Method for marking the accuracy of a satellite positioning and related device

Abstract

The embodiment of the application provides a satellite positioning precision marking method and related device, and relates to the field of satellite navigation. The method first receives observation data and differential data of a satellite, performs ambiguity fixing processing on the observation data and the differential data, obtains a positioning result, then determines an ambiguity fixing processing state, and determines the precision of the positioning result according to the ambiguity fixing processing state. The method can determine the precision of the positioning result according to the ambiguity fixing state after the ambiguity fixing processing on the observation data and the differential data, so that the precision of the positioning result can be determined according to the ambiguity fixing state whether the obtained positioning result is a fixed solution or a floating point solution.

Description

Technical Field

[0001] This invention relates to the field of satellite navigation, and more specifically, to a method and apparatus for marking the accuracy of satellite positioning. Background Technology

[0002] Currently, when calculating positioning results using satellite navigation and positioning technology, it is often necessary to resolve unknown phase floating-point ambiguities and attempt to fix them as integers to obtain either a floating-point solution or a fixed solution. The precision of a fixed solution is at the centimeter level, while the precision of a floating-point solution often varies from decimeter to meter level. Existing technologies often cannot determine the precision of a floating-point solution when obtaining it. Summary of the Invention

[0003] In view of this, the purpose of the present invention is to provide a satellite positioning accuracy marking method and related apparatus to solve the problem of being unable to determine the specific accuracy of the currently obtained solution.

[0004] To achieve the above objectives, the technical solutions adopted in the embodiments of the present invention are as follows:

[0005] In a first aspect, the present invention provides a method for marking the accuracy of satellite positioning, the method comprising:

[0006] Receive satellite observation data and differential data;

[0007] Based on the observation data and the difference data, ambiguity fixing processing is performed to obtain the positioning result;

[0008] Determine the ambiguity fixing state, and determine the accuracy of the positioning result based on the ambiguity fixing state.

[0009] In an optional implementation, determining the ambiguity fixing state and determining the accuracy of the positioning result based on the ambiguity fixing state includes:

[0010] If the observation equation is successfully solved, the coordinate variance of the receiving device is less than the preset variance, the number of satellites that meet the preset conditions after the wide lane ambiguity is fixed is greater than or equal to the preset number, and the narrow lane ambiguity is successfully fixed, the ambiguity fixing processing state is determined to be the first state.

[0011] The accuracy of the positioning result is determined as a first accuracy based on the first state.

[0012] In an optional implementation, determining the ambiguity fixing state and determining the accuracy of the positioning result based on the ambiguity fixing state includes:

[0013] If the observation equation is successfully solved, the coordinate variance of the receiving device is less than the preset variance, the number of satellites that meet the preset conditions after the wide lane ambiguity is fixed is greater than or equal to the preset number, and the narrow lane ambiguity fixation fails, the ambiguity fixing processing state is determined to be the second state.

[0014] The accuracy of the positioning result is determined as the second accuracy based on the second state.

[0015] In an optional implementation, determining the ambiguity fixing state and determining the accuracy of the positioning result based on the ambiguity fixing state includes:

[0016] If the observation equation is successfully solved, the coordinate variance of the receiving device is less than the preset variance, the number of satellites that meet the preset conditions after the wide-lane ambiguity is fixed is less than the preset number, and the narrow-lane ambiguity is successfully fixed, the ambiguity fixing processing state is determined to be the third state.

[0017] The accuracy of the positioning result is determined as the third accuracy based on the third state.

[0018] In an optional implementation, determining the ambiguity fixing state and determining the accuracy of the positioning result based on the ambiguity fixing state includes:

[0019] If the observation equation is successfully solved, the coordinate variance of the receiving device is less than the preset variance, the number of satellites that meet the preset conditions after the wide lane ambiguity is fixed is less than the preset number, and the narrow lane ambiguity fixation fails, the ambiguity fixing processing state is determined to be the fourth state.

[0020] The accuracy of the positioning result is determined to be the fourth accuracy based on the fourth state.

[0021] In an optional implementation, determining the ambiguity fixing state and determining the accuracy of the positioning result based on the ambiguity fixing state includes:

[0022] If the observation equation is successfully solved and the coordinate variance of the receiving device is greater than or equal to the preset variance, the ambiguity fixing processing state is determined to be the fifth state.

[0023] The accuracy of the positioning result is determined as the fifth accuracy based on the fifth state.

[0024] In an optional implementation, determining the ambiguity fixing state and determining the accuracy of the positioning result based on the ambiguity fixing state includes:

[0025] In the event that the observation equation fails to be solved, the ambiguity is fixed and the processing state is set to the sixth state.

[0026] The accuracy of the positioning result is determined to be the sixth accuracy based on the sixth state.

[0027] In an optional implementation, determining the ambiguity fixing state and determining the accuracy of the positioning result based on the ambiguity fixing state includes:

[0028] In the event of pseudorange single-point positioning failure, the ambiguity fixation state is determined to be the seventh state.

[0029] The positioning result is determined to be invalid based on the seventh state.

[0030] In an optional implementation, the step of performing ambiguity fixing processing based on the observation data and the difference data to obtain the positioning result includes:

[0031] If pseudorange single-point positioning is successful, an observation equation is constructed based on the observation data and the differential data, and the phase floating-point ambiguity of each satellite is calculated based on the observation equation.

[0032] Wide-lane ambiguity is fixed for the phase floating-point ambiguity of each satellite to obtain the wide-lane fixed ambiguity of each satellite;

[0033] The narrow-lane ambiguity is fixed for the wide-lane fixed ambiguity of each satellite to obtain the positioning result.

[0034] In an optional implementation, the step of constructing an observation equation based on the observation data and the difference data when pseudorange single-point positioning is successful includes:

[0035] If pseudorange single-point localization is successful, the observation equation is constructed according to the following formula:

[0036]

[0037] Among them, P s,j Characterizing the pseudorange of satellite s at frequency j; L s,j Characterizing the phase observation value of satellite s at frequency j, Let C represent the distance between the phase center of the antenna of the receiving device r and the phase center of the satellite s, and let C represent the speed of light in vacuum. r,j The clock bias dt of the receiving device r at frequency j represents the clock bias of the receiving device r. s The clock bias of satellite s is characterized by T, the wet tropospheric delay is characterized by γ, and the ratio between the squares of multiple frequencies is characterized by γ. Characterizing the ionospheric delay of satellite s at frequency j, b r,j Characterizes the pseudorange hardware delay of the receiving device r at frequency j. B represents the pseudorange hardware delay of satellite s at frequency j. r,jCharacterizes the phase hardware delay of the receiving device r at frequency j. Characterizing the phase hardware delay of satellite s at frequency j, Characterizing the wavelength of satellite s at frequency j, Characterizes the phase floating-point ambiguity of satellite s at frequency j. ε characterizes the ionospheric delay of the receiving device. I,j Observation noise characterizing pseudorange ε characterizes the tropospheric delay of the vehicle-mounted terminal. T,j The observation noise characterizing the phase observation values.

[0038] In an optional implementation, the step of fixing the wide-lane ambiguity of the phase floating-point ambiguity of each satellite to obtain the wide-lane fixed ambiguity of each satellite includes:

[0039] A reference satellite is selected from all the satellites according to a preset rule, and the other satellites besides the reference satellite are used as mobile satellites;

[0040] Based on the phase floating-point ambiguity corresponding to each frequency of each of the mobile satellites, calculate the corresponding inter-satellite single-difference wide-lane floating-point ambiguity;

[0041] If the inter-satellite single-difference wide-lane floating-point ambiguity of each of the mobile satellites meets the preset conditions, then the integer wide-lane ambiguity corresponding to the mobile satellite is calculated based on the inter-satellite single-difference wide-lane floating-point ambiguity.

[0042] The constraint ambiguity parameters are updated based on the integer wide-lane ambiguity to the inter-satellite single-difference wide-lane floating-point ambiguity of the mobile satellite, thereby obtaining the wide-lane fixed ambiguity of the mobile satellite.

[0043] In an optional implementation, the step of calculating the corresponding inter-satellite single-difference wide-lane floating-point ambiguity based on the phase floating-point ambiguity corresponding to each frequency of each of the mobile satellites includes:

[0044] Based on the phase floating-point ambiguity corresponding to each frequency of each of the mobile satellites and the phase floating-point ambiguity corresponding to each frequency of the reference satellite, the corresponding inter-satellite single-difference wide-lane floating-point ambiguity is calculated.

[0045] In an optional implementation, the step of calculating the corresponding inter-satellite single-difference wide-lane floating-point ambiguity based on the phase floating-point ambiguity corresponding to each frequency of each of the mobile satellites and the phase floating-point ambiguity corresponding to each frequency of the reference satellite includes:

[0046] For each of the aforementioned mobile satellites, the inter-satellite single-difference wide-lane floating-point ambiguity is calculated using the following formula:

[0047] WL=N y,1-N y,2 -(N c,1 -N C,2 )

[0048] Wherein, WL represents the inter-satellite single-difference wide-lane floating-point ambiguity, and N y,1 N represents the phase floating-point ambiguity of the mobile satellite at the first frequency. y,2 N represents the phase floating-point ambiguity of the mobile satellite at the second frequency. c,1 N represents the phase floating-point ambiguity of the reference satellite at the first frequency. C,2 The phase floating-point ambiguity of the reference satellite at the second frequency is characterized.

[0049] In an optional implementation, if the inter-satellite single-difference wide-lane floating-point ambiguity of each of the mobile satellites meets a preset condition, then calculating the integer wide-lane ambiguity corresponding to the mobile satellite based on the inter-satellite single-difference wide-lane floating-point ambiguity includes:

[0050] For each of the mobile satellites, if the fractional part of the inter-satellite single-difference wide-lane floating-point ambiguity is less than a preset threshold, the inter-satellite single-difference wide-lane floating-point ambiguity is rounded to the nearest integer to obtain the integer wide-lane ambiguity.

[0051] In an optional implementation, the step of updating the constraint ambiguity parameters based on the integer wide-lane ambiguity for the inter-satellite single-difference wide-lane floating-point ambiguity of the moving satellite, to obtain the wide-lane fixed ambiguity of the moving satellite, includes:

[0052] The constraint ambiguity parameters are updated for the inter-satellite single-difference wide-lane floating-point ambiguity of the mobile satellite using the following formula:

[0053] WL 0 =WL+ε

[0054] Among them, WL 0 The integer wide-lane ambiguity is represented by WL, the inter-satellite single-difference wide-lane floating-point ambiguity is represented by WL, and the error value is represented by ε.

[0055] In an optional implementation, the step of fixing the narrow-lane ambiguity of the wide-lane fixed ambiguity for each of the satellites to obtain the positioning result includes:

[0056] According to the preset search algorithm, the narrow lane ambiguity of the wide lane fixed ambiguity of multiple satellites is fixed to obtain the inter-satellite single-difference integer narrow lane ambiguity and ratio value.

[0057] If the ratio value does not reach the preset ratio, the target wide-lane fixed ambiguity is deleted from the wide-lane fixed ambiguity of the multiple satellites, and the narrow-lane ambiguity is fixed again according to the preset search algorithm for the other wide-lane fixed ambiguities; wherein, the target wide-lane fixed ambiguity is the wide-lane fixed ambiguity corresponding to the satellite with the lowest satellite elevation angle among the multiple satellites;

[0058] If the ratio value reaches a preset proportion, and the number of remaining wide-lane fixed ambiguities is greater than or equal to a preset number, then the narrow-lane ambiguity is determined to be successfully fixed. The inter-satellite single-difference integer narrow-lane ambiguity is used as the constraint for updating the inter-satellite single-difference narrow-lane floating-point ambiguity, and the positioning result is obtained. The inter-satellite single-difference narrow-lane floating-point ambiguity is obtained by solving the observation equation. If the ratio value does not reach the preset proportion, or the number of wide-lane fixed ambiguities for narrow-lane ambiguity fixing is less than a preset number, then the narrow-lane ambiguity fixing is determined to be unsuccessful, and the positioning result is obtained.

[0059] Secondly, the present invention provides a satellite positioning accuracy marking device, the device comprising:

[0060] The receiving module is used to receive satellite observation data and differential data;

[0061] The processing module is used to perform ambiguity fixing processing based on the observation data and the difference data to obtain the positioning result;

[0062] The determination module is used to determine the ambiguity fixing state and determine the accuracy of the positioning result based on the ambiguity fixing state.

[0063] Thirdly, the present invention provides a receiving device, including a processor and a memory, the memory storing a computer program executable by the processor, the processor being able to execute the computer program to implement the method described in any of the foregoing embodiments.

[0064] Fourthly, the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method as described in any of the foregoing embodiments.

[0065] The satellite positioning accuracy marking method and related apparatus provided in this invention first receive satellite observation data and differential data. Then, ambiguity fixing processing is performed on the observation data and differential data to obtain a positioning result. Afterwards, the ambiguity fixing state is determined, and the accuracy of the positioning result is determined based on this ambiguity fixing state. This method can determine the accuracy of the positioning result based on the ambiguity fixing state after performing ambiguity fixing processing on the observation data and differential data. Therefore, regardless of whether the obtained positioning result is a fixed solution or a floating-point solution, the accuracy of the positioning result can be determined based on the ambiguity fixing state.

[0066] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0067] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0068] Figure 1 A block diagram of a receiving device provided in an embodiment of the present invention is shown;

[0069] Figure 2 A flowchart illustrating a satellite positioning accuracy marking method provided in an embodiment of the present invention is shown.

[0070] Figure 3 This diagram illustrates another flowchart of the satellite positioning accuracy marking method provided in an embodiment of the present invention.

[0071] Figure 4 This diagram illustrates another flowchart of the satellite positioning accuracy marking method provided in an embodiment of the present invention.

[0072] Figure 5 This diagram illustrates another flowchart of the satellite positioning accuracy marking method provided in an embodiment of the present invention.

[0073] Figure 6 A schematic diagram illustrating the accuracy levels of the positioning results is shown.

[0074] Figure 7 The diagram shows a functional block diagram of a satellite positioning accuracy marking device provided in an embodiment of the present invention.

[0075] Icons: 10-Receiving device; 100-Memory; 110-Processor; 120-Communication module; 200-Receiving module; 210-Processing module; 220-Determination module. Detailed Implementation

[0076] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0077] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0078] It should be noted that relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0079] Currently, satellite navigation and positioning technology can be used for positioning, especially in the field of autonomous driving, where fusion positioning technology of in-vehicle integrated navigation is often used. This technology generally uses GNSS (Global Navigation Satellite System) satellite positioning technology to provide the absolute position coordinates of the vehicle.

[0080] When calculating positioning results using satellite navigation and positioning technology, it is often necessary to resolve unknown phase floating-point ambiguities and attempt to fix them as integers. Since theoretically, these phase floating-point ambiguities have integer properties, when the ambiguity is successfully fixed to an integer, it is called a fixed solution in GNSS satellite positioning technology; when it is not successfully fixed, it is called a floating-point solution. The accuracy of a fixed solution is at the centimeter level, while the accuracy of a floating-point solution often varies from decimeters to meters.

[0081] In existing technologies, due to the unreliability of floating-point solutions, their accuracy is often assumed to be at the meter level. That is, even if the actual floating-point solution is at the decimeter level, electronic devices will treat it as having meter-level accuracy. Currently, the general tendency is to obtain a fixed solution and use its positioning results for location. However, in practical applications, some scenarios require positioning accuracy only at the decimeter level. Existing solutions cannot distinguish between decimeter-level and meter-level floating-point solutions. In applications where positioning accuracy is only at the decimeter level, centimeter-level fixed solutions must be used for positioning. This results in the underutilization of the value of decimeter-level floating-point solutions, significantly reducing the usability of GNSS satellite positioning results.

[0082] Therefore, this application provides a satellite positioning accuracy marking method to solve the above problems. Please refer to... Figure 1 This is a block diagram of the receiving device 10.

[0083] Optionally, the receiving device 10 can be installed on the device that needs to perform satellite positioning. The receiving device 10 can receive data sent by the satellite and calculate the coordinate information of the receiving device. Understandably, the coordinate information of the receiving device can be used as the coordinate information of the device that needs to perform satellite positioning.

[0084] Optionally, the device requiring satellite positioning can be a vehicle equipped with autonomous driving technology. That is, the receiving device 10 can be installed on a vehicle equipped with autonomous driving technology to provide the absolute position coordinates of the vehicle through GNSS satellite positioning technology.

[0085] Optionally, the receiving device 10 includes a memory 100, a processor 110, and a communication module 120. The memory 100, processor 110, and communication module 120 are electrically connected directly or indirectly to each other to achieve data transmission or interaction. For example, these components can be electrically connected to each other through one or more communication buses or signal lines.

[0086] The memory 100 is used to store programs or data. The memory 100 may be, but is not limited to, random access memory (RAM), read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), etc.

[0087] The processor 110 is used to read / write data or programs stored in memory and to perform corresponding functions.

[0088] The communication module 120 is used to establish a communication connection between the server and other communication terminals via the network, and to send and receive data via the network.

[0089] It should be understood that, Figure 1 The structure shown is only a schematic diagram of the receiving device 10. The receiving device 10 may also include a... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown. Figure 1 The components shown can be implemented using hardware, software, or a combination thereof.

[0090] This application also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, can implement the satellite positioning accuracy marking method provided in this application.

[0091] Next, based on the above Figure 1 The receiving device 10 in this example is the executing entity. The satellite positioning accuracy marking method provided in this application embodiment will be illustrated with reference to the flowchart. Specifically, Figure 2 For a flowchart illustrating the satellite positioning accuracy marking method provided in this application embodiment, please refer to [link / reference]. Figure 2 The method includes:

[0092] Step S20: Receive satellite observation data and differential data;

[0093] Optionally, the observation data can be observation data from GNSS navigation satellites, and the differential data can be differential data from geostationary communication satellites.

[0094] Optionally, the GNSS navigation satellite may include GPS satellite navigation system, Galileo satellite navigation system and BDS Beidou satellite navigation system, etc., and the receiving equipment can obtain observation data sent by one or more of these satellite navigation systems.

[0095] Optionally, the differential data can be provided by a satellite-based augmentation service provider.

[0096] Optionally, the observation data may include pseudorange and carrier phase observations as well as Doppler observations, and the differential data may include precise orbital clock error data, satellite-end pseudorange and phase hardware delay data, and ionospheric and tropospheric delay data along the satellite signal propagation path.

[0097] Step S21: Perform ambiguity fixing processing based on the observation data and differential data to obtain the positioning result;

[0098] Step S22: Determine the ambiguity fixing state and determine the accuracy of the positioning result based on the ambiguity fixing state.

[0099] Optionally, the positioning result is the coordinate information of the receiving device.

[0100] Optionally, the ambiguity fixing state can characterize the processing status of each process when ambiguity fixing is performed based on observation data and difference data.

[0101] Optionally, the accuracy of the positioning result may include the accuracy of a fixed solution and the accuracy of a floating-point solution. Understandably, if the obtained positioning result is a fixed solution, the accuracy of the positioning result is at the centimeter level; if the obtained positioning result is a floating-point solution, the method can determine whether the accuracy of the positioning result is at the decimeter level or the meter level.

[0102] Clearly, this method can determine whether the accuracy of the floating-point solution is at the decimeter or meter level. Therefore, in practical applications, for some application scenarios where the positioning accuracy requirement is only at the decimeter level, the floating-point solution with decimeter-level accuracy can be used directly for positioning without having to obtain a fixed solution. This method can make full use of the value of the decimeter-level floating-point solution and improve the usability of GNSS satellite positioning results.

[0103] The satellite positioning accuracy marking method provided in this invention first receives satellite observation data and differential data. Then, ambiguity fixing processing is performed on the observation data and differential data to obtain a positioning result. Afterwards, the ambiguity fixing state is determined, and the accuracy of the positioning result is determined based on this ambiguity fixing state. This method can determine the accuracy of the positioning result based on the ambiguity fixing state after performing ambiguity fixing processing on the observation data and differential data. Therefore, regardless of whether the obtained positioning result is a fixed solution or a floating-point solution, the accuracy of the positioning result can be determined based on the ambiguity fixing state.

[0104] Optionally, the ambiguity fixing process may include the solution process of the observation equation, the wide-lane ambiguity fixing process, and the narrow-lane ambiguity fixing process. By solving the observation equation, the phase floating-point ambiguity of each satellite and the initial coordinates of the receiving device can be obtained. By the wide-lane ambiguity fixing process and the narrow-lane ambiguity fixing process, the accuracy of the initial coordinates of the receiving device can be improved, thereby obtaining the centimeter-level, decimeter-level, or meter-level coordinates of the receiving device.

[0105] Specifically, in Figure 2 On this basis, Figure 3 For another flowchart illustrating the satellite positioning accuracy marking method provided in this application embodiment, please refer to [link / reference]. Figure 3 The above step S21 can be achieved through the following steps:

[0106] Step S21-1: If pseudorange single-point positioning is successful, construct the observation equation based on the observation data and differential data, and calculate the phase floating-point ambiguity of each satellite based on the observation equation.

[0107] Optionally, pseudorange single-point positioning needs to be performed before constructing the observation equation. If the pseudorange single-point positioning is successful, the observation equation can be constructed and solved. If the pseudorange single-point positioning fails, the positioning result is an invalid solution and no further steps need to be performed.

[0108] Alternatively, the observation equation can be constructed using the following formula:

[0109]

[0110] Among them, P s,j Characterizing the pseudorange of satellite s at frequency j; L s,j Characterizing the phase observation value of satellite s at frequency j, Let C represent the distance between the phase center of the antenna of the receiving device r and the phase center of the satellite s, and let C represent the speed of light in vacuum. r,j The clock bias dt of the receiving device r at frequency j represents the clock bias of the receiving device r. sThe clock bias of satellite s is characterized by T, the wet tropospheric delay is characterized by γ, and the ratio between the squares of multiple frequencies is characterized by γ. Characterizing the ionospheric delay of satellite s at frequency j, b r,j Characterizes the pseudorange hardware delay of the receiving device r at frequency j. B represents the pseudorange hardware delay of satellite s at frequency j. r,j Characterizes the phase hardware delay of the receiving device r at frequency j. Characterizing the phase hardware delay of satellite s at frequency j, Characterizing the wavelength of satellite s at frequency j, Characterizes the phase floating-point ambiguity of satellite s at frequency j. ε characterizes the ionospheric delay of the receiving device. I,j Observation noise characterizing pseudorange ε characterizes the tropospheric delay of the vehicle-mounted terminal. T,j The observation noise characterizing the phase observation values.

[0111] in, (x s ,y s ,z s Let be the coordinates of satellite s, and (x) be the coordinates of satellite s. r ,y r ,z r () represents the coordinates of the receiving device r.

[0112] Understandably, the coordinates of satellite s are known parameters, while the coordinates of receiving device r are unknown parameters. By solving this observation equation, the unknown coordinates of receiving device r can be obtained.

[0113] Optionally, the observation equation also includes other unknown parameters. The receiving device can obtain the unknown data by solving the equation, including the coordinates of the receiving device r, the clock error of the receiving device r at frequency j, the wet tropospheric delay, the ionospheric delay of the receiving device, and the phase floating-point ambiguity of the satellite at each frequency.

[0114] Understandably, the receiving equipment can construct the observation equation for each satellite to obtain the phase floating-point ambiguity for each satellite at each frequency.

[0115] Optionally, in this equation, the hardware delay of the receiving equipment is absorbed by the clock bias of the receiving equipment, and the satellite's orbital error, clock error, and satellite-end hardware delay can be corrected using differential data. Furthermore, to improve the accuracy of the solution results, errors such as tropospheric delay, phase entanglement, antenna phase center offset, and relativistic effects can be corrected in advance using a pre-set error correction model.

[0116] Alternatively, in this formula, ε I,jand ε T,j Smaller, therefore It can be considered approximately equal to It can be considered to be approximately equal to T.

[0117] Step S21-2: Fix the wide-lane ambiguity of the phase floating-point ambiguity of each satellite to obtain the wide-lane fixed ambiguity of each satellite.

[0118] Step S21-3: Fix the narrow lane ambiguity for the wide lane fixed ambiguity of each satellite to obtain the positioning result.

[0119] Optionally, after obtaining the unknown data, the phase floating-point ambiguity of each satellite can be fixed by wide-lane ambiguity to obtain wide-lane fixed ambiguity. Specifically, in Figure 3 On this basis, Figure 4 For another flowchart illustrating the satellite positioning accuracy marking method provided in this application embodiment, please refer to [link / reference]. Figure 4 The above step S21-2 can be achieved through the following steps:

[0120] Step S21-2-1: Select a reference satellite from all satellites according to preset rules, and treat the other satellites besides the reference satellite as moving satellites;

[0121] Step S21-2-2: Calculate the corresponding inter-satellite single-difference wide-lane floating-point ambiguity based on the phase floating-point ambiguity corresponding to each frequency of each mobile satellite.

[0122] Optionally, the preset rule can be to randomly select a reference satellite or to select a reference satellite based on the satellite's elevation angle.

[0123] In this embodiment, the receiving device can select one satellite from all satellites as a reference satellite and treat the other satellites as moving satellites. For each moving satellite, the inter-satellite single-difference wide-lane floating-point ambiguity is calculated based on the phase floating-point ambiguity corresponding to each frequency.

[0124] Optionally, the corresponding inter-satellite single-difference wide-lane floating-point ambiguity can be calculated based on the phase floating-point ambiguity corresponding to each frequency of each mobile satellite and the phase floating-point ambiguity corresponding to each frequency of the reference satellite.

[0125] Specifically, for each mobile satellite, the inter-satellite single-difference wide-lane floating-point ambiguity is calculated using the following formula:

[0126] WL=N y,1 -N y,2 -(N c,1 -N C,2 )

[0127] Wherein, WL represents the inter-satellite single-difference wide-lane floating-point ambiguity, and N... y,1 N represents the phase floating-point ambiguity of a mobile satellite at the first frequency. y,2 N represents the phase floating-point ambiguity of a mobile satellite at the second frequency. c,1 N represents the phase floating-point ambiguity of the reference satellite at the first frequency. C,2 Characterizes the floating-point ambiguity of the reference satellite at the second frequency.

[0128] Step S21-2-3: If the inter-satellite single-difference wide-lane floating-point ambiguity of each mobile satellite meets the preset conditions, then calculate the integer wide-lane ambiguity corresponding to the mobile satellite based on the inter-satellite single-difference wide-lane floating-point ambiguity.

[0129] Optionally, the preset condition can be that the decimal part of the inter-satellite single-difference wide-lane floating-point ambiguity is less than a preset threshold. Based on this, for each mobile satellite, if the decimal part of the inter-satellite single-difference wide-lane floating-point ambiguity is less than the preset threshold, the inter-satellite single-difference wide-lane floating-point ambiguity is rounded to obtain an integer wide-lane ambiguity.

[0130] Optionally, the preset threshold can be 0.3. Understandably, if the fractional part of the inter-satellite single-difference wide-lane floating-point ambiguity of a certain mobile satellite is greater than or equal to 0.3, then the mobile satellite is determined not to meet the preset condition, and there is no need to round down for the satellite that does not meet the preset condition.

[0131] Alternatively, the inter-satellite single-difference wide-lane floating-point ambiguity can be rounded using the following formula: WL 0 =round(N y,1 -N y,2 -(N c,1 -N C,2 )).

[0132] Among them, WL 0 The integer width ambiguity is represented by `round()`, which represents the rounding operation on the data within the parentheses.

[0133] Step S21-2-4: Update the constraint ambiguity parameters based on the integer wide-lane ambiguity as the inter-satellite single-difference wide-lane floating-point ambiguity of the moving satellite, and obtain the wide-lane fixed ambiguity of the moving satellite.

[0134] Alternatively, the constraint ambiguity parameters can be updated for the inter-satellite single-difference wide-lane floating-point ambiguity of the moving satellite using the following formula:

[0135] WL 0 =WL+ε

[0136] Among them, WL 0WL represents the integer wide-lane ambiguity, WL represents the inter-satellite single-difference wide-lane floating-point ambiguity, and ε represents the error value.

[0137] Optionally, after obtaining the wide-lane fixed ambiguity for each satellite, it is also necessary to perform narrow-lane ambiguity fixing on the wide-lane fixed ambiguity for each satellite to obtain the positioning result. Specifically, in Figure 3 On this basis, Figure 5 For another flowchart illustrating the satellite positioning accuracy marking method provided in this application embodiment, please refer to [link / reference]. Figure 5 The above steps S21-3 can be achieved through the following steps:

[0138] Step S21-3-1: Fix the narrow lane ambiguity of the wide lane fixed ambiguity of multiple satellites according to the preset search algorithm, and obtain the inter-satellite single-difference integer narrow lane ambiguity and ratio value.

[0139] Optionally, the preset search algorithm can be a lambda search algorithm.

[0140] In one possible implementation, the wide-lane fixed ambiguity of the plurality of satellites may include only the wide-lane fixed ambiguity of satellites that meet preset conditions during the wide-lane ambiguity fixing process; in another possible implementation, the wide-lane fixed ambiguity of the plurality of satellites may include the wide-lane fixed ambiguity of satellites that meet preset conditions during the wide-lane ambiguity fixing process, as well as the wide-lane fixed ambiguity of satellites that do not meet preset conditions during the wide-lane ambiguity fixing process.

[0141] Step S21-3-2: If the ratio value does not reach the preset ratio, delete the target wide-lane fixed ambiguity from the wide-lane fixed ambiguity of multiple satellites, and re-fix the narrow-lane ambiguity of other wide-lane fixed ambiguities according to the preset search algorithm.

[0142] Among them, the target wide alley fixed ambiguity is the wide alley fixed ambiguity corresponding to the satellite with the lowest satellite elevation angle among multiple satellites;

[0143] Optionally, the preset ratio can be 2.5.

[0144] In this embodiment, after fixing the narrow-lane ambiguity of the wide-lane fixed ambiguity of multiple satellites using the lambda search algorithm, the receiving device can obtain the inter-satellite single-difference integer narrow-lane ambiguity and the ratio value. The receiving device can then determine whether the ratio value reaches a preset ratio. If it does not reach the preset ratio, the receiving device can delete the wide-lane fixed ambiguity corresponding to the satellite with the lowest satellite elevation angle from all the wide-lane fixed ambiguities, and perform lambda search again based on the other wide-lane fixed ambiguities after deleting the wide-lane fixed ambiguity corresponding to the satellite with the lowest satellite elevation angle.

[0145] Step S21-3-3: If the ratio value reaches the preset ratio and the number of remaining wide alley fixed ambiguities is greater than or equal to the preset number, then the narrow alley ambiguity is determined to be successfully fixed. The constraints are updated based on the inter-satellite single-difference integer narrow alley ambiguity to the inter-satellite single-difference narrow alley floating-point ambiguity to obtain the positioning result.

[0146] Among them, the inter-satellite single-difference narrow-lane floating-point ambiguity is obtained by solving the observation equation.

[0147] Optionally, the receiving device can obtain the inter-satellite single-difference narrow-lane floating-point ambiguity when solving the observation equation. Therefore, when fixing the narrow-lane ambiguity for the wide-lane fixed ambiguity, if the narrow-lane ambiguity is successfully fixed based on the ratio value and the number of remaining wide-lane fixed ambiguities, the receiving device can update the constraints for the inter-satellite single-difference narrow-lane floating-point ambiguity based on the obtained inter-satellite single-difference integer narrow-lane ambiguity to obtain the positioning result.

[0148] Optionally, the preset number can be set according to the actual situation. In one possible implementation, the preset number can be 4.

[0149] Understandably, the process of updating constraints for inter-satellite single-difference narrow-lane floating-point ambiguity based on integer narrow-lane ambiguity is the same as the process of updating constraint ambiguity parameters for inter-satellite single-difference wide-lane floating-point ambiguity based on integer wide-lane ambiguity for moving satellites, and will not be repeated here.

[0150] In step S21-3-4, if the ratio value does not reach the preset ratio, or the number of wide alley ambiguities fixed for narrow alley ambiguity fixing is less than the preset number, then the narrow alley ambiguity fixing is determined to have failed, and the positioning result is obtained.

[0151] In this embodiment, if the ratio value does not reach the preset ratio, or the number of wide lane fixed ambiguities for narrow lane ambiguity fixing is less than the preset number, it indicates that the narrow lane ambiguity fixing has failed. Therefore, there is no need to update the constraints for the inter-satellite single-difference narrow lane floating-point ambiguity based on the inter-satellite single-difference integer narrow lane ambiguity.

[0152] Optionally, after obtaining the positioning result, the ambiguity fixing processing state at each step of the above ambiguity fixing process can be determined, thereby determining the accuracy of the final positioning result. Optionally, the receiving device can first determine whether the observation equation has been successfully solved. If the observation equation fails to be solved, the ambiguity fixing processing state can be determined to be the sixth state, and the accuracy of the positioning result can be determined to be the sixth accuracy based on the sixth state.

[0153] In one possible approach, the success of the observation equations can be determined by whether all unknown parameters can be fully solved. Understandably, if all unknown parameters cannot be fully solved, the observation equations have failed to be solved.

[0154] Optionally, the positioning result obtained in this sixth state has the worst accuracy. In one possible implementation, this sixth accuracy can characterize an accuracy level of 10.0 meters.

[0155] Optionally, if the receiving device determines that the observation equation has been successfully solved, it can further determine whether the coordinate variance of the receiving device calculated by the observation equation is greater than or equal to the preset variance. That is, if the observation equation has been successfully solved and the coordinate variance of the receiving device is greater than or equal to the preset variance, the ambiguity fixing processing state is determined to be the fifth state, and the accuracy of the positioning result is determined to be the fifth accuracy based on the fifth state.

[0156] Optionally, by solving the observation equation, the coordinates of the receiving device can be obtained. The receiving device can then calculate the coordinate variance based on these coordinates and determine whether the coordinate variance is greater than or equal to a preset variance.

[0157] In one possible implementation, the preset variance could be 0.5.

[0158] Optionally, the accuracy of the positioning result obtained in the fifth state is better than the accuracy of the positioning result obtained in the sixth state. In one possible implementation, this fifth accuracy can characterize an accuracy level of 5.0 meters.

[0159] Understandably, this fifth precision is the default precision for floating-point solutions in the prior art.

[0160] Optionally, if the coordinate variance of the receiving device is less than the preset variance, it can be further determined whether the number of satellites that meet the preset conditions after the wide-lane ambiguity is fixed is less than or equal to the preset number, and whether the narrow-lane ambiguity is fixed successfully.

[0161] Specifically, if the observation equation is successfully solved, the coordinate variance of the receiving device is less than the preset variance, the number of satellites that meet the preset conditions after the wide lane ambiguity is fixed is less than the preset number, and the narrow lane ambiguity fixing fails, the ambiguity fixing processing state is determined to be the fourth state; the accuracy of the positioning result is determined to be the fourth accuracy based on the fourth state.

[0162] Optionally, the preset number can be set according to the actual situation. In one possible implementation, the preset number can be 4.

[0163] Optionally, the accuracy of the positioning result obtained in this fourth state is better than the accuracy of the positioning result obtained in the fifth state. In one possible implementation, this fourth accuracy can characterize an accuracy level of 3.0 meters.

[0164] If the observation equation is successfully solved, the coordinate variance of the receiving device is less than the preset variance, the number of satellites that meet the preset conditions after the wide lane ambiguity is fixed is less than the preset number, and the narrow lane ambiguity is successfully fixed, the ambiguity fixing processing state is determined to be the third state; the accuracy of the positioning result is determined to be the third accuracy based on the third state.

[0165] Optionally, the accuracy of the positioning result obtained in the third state is better than the accuracy of the positioning result obtained in the fourth state. In one possible implementation, this third accuracy can characterize an accuracy level of 0.5 meters.

[0166] If the observation equation is successfully solved, the coordinate variance of the receiving device is less than the preset variance, the number of satellites that meet the preset conditions after the wide lane ambiguity is fixed is greater than or equal to the preset number, and the narrow lane ambiguity fixation fails, the ambiguity fixing processing state is determined to be the second state; the accuracy of the positioning result is determined to be the second accuracy based on the second state.

[0167] Optionally, the accuracy of the positioning result obtained in the second state is better than the accuracy of the positioning result obtained in the third state. In one possible implementation, this second accuracy can characterize an accuracy level of 0.3 meters.

[0168] If the observation equation is successfully solved, the coordinate variance of the receiving device is less than the preset variance, the number of satellites that meet the preset conditions after the wide lane ambiguity is fixed is greater than or equal to the preset number, and the narrow lane ambiguity is successfully fixed, the ambiguity fixing processing state is determined as the first state; the accuracy of the positioning result is determined as the first accuracy based on the first state.

[0169] Optionally, the accuracy of the positioning result obtained in the first state is better than the accuracy of the positioning result obtained in the second state. In one possible implementation, this first accuracy can characterize an accuracy level of 0.1 meters.

[0170] Understandably, this first precision is the precision of a fixed solution.

[0171] In this embodiment, if it is determined in advance that the pseudorange single-point positioning has failed, then the positioning result is an invalid solution.

[0172] Optionally, please see Figure 6 This application can classify the positioning results into the following 7 levels: Level 0, Level 1, Level 2, Level 3, Level 4, Level 5, Level 6 and Level 7. Among them, Level 0 corresponds to an invalid solution, Level 1 corresponds to an accuracy of 0.1 meters, Level 2 corresponds to an accuracy of 0.3 meters, Level 3 corresponds to an accuracy of 0.5 meters, Level 4 corresponds to an accuracy of 3.0 meters, Level 5 corresponds to an accuracy of 5.0 meters, and Level 6 corresponds to an accuracy of 10.0 meters.

[0173] Optionally, to help users determine whether the accuracy of the obtained positioning results meets the positioning accuracy requirements of the current application scenario, the receiving device can present the accuracy level and accuracy grade of the obtained positioning results to the user so that the user can choose whether to use the positioning results at that accuracy grade.

[0174] For example, if the obtained positioning result is determined to be of second accuracy, the receiving device can display that the current positioning result has an accuracy level of 2, with an accuracy level of 0.3 meters.

[0175] To perform the corresponding steps in the above embodiments and various possible methods, an implementation of a satellite positioning accuracy marking device is given below. Further, please refer to... Figure 7 , Figure 7 This is a functional block diagram of a satellite positioning accuracy marking device provided in an embodiment of the present invention. It should be noted that the basic principle and technical effects of the satellite positioning accuracy marking device provided in this embodiment are the same as those in the above embodiments. For the sake of brevity, any parts not mentioned in this embodiment can be referred to the corresponding content in the above embodiments. The satellite positioning accuracy marking device includes: a receiving module 200, a processing module 210, and a determining module 220.

[0176] The receiving module 200 is used to receive satellite observation data and differential data;

[0177] Understandably, the receiving module 200 can also be used to perform the above step S20;

[0178] The processing module 210 is used to perform ambiguity fixing processing based on observation data and differential data to obtain positioning results;

[0179] Understandably, the processing module 210 can also be used to perform the above step S21;

[0180] The determining module 220 is used to determine the ambiguity fixing state and determine the accuracy of the positioning result based on the ambiguity fixing state.

[0181] Understandably, the determining module 220 can also be used to perform the above step S22.

[0182] Optionally, the determining module 220 is further configured to determine the ambiguity fixing processing state as the first state when the observation equation is successfully solved, the coordinate variance of the receiving device is less than the preset variance, the number of satellites that meet the preset conditions after the wide lane ambiguity is fixed is greater than or equal to the preset number, and the narrow lane ambiguity is successfully fixed; and to determine the accuracy of the positioning result as the first accuracy based on the first state.

[0183] Optionally, the determining module 220 is further configured to determine the ambiguity fixing processing state as the second state when the observation equation is successfully solved, the coordinate variance of the receiving device is less than the preset variance, the number of satellites that meet the preset conditions after the wide lane ambiguity is fixed is greater than or equal to the preset number, and the narrow lane ambiguity fixing fails; and determine the accuracy of the positioning result as the second accuracy based on the second state.

[0184] Optionally, the determining module 220 is further configured to determine the ambiguity fixing processing state as the third state when the observation equation is successfully solved, the coordinate variance of the receiving device is less than the preset variance, the number of satellites that meet the preset conditions after the wide lane ambiguity is fixed is less than the preset number, and the narrow lane ambiguity is successfully fixed; and to determine the accuracy of the positioning result as the third accuracy based on the third state.

[0185] Optionally, the determining module 220 is further configured to determine the ambiguity fixing processing state as the fourth state when the observation equation is successfully solved, the coordinate variance of the receiving device is less than the preset variance, the number of satellites that meet the preset conditions after the wide lane ambiguity is fixed is less than the preset number, and the narrow lane ambiguity fixing fails; and determine the accuracy of the positioning result as the fourth accuracy based on the fourth state.

[0186] Optionally, the determining module 220 is further configured to determine the ambiguity fixed processing state as the fifth state when the observation equation is successfully solved and the coordinate variance of the receiving device is greater than or equal to the preset variance; and to determine the accuracy of the positioning result as the fifth accuracy based on the fifth state.

[0187] Optionally, the determining module 220 is also used to determine the ambiguity fixed processing state as the sixth state in the case of failure of the observation equation solution; and to determine the accuracy of the positioning result as the sixth accuracy based on the sixth state.

[0188] Optionally, the determining module 220 is further configured to determine the ambiguity fixing processing state as the seventh state in the case of pseudorange single-point positioning failure; and determine the positioning result as an invalid solution based on the seventh state.

[0189] Optionally, the processing module 210 is further configured to, in the case of successful pseudorange single-point positioning, construct an observation equation based on the observation data and differential data, and calculate the phase floating-point ambiguity of each satellite based on the observation equation; fix the wide-lane ambiguity of each satellite's phase floating-point ambiguity to obtain the wide-lane fixed ambiguity of each satellite; and fix the narrow-lane ambiguity of each satellite's wide-lane fixed ambiguity to obtain the positioning result.

[0190] Understandably, the processing module 210 can also be used to execute the above steps S21-1 to S21-3.

[0191] Optionally, the processing module 210 is also used to construct the observation equation according to the following formula if pseudorange single-point localization is successful:

[0192]

[0193] Among them, P s,j Characterizing the pseudorange of satellite s at frequency j; L s,j Characterizing the phase observation value of satellite s at frequency j, Let C represent the distance between the phase center of the antenna of the receiving device r and the phase center of the satellite s, and let C represent the speed of light in vacuum. r,j The clock bias dt of the receiving device r at frequency j represents the clock bias of the receiving device r. s The clock bias of satellite s is characterized by T, the wet tropospheric delay is characterized by γ, and the ratio between the squares of multiple frequencies is characterized by γ. Characterizing the ionospheric delay of satellite s at frequency j, b r,j Characterizes the pseudorange hardware delay of the receiving device r at frequency j. B represents the pseudorange hardware delay of satellite s at frequency j. r,j Characterizes the phase hardware delay of the receiving device r at frequency j. Characterizing the phase hardware delay of satellite s at frequency j, Characterizing the wavelength of satellite s at frequency j, Characterizes the phase floating-point ambiguity of satellite s at frequency j. ε characterizes the ionospheric delay of the receiving device. I,j Observation noise characterizing pseudorange ε characterizes the tropospheric delay of the vehicle-mounted terminal. T,j The observation noise characterizing the phase observation values.

[0194] Optionally, the processing module 210 is further configured to select a reference satellite from all satellites according to a preset rule, and treat other satellites besides the reference satellite as mobile satellites; calculate the corresponding inter-satellite single-difference wide-lane floating-point ambiguity based on the phase floating-point ambiguity corresponding to each frequency of each mobile satellite; if the inter-satellite single-difference wide-lane floating-point ambiguity of each mobile satellite meets a preset condition, calculate the integer wide-lane ambiguity corresponding to the mobile satellite based on the inter-satellite single-difference wide-lane floating-point ambiguity; update the constraint ambiguity parameters based on the integer wide-lane ambiguity for the inter-satellite single-difference wide-lane floating-point ambiguity of the mobile satellite, and obtain the wide-lane fixed ambiguity of the mobile satellite.

[0195] Understandably, the processing module 210 can also be used to execute the above steps S21-2-1 to S21-2-4.

[0196] Optionally, the processing module 210 is further configured to calculate the corresponding inter-satellite single-difference wide-lane floating-point ambiguity based on the phase floating-point ambiguity corresponding to each frequency of each mobile satellite and the phase floating-point ambiguity corresponding to each frequency of the reference satellite.

[0197] Optionally, the processing module 210 is also used to calculate the inter-satellite single-difference wide-lane floating-point ambiguity for each mobile satellite using the following formula:

[0198] WL=N y,1 -N y,2 -(N c,1 -N C,2 )

[0199] Wherein, WL represents the inter-satellite single-difference wide-lane floating-point ambiguity, and N... y,1 N represents the phase floating-point ambiguity of a mobile satellite at the first frequency. y,2 N represents the phase floating-point ambiguity of a mobile satellite at the second frequency. c,1 N represents the phase floating-point ambiguity of the reference satellite at the first frequency. C,2 Characterizes the floating-point ambiguity of the reference satellite at the second frequency.

[0200] Optionally, the processing module 210 is also used to round the inter-satellite single-difference wide-lane floating-point ambiguity to the nearest integer if the fractional part of the inter-satellite single-difference wide-lane floating-point ambiguity is less than a preset threshold for each mobile satellite.

[0201] Optionally, the processing module 210 is also used to update the constraint ambiguity parameters for the inter-satellite single-difference wide-lane floating-point ambiguity of the moving satellite using the following formula:

[0202] WL 0 =WL+ε

[0203] Among them, WL 0 WL represents the integer wide-lane ambiguity, WL represents the inter-satellite single-difference wide-lane floating-point ambiguity, and ε represents the error value.

[0204] Optionally, the processing module 210 is further configured to perform narrow-lane ambiguity fixing on the wide-lane fixed ambiguities of multiple satellites according to a preset search algorithm, to obtain inter-satellite single-difference integer narrow-lane ambiguities and ratio values; if the ratio value does not reach a preset ratio, to delete the target wide-lane fixed ambiguity from the wide-lane fixed ambiguities of the multiple satellites, and to re-perform narrow-lane ambiguity fixing on the other wide-lane fixed ambiguities according to the preset search algorithm; wherein, the target wide-lane fixed ambiguity is the wide-lane fixed ambiguity corresponding to the satellite with the lowest satellite elevation angle among the multiple satellites. Ambiguity; if the ratio value reaches a preset proportion, and the number of remaining wide-lane fixed ambiguities is greater than or equal to a preset number, then the narrow-lane ambiguity is determined to be successfully fixed, and the inter-satellite single-difference integer narrow-lane ambiguity is used to update the inter-satellite single-difference narrow-lane floating-point ambiguity constraint to obtain the positioning result; wherein, the inter-satellite single-difference narrow-lane floating-point ambiguity is obtained by solving the observation equation; if the ratio value does not reach a preset proportion, or the number of wide-lane fixed ambiguities for narrow-lane ambiguity fixing is less than a preset number, then the narrow-lane ambiguity fixing is determined to be unsuccessful, and the positioning result is obtained.

[0205] Understandably, the processing module 210 can also be used to execute the above steps S21-3-1 to S21-3-4.

[0206] The satellite positioning accuracy marking device provided in this application receives satellite observation data and differential data through a receiving module; performs ambiguity fixing processing on the observation data and differential data through a processing module to obtain a positioning result; and determines the ambiguity fixing processing state through a determining module, and determines the accuracy of the positioning result based on the ambiguity fixing processing state. This device can determine the accuracy of the positioning result based on the ambiguity fixing state after performing ambiguity fixing processing on the observation data and differential data. Therefore, regardless of whether the obtained positioning result is a fixed solution or a floating-point solution, the accuracy of the positioning result can be determined based on the ambiguity fixing state.

[0207] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative; for example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code, which contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0208] In addition, the functional modules in the various embodiments of the present invention can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0209] If the functionality is implemented as a software module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0210] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for marking the accuracy of satellite positioning, characterized in that, The method includes: Receive satellite observation data and differential data; Based on the observation data and the difference data, ambiguity fixing processing is performed to obtain the positioning result; Determine the ambiguity fixing state, and determine the accuracy of the positioning result based on the ambiguity fixing state; The process of determining the ambiguity fixing state and determining the accuracy of the positioning result based on the ambiguity fixing state includes: If the observation equation is successfully solved, the coordinate variance of the receiving device is less than the preset variance, the number of satellites that meet the preset conditions after the wide lane ambiguity is fixed is greater than or equal to the preset number, and the narrow lane ambiguity is successfully fixed, the ambiguity fixing processing state is determined to be the first state. The accuracy of the positioning result is determined as a first accuracy based on the first state.

2. The method according to claim 1, characterized in that, The process of determining the ambiguity fixing state and determining the accuracy of the positioning result based on the ambiguity fixing state includes: If the observation equation is successfully solved, the coordinate variance of the receiving device is less than the preset variance, the number of satellites that meet the preset conditions after the wide lane ambiguity is fixed is greater than or equal to the preset number, and the narrow lane ambiguity fixation fails, the ambiguity fixing processing state is determined to be the second state. The accuracy of the positioning result is determined as the second accuracy based on the second state.

3. The method according to claim 1, characterized in that, The process of determining the ambiguity fixing state and determining the accuracy of the positioning result based on the ambiguity fixing state includes: If the observation equation is successfully solved, the coordinate variance of the receiving device is less than the preset variance, the number of satellites that meet the preset conditions after the wide-lane ambiguity is fixed is less than the preset number, and the narrow-lane ambiguity is successfully fixed, the ambiguity fixing processing state is determined to be the third state. The accuracy of the positioning result is determined as the third accuracy based on the third state.

4. The method according to claim 1, characterized in that, The process of determining the ambiguity fixing state and determining the accuracy of the positioning result based on the ambiguity fixing state includes: If the observation equation is successfully solved, the coordinate variance of the receiving device is less than the preset variance, the number of satellites that meet the preset conditions after the wide lane ambiguity is fixed is less than the preset number, and the narrow lane ambiguity fixation fails, the ambiguity fixing processing state is determined to be the fourth state. The accuracy of the positioning result is determined to be the fourth accuracy based on the fourth state.

5. The method according to claim 1, characterized in that, The process of determining the ambiguity fixing state and determining the accuracy of the positioning result based on the ambiguity fixing state includes: If the observation equation is successfully solved and the coordinate variance of the receiving device is greater than or equal to the preset variance, the ambiguity fixing processing state is determined to be the fifth state. The accuracy of the positioning result is determined as the fifth accuracy based on the fifth state.

6. The method according to claim 1, characterized in that, The process of determining the ambiguity fixing state and determining the accuracy of the positioning result based on the ambiguity fixing state includes: In the event that the observation equation fails to be solved, the ambiguity is fixed and the processing state is set to the sixth state. The accuracy of the positioning result is determined to be the sixth accuracy based on the sixth state.

7. The method according to claim 1, characterized in that, The process of determining the ambiguity fixing state and determining the accuracy of the positioning result based on the ambiguity fixing state includes: In the event of pseudorange single-point positioning failure, the ambiguity fixation state is determined to be the seventh state. The positioning result is determined to be an invalid solution based on the seventh state.

8. The method according to claim 1, characterized in that, The step of performing ambiguity fixing processing based on the observed data and the differential data to obtain the positioning result includes: If pseudorange single-point positioning is successful, an observation equation is constructed based on the observation data and the differential data, and the phase floating-point ambiguity of each satellite is calculated based on the observation equation. Wide-lane ambiguity is fixed for the phase floating-point ambiguity of each satellite to obtain the wide-lane fixed ambiguity of each satellite; The narrow-lane ambiguity is fixed for the wide-lane fixed ambiguity of each satellite to obtain the positioning result.

9. The method according to claim 8, characterized in that, In the case of successful pseudorange single-point positioning, the construction of an observation equation based on the observation data and the differential data includes: If pseudorange single-point localization is successful, the observation equation is constructed according to the following formula: in, Characterizes the pseudorange of satellite s at frequency j; Characterizing the phase observation value of satellite s at frequency j, The distance between the phase center of the antenna of the receiving device r and the phase center of the satellite s is represented by the distance between the antenna of the receiving device r and the phase center of the satellite s. Characterizing the speed of light in a vacuum, Characterizing the clock bias of the receiving device r at frequency j, The clock bias characterizing satellite s Characterizing the delay in moist troposphere, Characterizing the ratio between the squares of multiple frequencies, Characterizing the ionospheric delay of satellite s at frequency j, Characterizes the pseudorange hardware delay of the receiving device r at frequency j. Characterizing the pseudorange hardware delay of satellite s at frequency j, Characterizes the phase hardware delay of the receiving device r at frequency j. Characterizing the phase hardware delay of satellite s at frequency j, Characterizing the wavelength of satellite s at frequency j, Characterizes the phase floating-point ambiguity of satellite s at frequency j. Characterizing the ionospheric delay of the receiving device, Observation noise characterizing pseudorange Characterizing the tropospheric delay of the vehicle-mounted terminal, The observation noise characterizing the phase observation values.

10. The method according to claim 8, characterized in that, The step of fixing the wide-lane ambiguity of the phase floating-point ambiguity of each satellite to obtain the wide-lane fixed ambiguity of each satellite includes: A reference satellite is selected from all the satellites according to a preset rule, and the other satellites besides the reference satellite are used as mobile satellites; Based on the phase floating-point ambiguity corresponding to each frequency of each of the mobile satellites, calculate the corresponding inter-satellite single-difference wide-lane floating-point ambiguity; If the inter-satellite single-difference wide-lane floating-point ambiguity of each of the mobile satellites meets the preset conditions, then the integer wide-lane ambiguity corresponding to the mobile satellite is calculated based on the inter-satellite single-difference wide-lane floating-point ambiguity. The constraint ambiguity parameters are updated based on the integer wide-lane ambiguity to the inter-satellite single-difference wide-lane floating-point ambiguity of the mobile satellite, thereby obtaining the wide-lane fixed ambiguity of the mobile satellite.

11. The method according to claim 10, characterized in that, The step of calculating the corresponding inter-satellite single-difference wide-lane floating-point ambiguity based on the phase floating-point ambiguity corresponding to each frequency of each of the mobile satellites includes: Based on the phase floating-point ambiguity corresponding to each frequency of each of the mobile satellites and the phase floating-point ambiguity corresponding to each frequency of the reference satellite, the corresponding inter-satellite single-difference wide-lane floating-point ambiguity is calculated.

12. The method according to claim 11, characterized in that, The step of calculating the corresponding inter-satellite single-difference wide-lane floating-point ambiguity based on the phase floating-point ambiguity corresponding to each frequency of each of the mobile satellites and the phase floating-point ambiguity corresponding to each frequency of the reference satellite includes: For each of the aforementioned mobile satellites, the inter-satellite single-difference wide-lane floating-point ambiguity is calculated using the following formula: in, Characterizing the inter-satellite single-difference wide-lane floating-point ambiguity, Characterizing the phase floating-point ambiguity of the mobile satellite at the first frequency, Characterizing the phase floating-point ambiguity of the mobile satellite at the second frequency, Characterizing the phase floating-point ambiguity of the reference satellite at the first frequency, The phase floating-point ambiguity of the reference satellite at the second frequency is characterized.

13. The method according to claim 10, characterized in that, If the inter-satellite single-difference wide-lane floating-point ambiguity of each of the mobile satellites meets a preset condition, then the integer wide-lane ambiguity corresponding to the mobile satellite is calculated based on the inter-satellite single-difference wide-lane floating-point ambiguity, including: For each of the mobile satellites, if the fractional part of the inter-satellite single-difference wide-lane floating-point ambiguity is less than a preset threshold, the inter-satellite single-difference wide-lane floating-point ambiguity is rounded to the nearest integer to obtain the integer wide-lane ambiguity.

14. The method according to claim 10, characterized in that, The step of updating the constraint ambiguity parameters based on the integer wide-lane ambiguity for the inter-satellite single-difference wide-lane floating-point ambiguity of the mobile satellite, to obtain the wide-lane fixed ambiguity of the mobile satellite, includes: The constraint ambiguity parameters are updated for the inter-satellite single-difference wide-lane floating-point ambiguity of the mobile satellite using the following formula: in, Characterizing the integer width alley ambiguity, Characterizing the inter-satellite single-difference wide-lane floating-point ambiguity, Characterization error value.

15. The method according to claim 8, characterized in that, The step of fixing the narrow-lane ambiguity of the wide-lane fixed ambiguity for each of the satellites to obtain the positioning result includes: According to the preset search algorithm, the narrow lane ambiguity of the wide lane fixed ambiguity of multiple satellites is fixed to obtain the inter-satellite single-difference integer narrow lane ambiguity and ratio value. If the ratio value does not reach the preset ratio, the target wide-lane fixed ambiguity is deleted from the wide-lane fixed ambiguity of the multiple satellites, and the narrow-lane ambiguity is fixed again according to the preset search algorithm for the other wide-lane fixed ambiguities; wherein, the target wide-lane fixed ambiguity is the wide-lane fixed ambiguity corresponding to the satellite with the lowest satellite elevation angle among the multiple satellites; If the ratio value reaches a preset proportion, and the number of remaining wide alley fixed ambiguities is greater than or equal to a preset number, then the narrow alley ambiguity is determined to be successfully fixed. The positioning result is obtained by updating the inter-satellite single-difference narrow alley floating-point ambiguity according to the inter-satellite single-difference integer narrow alley ambiguity; wherein, the inter-satellite single-difference narrow alley floating-point ambiguity is obtained by solving the observation equation. If the ratio value does not reach the preset ratio, or the number of wide alley ambiguities fixed for narrow alley ambiguity fixing is less than the preset number, then the narrow alley ambiguity fixing is determined to have failed, and the positioning result is obtained.

16. A satellite positioning accuracy marking device, characterized in that, The device includes: The receiving module is used to receive satellite observation data and differential data; The processing module is used to perform ambiguity fixing processing based on the observation data and the difference data to obtain the positioning result; A determination module is used to determine the ambiguity fixing state and determine the accuracy of the positioning result based on the ambiguity fixing state; The determining module is further configured to determine the ambiguity fixing processing state as the first state when the observation equation is successfully solved, the coordinate variance of the receiving device is less than the preset variance, the number of satellites that meet the preset conditions after the wide lane ambiguity is fixed is greater than or equal to the preset number, and the narrow lane ambiguity is successfully fixed; and to determine the accuracy of the positioning result as the first accuracy based on the first state.

17. A receiving device, characterized in that, It includes a processor and a memory, the memory storing a computer program executable by the processor, the processor being able to execute the computer program to implement the method of any one of claims 1-15.

18. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 1-15.

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