

[0098] In step S204, if the second ratio value is less than the first preset threshold, the maximum value in the narrow lane ambiguity subset is eliminated based on the sorting process to obtain an updated narrow lane ambiguity subset; the second ratio value calculated for the narrow lane ambiguity subset is returned; and if the second ratio value is greater than the first preset threshold, a narrow lane ambiguity fixed solution is determined based on the corresponding narrow lane ambiguity subset.

[0099] The method for determining an ambiguity fixed solution provided by the embodiments of the present application first sorts the narrowlane ambiguities in a narrowlane ambiguity set. If the first ratio value of the narrowlane ambiguity set is less than a first preset threshold, the narrowlane ambiguity set is pruned according to the sorting to determine a narrowlane ambiguity subset. Furthermore, during the pruning process, each time a narrowlane ambiguity is removed, a lambda search is performed on the narrowlane ambiguity subset consisting of the remaining narrowlane ambiguities to determine their second ratio value, until a narrowlane ambiguity subset with a second ratio value greater than the first preset threshold is found. Finally, the narrowlane ambiguity fixed solution is determined based on this subset. Compared to the prior art, this method, based on the method of removing narrowlane ambiguities one by one according to the sorting rules, determines whether the narrowlane ambiguity is fixed correctly, not only based on a certain indicator (e.g., ratio) after the narrowlane ambiguity fixation at the current epoch. This optimizes the narrowlane ambiguity subset selection strategy and improves the accuracy of the narrowlane ambiguity fixed solution.

[0100] In some embodiments, after returning to calculating the second Ratio value of the narrow lane ambiguity subset in S204, the method may further include:

[0101] When the second ratio value is less than the first preset threshold and the narrow lane ambiguities of the narrow lane ambiguity subset are pruned to a preset number, a maximum ratio value is selected from the multiple determined second ratio values, and a narrow lane ambiguity fixed solution is determined according to the narrow lane ambiguity subset corresponding to the maximum ratio value.

[0102] Specifically, among the multiple narrow lane ambiguity subsets formed after successfully and sequentially eliminating the narrow lane ambiguities according to the above sorting, if there is no subset with a second ratio value greater than the first preset threshold, then the narrow lane ambiguity subset corresponding to the largest second ratio value is selected from the multiple subsets, and the narrow lane ambiguity fixed solution is determined based on the subset.

[0103] In some embodiments, determining a narrow lane ambiguity fixed solution based on the narrow lane ambiguity subset corresponding to the maximum Ratio value may include:

[0104] Determine the target narrow lane fixed solution based on the narrow lane ambiguity subset corresponding to the maximum Ratio value;

[0105] Calculating a first distance between a first positioning point and a first target positioning point, wherein the first positioning point is determined based on a target narrow lane fixed solution, and the first target positioning point is determined based on a floating-point filtered solution obtained at a current epoch;

[0106] calculating a second distance between a second position fix point and a second target position fix point, wherein the second position fix point is determined based on the first narrow lane fixed solution, the first narrow lane fixed solution is determined based on narrow lane ambiguities obtained at a previous epoch, and the second target position fix point is determined based on the floating-point filtered solution obtained at the previous epoch;

[0107] When the difference between the first distance and the second distance is less than a preset difference threshold, the target narrow lane fixed solution is determined to be a narrow lane ambiguity fixed solution.

[0108] It should be noted that after the narrow lane ambiguity fixed solution is determined, it needs to be verified. That is, the narrow lane fixed solution determined based on the current epoch and the previous epoch is combined with the floating point filter solution of the current epoch and the previous epoch to verify the accuracy of the narrow lane ambiguity fixed solution.

[0109] In addition, the calculation process of the first distance and the second distance in the narrow lane ambiguity fixed solution verification process is the same as the calculation process of the first distance and the second distance in the above wide lane ambiguity fixed solution embodiment, and will not be repeated here.

[0110] In the above S201, obtaining the narrow lane ambiguity set may include:

[0111] Step A2: Obtain the floating point ambiguity and carrier phase bias correction of each satellite in the current epoch.

[0112] In step B2, the single-difference narrow-lane ambiguity and narrow-lane residual of each satellite are determined based on the floating-point ambiguity and carrier phase bias correction of each satellite.

[0113] In one example, the single-difference narrow-lane ambiguity of the above satellite can be calculated by Equation 5, and the narrow-lane residual of the satellite can be calculated by Equation 6:

[0114] NL i =L1 i +b1 i Formula 5

[0115] nl_res i =fabs[NL i -floor(NL i +0.5)] Formula 6

[0116] Among them, NL i Represents the single-difference narrow lane ambiguity after upd correction; L1 i Indicates the floating point ambiguity of the first frequency point; b1 i Indicates the carrier fractional deviation of the first frequency point; nl_res i represents the narrow lane residual of satellite i; fabs represents the absolute value; floor represents the rounding function.

[0117] Step C2: sort the single-difference narrow lane ambiguity of each satellite based on the single-difference narrow lane residual difference of each satellite and the pre-acquired fixed number of consecutive narrow lane ambiguities, combined with the elevation angle information of each satellite, where the single-difference narrow lane residual difference is the difference between the narrow lane residual and the target residual, and the target residual is the median of the narrow lane residuals of all satellites.

[0118] After obtaining the single-difference narrow-lane ambiguities of multiple satellites in the above step B2, the multiple single-difference narrow-lane ambiguities are sorted so as to eliminate the narrow-lane ambiguities one by one and re-determine the second Ratio value.

[0119] In one example, the narrowlane ranking value of satellite i can be calculated according to the following formula 7:

[0120] sort i =num_f i x i ×10+0.5÷(nl_res i -median_nl_res)+sin(elev) Formula 7

[0121] Among them, sort i Indicates the narrow lane ranking value of satellite i; num_f i x irepresents the number of consecutive fixes for satellite i. When the number exceeds 60, it is fixed to 60. median_nl_res represents the median of all satellite narrow lane residuals. elev represents the satellite elevation angle, and sin represents the sine function.

[0122] In step D2, the sorted single-difference narrow lane ambiguities are combined into a narrow lane ambiguity set.

[0123] The determination of the narrow lane ambiguity set described above takes into account multiple factors, such as satellite elevation information, the number of consecutive narrow lane ambiguity fixes, and the satellite's single-difference narrow lane residuals. The narrow lane ambiguities are then sorted and a subset of narrow lane ambiguities is selected from the sorted narrow lane ambiguity set to determine the narrow lane ambiguity fixation solution. Compared to existing technologies, this avoids sorting narrow lane ambiguities solely at the satellite level (such as elevation angle, signal-to-noise ratio, etc.) or solely at the ambiguity level (ambiguity variance, ADOP, bootstrapping success rate), which can affect positioning accuracy.

[0124] It should be noted that, after the above step A2, the method may further include:

[0125] Determine the single-difference wide-lane reference ambiguity and wide-lane residual of each satellite based on the floating-point ambiguity and carrier phase bias correction of each satellite;

[0126] When the wide-lane residual of a satellite is less than the wide-lane residual threshold, the single-difference wide-lane reference ambiguity of the satellite is determined as the wide-lane ambiguity, wherein the wide-lane residual threshold is determined based on the fixed information of the satellite in the previous epoch;

[0127] A wide lane ambiguity set is formed according to the wide lane ambiguities of the satellite, and the wide lane ambiguity set includes n wide lane ambiguities, where n is an integer greater than or equal to m;

[0128] Determine a wide lane ambiguity fixed solution based on the wide lane ambiguity set;

[0129] A first target satellite set is determined based on the widelane ambiguity fixation solution, where the first target satellite set is at least one satellite for which the widelane ambiguity fixation is successful.

[0130] That is, after step A2, a widelane ambiguity fixation solution can be first determined based on the floating ambiguities and carrier phase bias corrections for each satellite. After the widelane ambiguity fixation solution is determined, at least one satellite for which widelane ambiguity fixation has been successfully performed is formed into a first target satellite set, and a narrowlane ambiguity fixation solution is determined based on this first target satellite set.

[0131] In the case where a narrow lane ambiguity fixed solution is determined based on the first target satellite set, step B2 may include:

[0132] The single-difference narrowlane ambiguity and the narrowlane residual of each satellite in the first target satellite set are determined according to the floating-point ambiguity and the carrier phase bias correction of each satellite in the first target satellite set.

[0133] In the method for determining the ambiguity fixed solution provided in the embodiment of the present application, the narrowlane ambiguity fixed solution can be directly determined based on the observation data obtained from the satellite, that is, the floating-point ambiguity and carrier phase deviation correction number of each satellite, or the widelane ambiguity fixed solution can be first determined based on the floating-point ambiguity and carrier phase deviation correction number of each satellite, and the single-difference narrowlane ambiguity and narrowlane residual of the satellite for which the widelane ambiguity is successfully fixed are determined.

[0134] It should be noted that the above process of determining the wide lane ambiguity fixed solution based on the wide lane ambiguity set is the same as that of the present application. Figure 1 The method for determining the ambiguity fixed solution is consistent with that provided in , and will not be explained in detail here.

[0135] The following describes in detail the method for determining the fixed ambiguity solution provided by the present application in conjunction with specific embodiments and the accompanying drawings.

[0136] Example 1: Method for determining wide lane ambiguity fixed solution

[0137] like Figure 3 As shown, S301, obtain the floating point ambiguity and carrier phase deviation correction number of each satellite in the current epoch.

[0138] S302: Determine the single-difference wide-lane reference ambiguity WL for each satellite based on the floating-point ambiguity and carrier phase bias correction of each satellite. i and wide lane residual res_wl i .

[0139] In one example, the single-difference widelane reference ambiguity of the above satellite can be calculated by Equation 3, and the widelane residual of the satellite can be calculated by Equation 4:

[0140] WL i =L1 i -L2 i +b1 i -b2 i Formula 3

[0141] res_wl i =fabs[WL i -floor(WL i +0.5)] Formula 4

[0142] Among them, WL i L1 represents the single-difference wide-lane ambiguity after correction of carrier fractional bias; i 、L2i b1 represents the floating point ambiguity of the first and second frequency points respectively; i 、b2 i Represents the carrier fractional deviation of the first and second frequency points respectively; res_wl i Represents wide lane residual; fabs represents absolute value; floor represents rounding function.

[0143] S303, the single-difference wide-lane reference ambiguity WL for each satellite in the current epoch i Traverse.

[0144] S304: Determine whether the wide lane ambiguity of satellite i is fixed successfully in the previous epoch. If so, execute S305; otherwise, execute S306.

[0145] S305 , determining the wide lane residual threshold thres_wl of satellite i to be 0.35, and executing S307 .

[0146] S306: Determine the wide lane residual threshold thres_wl of satellite i as 0.25, and execute S307.

[0147] S307, determine the wide lane residual res_wl of satellite i i Is it less than the wide lane residual threshold thres_wl? If so, execute S308; otherwise, return to S303.

[0148] It should be noted that if the satellite successfully fixes the wide lane ambiguity in the previous epoch, the corresponding wide lane residual threshold can be configured to a larger value; otherwise, it is configured to a smaller value. The wide lane residual threshold is set by those skilled in the art based on an empirical value, and the embodiment of the present application does not limit this.

[0149] S308, the single-difference wide-lane reference ambiguity WL of satellite i i It is determined to be a wide lane ambiguity, and multiple wide lane ambiguities constitute a wide lane ambiguity set.

[0150] S309 , calculating a first wide lane fixed solution sol_wl_all of the wide lane ambiguity set, and determining a first positioning point according to the first wide lane fixed solution sol_wl_all.

[0151] S310 , selecting satellite j in the wide-lane ambiguity set by eliminating satellites one by one to determine a wide-lane ambiguity subset.

[0152] In one example, the widelane ambiguity set includes 10 widelane ambiguities, which can be labeled as the first widelane ambiguity, the second widelane ambiguity, ... the tenth widelane ambiguity. Widelane ambiguity subsets are selected one by one by eliminating them to generate 10 widelane ambiguity subsets, each of which includes 9 widelane ambiguities. The first widelane ambiguity subset includes "the second widelane ambiguity, the third widelane ambiguity, ... the tenth widelane ambiguity," the second widelane ambiguity subset includes "the first widelane ambiguity, the third widelane ambiguity, ... the tenth widelane ambiguity," the third widelane ambiguity subset includes "the first widelane ambiguity, the second widelane ambiguity, the fourth widelane ambiguity, ... the tenth widelane ambiguity," and so on.

[0153] S311 , calculating a second widelane fixed solution sol_wl_j of the widelane ambiguity subset, and determining a plurality of second positioning points according to the second widelane fixed solution sol_wl_j.

[0154] S312: Calculate a first distance between the first positioning point and the target positioning point, and calculate a second distance between each second positioning point and the target positioning point to obtain a plurality of second distances.

[0155] In one example, a first distance between the first positioning point and the target positioning point can be calculated using Formula 1; and a second distance between the second positioning point and the target positioning point can be calculated using Formula 2:

[0156] dist_wl_all=sqrt[(x float -x sol_wl_all ) 2 +(y float -y sol_wl_all ) 2 +(z float -z sol_wl_all ) 2 ] Formula 1

[0157] dist_wl_j=sqrt[(x float -x sol_wl_j ) 2 +(y float -y sol_wl_j ) 2 +(z float -z sol_wl_j ) 2 ] Formula 2

[0158] Wherein, dist_wl_all represents the first distance between the first positioning point and the target positioning point, and dist_wl_j represents the second distance between the second positioning point and the target positioning point; float 、yfloat 、z float Respectively represent the coordinates of the target positioning point in the x, y, and z directions; sol_wl_all represents the first positioning point, x sol_wl_all 、y sol_wl_all 、z sol_wl_all Respectively represent the coordinates of the first positioning point in the x, y, and z directions; sol_wl_j represents the second positioning point, x sol_wl_j 、y sol_wl_j 、z sol_wl_j Represent the coordinates of the second positioning point in the x, y, and z directions respectively.

[0159] S313: Perform a gross error test on the first distance and the plurality of second distances.

[0160] The above-mentioned gross error test can be implemented through a median test or a variance test, which is not limited in the embodiments of the present application.

[0161] S314, determine whether the gross error detection result indicates that the first distance contains a gross error, if so, execute S315, otherwise execute S316.

[0162] S315 , determining the average value or median of the second wide lane fixed solution without gross errors as the wide lane ambiguity fixed solution.

[0163] S316: Determine the first wide lane fixed solution as the wide lane ambiguity fixed solution.

[0164] Example 2: Method for determining fixed solution of narrow lane ambiguity

[0165] like Figure 4 As shown, S401, obtain the floating point ambiguity and carrier phase deviation correction number of each satellite in the current epoch.

[0166] S402, determine the single-difference narrow lane ambiguity NL of each satellite based on the floating point ambiguity and carrier phase bias correction number of each satellite i and narrow lane residual nl_res i .

[0167] In one example, the single-difference narrow-lane ambiguity of the above satellite can be calculated by Equation 5, and the narrow-lane residual of the satellite can be calculated by Equation 6:

[0168] NL i =L1 i +b1 i Formula 5

[0169] nl_res i =fabs[NL i -floor(NL i +0.5)] Formula 6

[0170] Among them, NL i Represents the single-difference narrow lane ambiguity after upd correction; L1 i Indicates the floating point ambiguity of the first frequency point; b1 i Indicates the carrier fractional deviation of the first frequency point; nl_res i represents the narrow lane residual of satellite i; fabs represents the absolute value; floor represents the rounding function.

[0171] S403: Sort the single-difference narrow lane ambiguity of each satellite based on the single-difference narrow lane residual difference of each satellite and the pre-acquired fixed number of consecutive narrow lane ambiguities, and in combination with the elevation angle information of each satellite, where the single-difference narrow lane residual difference is the difference between the narrow lane residual and the target residual, and the target residual is the median of the narrow lane residuals of all satellites.

[0172] In one example, the narrowlane ranking value of satellite i can be calculated according to the following formula 7:

[0173] sort i =num_f i x i ×10+0.5÷(nl_res i -median_nl_res)+sin(elev) Formula 7

[0174] Among them, sort i Indicates the narrow lane ranking value of satellite i; num_f i x i represents the number of consecutive fixes for satellite i. When the number exceeds 60, it is fixed to 60. median_nl_res represents the median of all satellite narrow lane residuals. elev represents the satellite elevation angle, and sin represents the sine function.

[0175] S404: The sorted single-difference narrow lane ambiguities are combined into a narrow lane ambiguity set.

[0176] S405 : Determine a first Ratio value of the narrow lane ambiguity set based on Lambda search.

[0177] S406 , determining whether the first Ratio value is greater than a first preset threshold; if so, executing S414 ; otherwise, executing S407 .

[0178] S407 , eliminating satellite j from the narrowlane ambiguity set according to the above order, and determining a widelane ambiguity subset.

[0179] In one example, a narrow lane ambiguity set includes 10 narrow lane ambiguities, which are labeled as the first narrow lane ambiguity, the second narrow lane ambiguity, ..., and the tenth narrow lane ambiguity, in the order described above. Narrow lane ambiguity subsets are selected one by one according to the order described above, with each narrow lane ambiguity subset determined having one less narrow lane ambiguity than the previously determined narrow lane ambiguity subset. Specifically, the first narrow lane ambiguity subset includes "the second narrow lane ambiguity, the third narrow lane ambiguity, ..., and the tenth narrow lane ambiguity," the second narrow lane ambiguity subset includes "the third narrow lane ambiguity, the fourth narrow lane ambiguity, ..., and the tenth narrow lane ambiguity," the third narrow lane ambiguity subset includes "the fourth narrow lane ambiguity, the fifth narrow lane ambiguity, ..., and the tenth narrow lane ambiguity," and so on.

[0180] S408 : Perform a Lambda search on the narrow lane ambiguity subset after excluding satellites 1 - j to determine a second Ratio value of the narrow lane ambiguity set.

[0181] S409 , determining whether the second Ratio value is greater than a first preset threshold; if so, executing S413 ; otherwise, executing S410 .

[0182] S410 , selecting a maximum ratio value from the determined plurality of second ratio values, and determining a target narrow lane ambiguity fixed solution according to a narrow lane ambiguity subset corresponding to the maximum ratio value.

[0183] At step S411, it is determined whether the difference between the first distance and the second distance is less than a preset difference threshold. If so, the process proceeds to step S412; otherwise, the process proceeds to step S415. The first distance is the distance between the positioning point determined by the target narrow lane fixed solution and the positioning point determined by the floating-point filtering solution at the current epoch, and the second distance is the distance between the positioning point determined by the narrow lane fixed solution and the positioning point determined by the floating-point filtering solution at the previous epoch.

[0184] S412: Determine the target narrow lane fixed solution as a narrow lane ambiguity fixed solution.

[0185] S413 : Determine a fixed solution for the narrow lane ambiguity according to the narrow lane ambiguity subset having a second ratio value greater than a first preset threshold.

[0186] S414: Determine a narrow lane ambiguity fixed solution based on the narrow lane ambiguity set.

[0187] S415, fixation failed.

[0188] Based on the same inventive concept of the above-mentioned method for determining a fixed ambiguity solution, an embodiment of the present application further provides a device for determining a fixed ambiguity solution.

[0189] like Figure 5As shown, an embodiment of the present application provides a device for determining a fixed ambiguity solution, the device comprising:

[0190] A first acquisition module 501 is configured to acquire a wide lane ambiguity set, where the wide lane ambiguity set includes n wide lane ambiguities, where n is a positive integer greater than 2;

[0191] A first determining module 502 is configured to determine a plurality of different widelane ambiguity subsets based on the widelane ambiguity set;

[0192] A first calculation module 503 is configured to calculate the widelane ambiguity set and the plurality of widelane ambiguity subsets, respectively, to determine a first widelane fixed solution corresponding to the widelane ambiguity set and a plurality of second widelane fixed solutions corresponding one-to-one to the plurality of widelane ambiguity subsets;

[0193] a second calculation module 504 configured to calculate a first distance between the first positioning point and the target positioning point, and to calculate a second distance between each second positioning point and the target positioning point, to determine a plurality of second distances, wherein the target positioning point is determined based on a floating-point filtering solution, the first positioning point is determined based on a first wide-lane fixed solution, and the second positioning point is determined based on a second wide-lane fixed solution;

[0194] A third calculation module 505 is configured to perform a gross error test on the first distance and the plurality of second distances to determine a gross error test result;

[0195] The second determination module 506 is configured to determine a wide lane ambiguity fixed solution based on the gross error detection result.

[0196] In some embodiments, the second determining module may be specifically configured to:

[0197] If the gross error detection result indicates that the first distance contains a gross error, determining the target wide lane fixed solution as the wide lane ambiguity fixed solution, wherein the target wide lane fixed solution is determined based on a plurality of second wide lane fixed solutions that do not contain a gross error;

[0198] When the gross error check result indicates that the first distance does not include a gross error, the first wide lane fixed solution is determined to be a wide lane ambiguity fixed solution.

[0199] In some embodiments, the second determining module may be specifically configured to:

[0200] When the grotesque error test result indicates that the first distance contains a grotesque error, the target wide lane fixed solution is determined based on an average or median of a plurality of second wide lane fixed solutions that do not contain a grotesque error.

[0201] In some embodiments, the apparatus may further include:

[0202] The second acquisition module is used to obtain the floating point ambiguity and carrier phase deviation correction number of each satellite in the current epoch;

[0203] A third determination module is configured to determine the single-difference wide-lane reference ambiguity and wide-lane residual of each satellite based on the floating-point ambiguity and carrier phase bias correction of each satellite;

[0204] a fourth determining module, configured to determine the single-difference widelane reference ambiguity of the satellite as the widelane ambiguity if the widelane residual of the satellite is less than a widelane residual threshold, wherein the widelane residual threshold is determined based on fixed information of a previous epoch of the satellite;

[0205] The fifth determination module is used to form a wide lane ambiguity set according to the wide lane ambiguities of the satellites.

[0206] In some embodiments, the apparatus may further include:

[0207] The third acquisition module is used to obtain the fixed information of the satellite in the previous epoch;

[0208] a sixth determining module, configured to determine, based on the fixation information, when the wide lane ambiguity of the satellite is successfully fixed in the previous epoch, the first wide lane residual threshold as the wide lane residual threshold; or

[0209] According to the fixed information, when the wide lane ambiguity fixation of the satellite in the previous epoch fails, the second wide lane residual threshold is determined as the wide lane residual threshold;

[0210] The first wide lane residual threshold is greater than the second wide lane residual threshold.

[0211] In some embodiments, the number of the multiple different widelane ambiguity subsets may be n, and the n widelane ambiguity subsets may each include n-1 widelane ambiguities.

[0212] like Figure 6 As shown, an embodiment of the present application provides another device for determining an ambiguity fixed solution, the device comprising:

[0213] A first acquisition module 601 is configured to acquire a narrow lane ambiguity set, where the narrow lane ambiguity set includes m narrow lane ambiguities, where m is a positive integer greater than 2, and each element in the narrow lane ambiguity set is sorted according to a preset sorting rule;

[0214] A first processing module 602 is configured to, if a first error ratio Ratio value is less than a first preset threshold, prune the narrow lane ambiguity set according to a preset sorting rule to determine a narrow lane ambiguity subset, wherein the first Ratio value is determined based on the narrow lane ambiguity set;

[0215] A calculation module 603 is configured to calculate a second Ratio value of the narrow lane ambiguity subset;

[0216] The second processing module 604 is configured to, if the second ratio value is less than the first preset threshold, eliminate the maximum value in the narrow lane ambiguity subset based on the sorting to obtain an updated narrow lane ambiguity subset; return the calculated second ratio value for the narrow lane ambiguity subset; and, if the second ratio value is greater than the first preset threshold, determine a narrow lane ambiguity fixed solution based on the corresponding narrow lane ambiguity subset.

[0217] In some embodiments, the apparatus may further include:

[0218] The third processing module is configured to select a maximum ratio value from the determined plurality of second ratio values when the second ratio value is less than a first preset threshold and the narrow lane ambiguities of the narrow lane ambiguity subset are pruned to a preset number, and determine a narrow lane ambiguity fixed solution based on the narrow lane ambiguity subset corresponding to the maximum ratio value.

[0219] In some embodiments, the third processing module may be specifically configured to:

[0220] Determine the target narrow lane fixed solution based on the narrow lane ambiguity subset corresponding to the maximum Ratio value;

[0221] Calculating a first distance between a first positioning point and a first target positioning point, wherein the first positioning point is determined based on a target narrow lane fixed solution, and the first target positioning point is determined based on a floating-point filtered solution obtained at a current epoch;

[0222] calculating a second distance between a second position fix point and a second target position fix point, wherein the second position fix point is determined based on the first narrow lane fixed solution, the first narrow lane fixed solution is determined based on narrow lane ambiguities obtained at a previous epoch, and the second target position fix point is determined based on the floating-point filtered solution obtained at the previous epoch;

[0223] When the difference between the first distance and the second distance is less than a preset difference threshold, the target narrow lane fixed solution is determined to be a narrow lane ambiguity fixed solution.

[0224] In some embodiments, the apparatus may further include:

[0225] The second acquisition module is used to obtain the floating point ambiguity and carrier phase deviation correction number of each satellite in the current epoch;

[0226] A first determination module is configured to determine the single-difference narrow-lane ambiguity and the narrow-lane residual of each satellite based on the floating-point ambiguity and the carrier phase bias correction of each satellite;

[0227] The first acquisition module is configured to sort the single-difference narrow lane ambiguities of each satellite based on the single-difference narrow lane residual difference of each satellite and a fixed number of consecutive narrow lane ambiguities obtained in advance, in combination with the elevation angle information of each satellite, wherein the single-difference narrow lane residual difference is the difference between the narrow lane residual and the target residual, and the target residual is the median of the narrow lane residuals of all satellites; and the sorted multiple single-difference narrow lane ambiguities are combined into a narrow lane ambiguity set.

[0228] In some embodiments, the apparatus may further include:

[0229] The second determining module is configured to determine a narrow lane ambiguity fixed solution according to the narrow lane ambiguity set when the first Ratio value is greater than a first preset threshold.

[0230] In some embodiments, the device may also be used to:

[0231] Determine the single-difference wide-lane reference ambiguity and wide-lane residual of each satellite based on the floating-point ambiguity and carrier phase bias correction of each satellite;

[0232] When the wide-lane residual of a satellite is less than the wide-lane residual threshold, the single-difference wide-lane reference ambiguity of the satellite is determined as the wide-lane ambiguity, wherein the wide-lane residual threshold is determined based on the fixed information of the satellite in the previous epoch;

[0233] A wide lane ambiguity set is formed according to the wide lane ambiguities of the satellite, and the wide lane ambiguity set includes n wide lane ambiguities, where n is an integer greater than or equal to m;

[0234] Determine a wide lane ambiguity fixed solution based on the wide lane ambiguity set;

[0235] determining a first target satellite set based on the widelane ambiguity fixing solution, where the first target satellite set is at least one satellite for which the widelane ambiguity is successfully fixed;

[0236] The first determination module can be specifically used to:

[0237] The single-difference narrowlane ambiguity and the narrowlane residual of each satellite in the first target satellite set are determined according to the floating-point ambiguity and the carrier phase bias correction of each satellite in the first target satellite set.

[0238] In some embodiments, the device may also be used to:

[0239] determining a plurality of different widelane ambiguity subsets according to the widelane ambiguity set;

[0240] Calculating a widelane ambiguity set and a plurality of widelane ambiguity subsets respectively, and determining a first widelane fixed solution corresponding to the widelane ambiguity set and a plurality of second widelane fixed solutions corresponding one-to-one to the plurality of widelane ambiguity subsets;

[0241] calculating a third distance between the third positioning point and the target positioning point, and calculating a fourth distance between each fourth positioning point and the target positioning point, to determine a plurality of fourth distances, wherein the target positioning point is determined based on the floating-point filtering solution, the third positioning point is determined based on the first wide-lane fixed solution, and the fourth positioning point is determined based on the second wide-lane fixed solution;

[0242] performing a gross error test on the third distance and the plurality of fourth distances, and determining a gross error test result;

[0243] Based on the gross error test results, the wide lane ambiguity fixed solution is determined.

[0244] In some embodiments, the device may also be used to:

[0245] If the gross error check result indicates that the third distance contains a gross error, determining the target wide lane fixed solution as the wide lane ambiguity fixed solution, wherein the target wide lane fixed solution is determined based on a plurality of second wide lane fixed solutions that do not contain a gross error;

[0246] If the gross error check result indicates that the third distance does not contain a gross error, the first wide lane fixed solution is determined to be the wide lane ambiguity fixed solution.

[0247] In some embodiments, when the gross error test result indicates that the third distance contains a gross error, the target wide lane fixed solution may be determined according to an average or median of multiple second wide lane fixed solutions that do not contain a gross error.

[0248] In some embodiments, the device may also be used to:

[0249] Get the fixed information of the satellite in the last epoch;

[0250] Based on the fixed information, if the wide lane ambiguity of the satellite is successfully fixed in the previous epoch, the third wide lane residual threshold is determined as the wide lane residual threshold; or,

[0251] According to the fixed information, when the wide lane ambiguity fixation of the satellite in the previous epoch fails, the fourth wide lane residual threshold is determined as the wide lane residual threshold;

[0252] The third wide lane residual threshold is greater than the fourth wide lane residual threshold.

[0253] Other details of the device for determining the ambiguity fixed solution provided by the embodiment of the present application are combined with the above Figures 1-4 The method for determining the ambiguity fixed solution according to the embodiment of the present application is similar and will not be repeated here.

[0254] Figure 7 A schematic diagram of the hardware structure for determining the ambiguity fixed solution provided by an embodiment of the present application is shown.

[0255] Combine Figures 1-6 The method and apparatus for determining an ambiguity fixed solution according to the embodiments of the present application may be implemented by a GNSS terminal device. Figure 7 FIG. 7 is a schematic diagram showing a hardware structure 700 of a GNSS terminal device according to an embodiment of the present invention.

[0256] The GNSS terminal device may include a processor 701 and a memory 702 storing computer program instructions.

[0257] Specifically, the processor 701 may include a central processing unit (CPU) or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0258] The memory 702 may include a large capacity memory for data or instructions. By way of example and not limitation, the memory 702 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 702 may include a removable or non-removable (or fixed) medium, or the memory 702 may be a non-volatile solid-state memory. The memory 702 may be inside or outside the integrated gateway disaster recovery device.

[0259] In one example, the memory 702 may be a read-only memory (ROM). In one example, the ROM may be a mask-programmable 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.

[0260] The processor 701 reads and executes the computer program instructions stored in the memory 702 to implement Figure 1 Methods / steps S101 to S106 in the illustrated embodiment, and Figure 2 The method / steps S201 to S204 in the embodiment shown, and achieve Figure 1 and Figure 2 The corresponding technical effects achieved by executing the methods / steps in the illustrated example will not be repeated here for the sake of brevity.

[0261] In one example, the GNSS terminal device may further include a communication interface 703 and a bus 710. Figure 7 As shown, the processor 701, the memory 702, and the communication interface 703 are connected via a bus 710 and communicate with each other.

[0262] The communication interface 703 is mainly used to implement communication between various modules, devices, units and / or equipment in the embodiments of the present application.

[0263] Bus 710 includes hardware, software or both, and couples the components of the online data traffic billing device to each other. For example, and not limitation, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Extended Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a Hyper Transport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an InfiniBand interconnect, a Low Pin Count (LPC) bus, a memory bus, a Micro Channel 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 Standards Association Local (VLB) bus or other suitable buses or a combination of two or more of these. Where appropriate, bus 710 may include one or more buses. Although the present application describes and illustrates a specific bus, the present application contemplates any suitable bus or interconnect.

[0264] The GNSS terminal device provided in the embodiments of the present application, on the one hand, verifies the widelane fixed solution determined by multiple widelane ambiguity subsets and the positioning point determined by the floating-point filter solution, thereby optimizing the selection of widelane ambiguity subsets, improving the accuracy of ambiguity fixation, and thus improving positioning accuracy. On the other hand, based on a method of sequentially eliminating narrowlane ambiguities according to a sorting rule, when determining whether the narrowlane ambiguity is correctly fixed, it not only judges based on a certain indicator after the narrowlane ambiguity is fixed at the current epoch, but also optimizes the selection strategy of narrowlane ambiguity subsets, thereby improving the accuracy of the narrowlane ambiguity fixed solution.

[0265] In addition, in conjunction with the method for determining an ambiguity fixed solution in the above-mentioned embodiments, embodiments of the present application may 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, the method for determining an ambiguity fixed solution in any of the above-mentioned embodiments is implemented.

[0266] It should be understood that the present application is not limited to the specific configurations and processes described above and illustrated in the figures. For the sake of brevity, a detailed description of known methods is omitted here. In the above embodiments, several specific steps are described and illustrated as examples. However, the method process of the present application is not limited to the specific steps described and illustrated. Those skilled in the art can make various changes, modifications, and additions, or change the order of the steps after understanding the spirit of the present application.

[0267] The functional blocks shown in the above 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 (ASIC), appropriate firmware, a plug-in, a function card, etc. When implemented in software, the elements of the present application are programs or code segments that are 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 wave. "Machine-readable medium" can include any medium that can store or transmit 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 (RF) links, etc. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

[0268] It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, this application is not limited to the order of the above steps. In other words, the steps can be performed in the order mentioned in the embodiments, or in a different order, or several steps can be performed simultaneously.

[0269] Aspects of the present disclosure have been 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 disclosure. 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 is also understood that each box in the block diagram and / or flowchart and the combination of the boxes in the block diagram and / or flowchart can also be implemented by dedicated hardware that performs the specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions.

[0270] The above is only a specific implementation method of the present application. Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the scope of protection of the present application is not limited to this. Any technician familiar with this technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in this application, and these modifications or replacements should be included in the scope of protection of this application.

Claims

1. A method for determining an ambiguity fixed solution, characterized in that: The method comprises: Obtaining a widelane ambiguity set, where the widelane ambiguity set includes n widelane ambiguities, where n is a positive integer greater than 2; determining a plurality of different widelane ambiguity subsets based on the widelane ambiguity set; performing calculations on the widelane ambiguity set and the plurality of widelane ambiguity subsets respectively, and determining a first widelane fixed solution corresponding to the widelane ambiguity set and a plurality of second widelane fixed solutions corresponding one-to-one to the plurality of widelane ambiguity subsets; calculating a first distance between a first positioning point and a target positioning point, and calculating a second distance between each second positioning point and the target positioning point, to obtain a plurality of second distances, wherein the target positioning point is determined according to a floating-point filtering solution, the first positioning point is determined according to the first wide-lane fixed solution, and the second positioning point is determined according to the second wide-lane fixed solution; Performing a gross error test on the first distance and the plurality of second distances to determine a gross error test result; Determining a wide lane ambiguity fixed solution according to the gross error test result; Determining a wide lane ambiguity fixed solution according to the gross error test result includes: If the gross error check result indicates that the first distance contains a gross error, determining a target wide lane fixed solution as the wide lane ambiguity fixed solution, wherein the target wide lane fixed solution is determined based on a plurality of second wide lane fixed solutions that do not contain a gross error; If the gross error check result indicates that the first distance does not include a gross error, the first wide lane fixed solution is determined to be the wide lane ambiguity fixed solution.

2. The method according to claim 1, characterized in that When the gross error detection result indicates that the first distance contains a gross error, the target wide lane fixed solution is determined according to an average value or a median value of the plurality of second wide lane fixed solutions that do not contain a gross error.

3. The method according to claim 1, characterized in that Before obtaining the widelane ambiguity set, the method further includes: Get the floating point ambiguity and carrier phase bias correction of each satellite in the current epoch; Determining a single-difference widelane reference ambiguity and a widelane residual for each satellite based on the floating-point ambiguity and carrier phase bias correction of each satellite; determining the single-difference widelane reference ambiguity of the satellite as the widelane ambiguity if the widelane residual of the satellite is less than a widelane residual threshold, wherein the widelane residual threshold is determined based on fixed information of the satellite in a previous epoch; The widelane ambiguity set is composed according to the widelane ambiguities of the satellites.

4. The method according to claim 3, characterized in that Before determining the widelane reference ambiguity of the satellite as the widelane ambiguity when the widelane residual of the satellite is less than the widelane residual threshold, the method further includes: Obtaining fixed information of the satellite in the previous epoch; According to the fixing information, when the wide lane ambiguity of the satellite is successfully fixed in the previous epoch, determining a first wide lane residual threshold as the wide lane residual threshold; or According to the fixing information, in a case where widelane ambiguity fixation of the satellite in the previous epoch fails, determining a second widelane residual threshold as the widelane residual threshold; The first wide lane residual threshold is greater than the second wide lane residual threshold.

5. The method according to claim 1, wherein The number of the multiple different widelane ambiguity subsets is n, and the n widelane ambiguity subsets respectively include n-1 widelane ambiguities.

6. A method for determining an ambiguity fixed solution, characterized in that: The method comprises: Obtaining a narrow lane ambiguity set, where the narrow lane ambiguity set includes m narrow lane ambiguities, where m is a positive integer greater than 2, and each element in the narrow lane ambiguity set is sorted according to a preset sorting rule; When the first ratio value is less than a first preset threshold, pruning the narrow lane ambiguity set according to the sorting to determine a narrow lane ambiguity subset, wherein the first ratio value is determined based on the narrow lane ambiguity set; Calculating a second Ratio value of the narrow lane ambiguity subset; If the second ratio value is less than the first preset threshold, eliminating the maximum value in the narrow lane ambiguity subset based on the sorting to obtain an updated narrow lane ambiguity subset; returning to the step of calculating the second ratio value of the narrow lane ambiguity subset; and if the second ratio value is greater than the first preset threshold, determining a narrow lane ambiguity fixed solution according to the corresponding narrow lane ambiguity subset.

7. The method according to claim 6, characterized in that After returning the calculation of the second Ratio value of the narrowlane ambiguity subset, the method further includes: When the second ratio value is less than the first preset threshold and the narrow lane ambiguities of the narrow lane ambiguity subset are pruned to a preset number, a maximum ratio value is selected from the multiple determined second ratio values, and a narrow lane ambiguity fixed solution is determined according to the narrow lane ambiguity subset corresponding to the maximum ratio value.

8. The method according to claim 7, characterized in that Determining the narrow lane ambiguity fixed solution according to the narrow lane ambiguity subset corresponding to the maximum Ratio value includes: Determine a target narrow lane fixed solution according to the narrow lane ambiguity subset corresponding to the maximum Ratio value; Calculating a first distance between a first positioning point and a first target positioning point, wherein the first positioning point is determined based on the target narrow lane fixed solution, and the first target positioning point is determined based on a floating-point filtered solution obtained at a current epoch; calculating a second distance between a second position fix point and a second target position fix point, wherein the second position fix point is determined based on the first narrow lane fixed solution, which is determined based on narrow lane ambiguities obtained at a previous epoch, and the second target position fix point is determined based on the floating-point filtered solution obtained at the previous epoch; When the difference between the first distance and the second distance is less than a preset difference threshold, the target narrow lane fixed solution is determined to be the narrow lane ambiguity fixed solution.

9. The method according to claim 6, characterized in that Before obtaining the narrow lane ambiguity set, the method further includes: Get the floating point ambiguity and carrier phase bias correction of each satellite in the current epoch; Determining a single-difference narrowlane ambiguity and a narrowlane residual for each satellite based on the floating-point ambiguity and carrier phase bias correction of each satellite; The obtaining of the narrow lane ambiguity set includes: sorting the single-difference narrowlane ambiguity of each satellite based on a single-difference narrowlane residual difference value of each satellite and a fixed number of consecutive narrowlane ambiguities obtained in advance, and in combination with the elevation angle information of each satellite, wherein the single-difference narrowlane residual difference value is the difference between the narrowlane residual and a target residual, and the target residual is the median of the narrowlane residuals of all satellites; The sorted multiple single-difference narrow lane ambiguities are combined into the narrow lane ambiguity set.

10. The method according to claim 6, characterized in that After obtaining the narrow lane ambiguity set, the method further includes: When the first Ratio value is greater than the first preset threshold, the narrow lane ambiguity fixed solution is determined according to the narrow lane ambiguity set.

11. The method according to claim 9, characterized in that After obtaining the floating ambiguity and carrier phase bias correction number of each satellite in the current epoch, the method further includes: Determining a single-difference widelane reference ambiguity and a widelane residual for each satellite based on the floating-point ambiguity and carrier phase bias correction of each satellite; determining the single-difference widelane reference ambiguity of the satellite as the widelane ambiguity if the widelane residual of the satellite is less than a widelane residual threshold, wherein the widelane residual threshold is determined based on fixed information of the satellite in a previous epoch; forming a widelane ambiguity set according to the widelane ambiguities of the satellite, wherein the widelane ambiguity set includes n widelane ambiguities, where n is an integer greater than or equal to m; determining a widelane ambiguity fixed solution according to the widelane ambiguity set; determining a first target satellite set based on the widelane ambiguity fixing solution, where the first target satellite set is at least one satellite for which the widelane ambiguity is successfully fixed; Determining the single-difference narrowlane ambiguity and narrowlane residual of each satellite based on the floating-point ambiguity and carrier phase bias correction of each satellite includes: A single-difference narrowlane ambiguity and a narrowlane residual of each satellite in the first target satellite set are determined according to the floating-point ambiguity and the carrier phase bias correction of each satellite in the first target satellite set.

12. The method according to claim 11, characterized in that Determining a widelane ambiguity fixed solution according to the widelane ambiguity set includes: determining a plurality of different widelane ambiguity subsets based on the widelane ambiguity set; performing calculations on the widelane ambiguity set and the plurality of widelane ambiguity subsets respectively, and determining a first widelane fixed solution corresponding to the widelane ambiguity set and a plurality of second widelane fixed solutions corresponding one-to-one to the plurality of widelane ambiguity subsets; calculating a third distance between a third positioning point and a target positioning point, and calculating a fourth distance between each fourth positioning point and the target positioning point, to determine a plurality of fourth distances, wherein the target positioning point is determined based on a floating-point filtering solution, the third positioning point is determined based on the first wide-lane fixed solution, and the fourth positioning point is determined based on the second wide-lane fixed solution; performing a gross error test on the third distance and the plurality of fourth distances to determine a gross error test result; The wide lane ambiguity fixed solution is determined according to the gross error test result.

13. The method according to claim 12, characterized in that Determining the widelane ambiguity fixed solution according to the gross error test result includes: If the gross error check result indicates that the third distance contains a gross error, determining a target wide lane fixed solution as the wide lane ambiguity fixed solution, wherein the target wide lane fixed solution is determined based on a plurality of second wide lane fixed solutions that do not contain a gross error; If the gross error check result indicates that the third distance does not include a gross error, the first wide lane fixed solution is determined to be the wide lane ambiguity fixed solution.

14. The method according to claim 13, characterized in that When the gross error detection result indicates that the third distance contains a gross error, the target wide lane fixed solution is determined according to an average value or a median value of the plurality of second wide lane fixed solutions that do not contain a gross error.

15. The method according to claim 11, characterized in that Before determining the single-difference widelane reference ambiguity of the satellite as the widelane ambiguity when the widelane residual of the satellite is less than the widelane residual threshold, the method further includes: Obtaining fixed information of the satellite in the previous epoch; According to the fixing information, when the wide lane ambiguity of the satellite is successfully fixed in the previous epoch, determining a third wide lane residual threshold as the wide lane residual threshold; or According to the fixing information, in a case where widelane ambiguity fixation of the satellite in the previous epoch fails, determining a fourth widelane residual threshold as the widelane residual threshold; The third wide-lane residual threshold is greater than the fourth wide-lane residual threshold.

16. A device for determining an ambiguity fixed solution, characterized in that: The device comprises: a first acquisition module, configured to acquire a widelane ambiguity set, wherein the widelane ambiguity set includes n widelane ambiguities, where n is a positive integer greater than 2; a first determining module, configured to determine a plurality of different widelane ambiguity subsets according to the widelane ambiguity set; a first calculation module, configured to calculate the widelane ambiguity set and the plurality of widelane ambiguity subsets respectively, to determine a first widelane fixed solution corresponding to the widelane ambiguity set and a plurality of second widelane fixed solutions corresponding one-to-one to the plurality of widelane ambiguity subsets; a second calculation module, configured to calculate a first distance between a first positioning point and a target positioning point, and calculate a second distance between each second positioning point and the target positioning point, to determine a plurality of second distances, wherein the target positioning point is determined based on a floating-point filtering solution, the first positioning point is determined based on a first wide-lane fixed solution, and the second positioning point is determined based on a second wide-lane fixed solution; a third calculation module, configured to perform a gross difference test on the first distance and the plurality of second distances, and determine a gross difference test result; A second determination module is configured to determine a wide lane ambiguity fixed solution based on the gross error detection result; The second determining module is specifically configured to: If the gross error check result indicates that the first distance contains a gross error, determining a target wide lane fixed solution as the wide lane ambiguity fixed solution, wherein the target wide lane fixed solution is determined based on a plurality of second wide lane fixed solutions that do not contain a gross error; If the gross error check result indicates that the first distance does not include a gross error, the first wide lane fixed solution is determined to be the wide lane ambiguity fixed solution.

17. A device for determining an ambiguity fixed solution, characterized in that: The device comprises: a first acquisition module, configured to acquire a narrow lane ambiguity set, wherein the narrow lane ambiguity set includes m narrow lane ambiguities, where m is a positive integer greater than 2, and each element in the narrow lane ambiguity set is sorted according to a preset sorting rule; a first processing module configured to, if a first ratio value is less than a first preset threshold, prune the narrow lane ambiguity set according to the preset sorting rule to determine a narrow lane ambiguity subset, wherein the first ratio value is determined based on the narrow lane ambiguity set; a calculation module, configured to calculate a second Ratio value of the narrow lane ambiguity subset; The second processing module is configured to, if the second ratio value is less than the first preset threshold, eliminate the maximum value in the narrow lane ambiguity subset based on the sorting to obtain an updated narrow lane ambiguity subset; return the second ratio value calculated for the narrow lane ambiguity subset; and, if the second ratio value is greater than the first preset threshold, determine a narrow lane ambiguity fixed solution based on the corresponding narrow lane ambiguity subset.

18. A GNSS terminal device, characterized in that: The device includes: a processor and a memory storing computer program instructions; the processor reads and executes the computer program instructions to implement the method for determining an ambiguity fixed solution according to any one of claims 1 to 15.

19. A computer storage medium, characterized in that The computer storage medium stores computer program instructions, which, when executed by a processor, implement the method for determining an ambiguity fixed solution according to any one of claims 1 to 15.

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