Method, device and equipment for calibrating inter-receiver phase frequency deviation

Abstract

This application discloses a method, apparatus, and device for calibrating phase-frequency offset between receivers. The method includes: acquiring observation data from a first receiver and a second receiver for multiple epochs of multiple satellites in a GLONASS system, wherein the observation data includes phase observations and pseudorange observations for the first and second carriers of the satellites; determining, based on the observation data, the double-difference ambiguity residuals under multiple phase-frequency offset search values ​​corresponding to each epoch of the first carrier for each satellite; obtaining the average value of the double-difference ambiguity residuals for all satellites and all epochs under each phase-frequency offset search value; and calibrating the relative value of the phase-frequency offset between the first receiver and the second receiver based on the minimum of the multiple average values. The phase-frequency offset calibration method, apparatus, and device disclosed in this application can improve the efficiency of phase-frequency offset calibration between receivers.

Description

Technical Field

[0001] This application belongs to the field of positioning technology, specifically relating to a method, apparatus, and equipment for calibrating phase-frequency offset between receivers. Background Technology

[0002] Global navigation satellite systems (GNSS) mainly include: the United States' Global Positioning System (GPS), Russia's GLONASS, the European Union's Galileo system, and China's BeiDou Navigation Satellite System (BDS).

[0003] Unlike other systems that use code division multiple access (CDMA), GLONASS uses frequency division multiple access (FDMA) for signal transmission. The receiver simultaneously observes signals from various satellites at different frequencies. These signals enter the corresponding frequency channels within the receiver, resulting in different inter-frequency biases (IFBs). Based on the type of observation, these biases can be categorized as inter-frequency phase bias (IFPB) and inter-frequency code bias (IFCB).

[0004] Since IFPB needs to achieve centimeter-level accuracy, related technologies require IFPB calibration based on zero-baseline or short-baseline data to ensure IFPB calibration accuracy. However, IFPB calibration using zero-baseline or short-baseline data is difficult and inefficient. Summary of the Invention

[0005] The purpose of this application is to provide a receiver-to-receiver IFPB calibration method, apparatus, and device that can solve the problem of low IFPB calibration efficiency.

[0006] In a first aspect, embodiments of this application provide an inter-receiver IFPB calibration method, including:

[0007] Acquire observation data from the first and second receivers for multiple satellites and multiple epochs in the GLONASS system. The observation data includes phase observations and pseudorange observations for the first and second carriers of the satellites.

[0008] Based on the observation data, determine the double-difference ambiguity residuals under multiple IFPB search values ​​corresponding to the first carrier of each satellite at each epoch;

[0009] Obtain the average of the double-difference ambiguity residuals for all satellites and all epochs under each IFPB search value from multiple IFPB search values;

[0010] The relative IFPB value between the first and second receivers is determined based on the minimum of multiple average values.

[0011] Secondly, embodiments of this application provide an inter-receiver IFPB calibration apparatus, comprising:

[0012] The first acquisition module is used to acquire observation data from the first receiver and the second receiver for multiple satellites of the GLONASS system at multiple epochs. The observation data includes phase observation values ​​and pseudorange observation values ​​for the first carrier and the second carrier of the satellite.

[0013] The determination module is used to determine the double-difference ambiguity residuals under multiple IFPB search values ​​corresponding to the first carrier of each satellite at each epoch, based on the observation data.

[0014] The second acquisition module is used to acquire the average value of the double difference ambiguity residuals of all satellites at all epochs under each IFPB search value among multiple IFPB search values;

[0015] The calibration module is used to calibrate the relative IFPB value between the first receiver and the second receiver based on the minimum of multiple average values.

[0016] Thirdly, embodiments of this application provide an electronic device, including a processor, a memory, and a program or instructions stored in the memory and executable on the processor, wherein the program or instructions, when executed by the processor, implement the steps of the method described in the first aspect.

[0017] Fourthly, embodiments of this application provide a readable storage medium on which a program or instructions are stored, which, when executed by a processor, implement the steps of the method described in the first aspect.

[0018] In this embodiment, phase and pseudorange observations of the first and second carriers of multiple satellites in a GLONASS system at multiple epochs are obtained from the first and second receivers. Based on the observation data, the double-difference ambiguity residuals under multiple IFPB search values ​​corresponding to the first carrier at each epoch of each satellite are determined. The average value of the double-difference ambiguity residuals of all satellites at all epochs under each IFPB search value is obtained. Based on the minimum value of multiple average values, the relative IFPB value between the first and second receivers is calibrated. Compared with related technologies for IFPB calibration, this embodiment is not limited by the baseline length and can easily calibrate IFPB using a medium or long baseline, thus improving IFPB calibration efficiency. Attached Figure Description

[0019] Figure 1This is a schematic flowchart of the inter-receiver IFPB calibration method provided in the embodiments of this application;

[0020] Figure 2 This is a schematic diagram of the inter-receiver IFPB calibration device provided in the embodiments of this application;

[0021] Figure 3 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application;

[0022] Figure 4 This is a schematic diagram of the hardware structure of an electronic device that implements the embodiments of this application. Detailed Implementation

[0023] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0024] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0025] The receiver-to-receiver IFPB calibration method, apparatus, equipment, and medium provided in this application will be described in detail below with reference to the accompanying drawings and through specific embodiments and application scenarios.

[0026] Figure 1 This is a schematic flowchart of the inter-receiver IFPB calibration method provided in an embodiment of this application. The inter-receiver IFPB calibration method may include:

[0027] S101: Acquire observation data from the first and second receivers for multiple satellites and multiple epochs of the GLONASS system, wherein the observation data includes phase observations and pseudorange observations for the first and second carriers of the satellites.

[0028] S102: Based on the observation data, determine the double-difference ambiguity residuals under multiple IFPB search values ​​corresponding to the first carrier of each satellite at each epoch;

[0029] S103: Obtain the average value of the double-difference ambiguity residuals for all satellites and all epochs under each IFPB search value in multiple IFPB search values;

[0030] S104: Based on the minimum of multiple average values, calibrate the relative IFPB value between the first receiver and the second receiver.

[0031] The specific implementation methods of the above steps will be described in detail below.

[0032] In this embodiment, phase and pseudorange observations of the first and second carriers of multiple satellites in a GLONASS system at multiple epochs are obtained from the first and second receivers. Based on the observation data, the double-difference ambiguity residuals under multiple IFPB search values ​​corresponding to the first carrier at each epoch of each satellite are determined. The average value of the double-difference ambiguity residuals of all satellites at all epochs under each IFPB search value is obtained. Based on the minimum value of multiple average values, the relative IFPB value between the first and second receivers is calibrated. Compared with related technologies for IFPB calibration, this embodiment is not limited by the baseline length and can easily calibrate IFPB using a medium or long baseline, thus improving IFPB calibration efficiency.

[0033] In some possible implementations of the embodiments of this application, the search range of IFPB can be preset, and then the search can be performed in steps of a certain size.

[0034] In some possible implementations of this application, the search range of IFPB can be -100 mm to +100 mm, with a step size of 1 mm; the search range of IFPB can also be -150 mm to 150 mm, with a step size of 1 mm; the search range of IFPB can also be -200 mm to 200 mm, with a step size of 1 mm. The search range and step size of IFPB can be set according to actual needs.

[0035] In some possible implementations of the embodiments of this application, S102 may include: for multiple IFPB search values, determining, based on observation data, the wide-lane ambiguity of the wide-lane combination of the first carrier and the second carrier corresponding to the first epoch of the first satellite for each IFPB search value, wherein the first epoch of the first satellite is any one epoch of any one of the multiple epochs of multiple satellites; calculating, based on observation data, the ionosphere-free combination ambiguity of the first carrier and the second carrier corresponding to the first epoch of the first satellite; determining, based on the wide-lane ambiguity and the ionosphere-free combination ambiguity, the double-difference ambiguity of the first carrier corresponding to the first epoch of the first satellite; and determining, based on the double-difference ambiguity, the residual of the double-difference ambiguity.

[0036] In some possible implementations of the embodiments of this application, the wide-lane ambiguity of the wide-lane combination of the first carrier and the second carrier corresponding to the first epoch of the first satellite under each IFPB search value can be determined by the following formula (1):

[0037]

[0038] In formula (1), Δ▽N WL Let λ be the width ambiguity in weeks. WL For wide-lane wavelength, Here, Δ▽ρ represents the wide-lane phase observation value in weeks, Δ▽ρ is the double-difference satellite-to-ground distance between the first and second receivers and the first satellite, Δ▽O is the double-difference orbital error, and Δ▽T is the double-difference tropospheric error. This is for double-difference ionospheric error. Δ represents the error of inter-frequency deviation, and Δ▽ε represents double-difference noise.

[0039] Similarly, for a certain IFPB search value, the wide-lane ambiguity of the first carrier and second carrier wide-lane combination of satellite epochs other than the first epoch of the first satellite can be determined using the above formula (1) for that IFPB search value.

[0040] Similarly, for other IFPB search values ​​among multiple IFPB search values, the wide-lane ambiguity of the first and second carrier wide-lane combination corresponding to each epoch of each satellite in multiple IFPB search values ​​can be determined using the above formula (1).

[0041] In some possible implementations of the embodiments of this application, for multiple IFPB search values, the wide-lane ambiguity under each IFPB search value can be determined using the combined observation (MW) algorithm based on the observation data.

[0042] In some possible implementations of the embodiments of this application, when using the MW algorithm to determine the wide lane ambiguity under each IFPB search value, the following formula (2) can be used to determine the wide lane ambiguity under each IFPB search value.

[0043]

[0044] In formula (1), Δ▽N WL For the ambiguity of the wide alley, The carrier phase observation value of the first carrier. Let f1 be the carrier phase observation of the second carrier, f2 be the frequency of the first carrier, f1 be the frequency of the second carrier, P1 be the pseudorange observation of the first carrier, P2 be the pseudorange observation of the second carrier, and λ be the pseudorange observation of the second carrier. WL The wavelength is the wide-lane wavelength.

[0045] In the embodiments of this application, the MW algorithm can eliminate the influence of ionospheric error and tropospheric delay error, thereby improving the accuracy of IFPB calibration between receivers.

[0046] In some possible implementations of the embodiments of this application, when calculating the ionosphere-free combination ambiguity of the first carrier and the second carrier corresponding to the first epoch of the first satellite based on observation data, the following formula (3) can be used to determine the ionosphere-free combination ambiguity.

[0047]

[0048] In formula (3), Δ▽N ion-free For the ionosphere-free composite ambiguity in weeks, λ ion-free For wavelengths without ionosphere, The values ​​represent the ionospheric-free combined phase observations in weeks, where Δ▽ρ is the double-difference satellite-to-ground distance between the first and second receivers, Δ▽O is the double-difference orbital error, and Δ▽T is the double-difference tropospheric error. Δ represents the error of inter-frequency deviation, and Δ▽ε represents double-difference noise.

[0049]

[0050] In formula (4), f1 is the frequency of the first carrier wave, and λ1 is the wavelength of the first carrier wave. Let f1 be the observed carrier phase of the first carrier, f2 be the frequency of the second carrier, and λ2 be the wavelength of the second carrier. This represents the carrier phase observation value of the second carrier.

[0051] Similarly, for a certain IFPB search value, the above formula (3) can be used to determine the ionospheric combination ambiguity of the first and second carriers of the satellite epochs corresponding to multiple satellites and multiple epochs, excluding the first epoch of the first satellite.

[0052] Similarly, for other IFPB search values ​​among multiple IFPB search values, the above formula (3) can be used to determine the ionospheric combination ambiguity of the first and second carriers corresponding to each epoch of multiple satellites under that IFPB search value.

[0053] In some possible implementations of the embodiments of this application, when determining the double-difference ambiguity of the first carrier corresponding to the first epoch of the first satellite based on the wide-lane ambiguity and the ionosphere-free combined ambiguity, the double-difference ambiguity can be determined according to the following formula (5):

[0054]

[0055] In formula (5), Δ▽N1 is the double difference ambiguity, and Δ▽N ion-free For ionosphere-free combined ambiguity, Δ▽N WL Let f1 be the width ambiguity, f2 be the frequency of the first carrier, and f3 be the frequency of the second carrier.

[0056] Similarly, for a certain IFPB search value, the double difference ambiguity of the first carrier of the satellite epochs other than the first epoch of the first satellite can be determined using the above formula (5) for the IFPB search value.

[0057] Similarly, for other IFPB search values ​​among multiple IFPB search values, the double difference ambiguity of the first carrier of each satellite in each epoch of multiple satellites can be determined using the above formula (5) under that IFPB search value.

[0058] In some possible implementations of the embodiments of this application, when determining the residual of the double-difference ambiguity corresponding to the first carrier of the first epoch of the first satellite based on the double-difference ambiguity, the residual of the double-difference ambiguity can be determined according to the following formula (6):

[0059]

[0060] In formula (6), Δ▽res is the residual of the double-difference ambiguity, and Δ▽ρ is the double-difference satellite-to-ground distance between the first receiver and the second receiver and the first satellite. Let Δ▽N1 be the double-difference phase observation of the first carrier by the first receiver and the second receiver, λ1 be the double-difference ambiguity, and λ1 be the wavelength of the first carrier.

[0061] Similarly, for a certain IFPB search value, the residual of the double difference ambiguity of the first carrier of the satellite epochs other than the first epoch of the first satellite can be determined by the above formula (6) for the IFPB search value.

[0062] Similarly, for other IFPB search values ​​among multiple IFPB search values, the double difference ambiguity of the first carrier of each satellite in each epoch of multiple satellites can be determined using the above formula (6) under that IFPB search value.

[0063] Once the residuals of the double-difference ambiguity of the first carrier corresponding to each satellite epoch outside of each satellite epoch in multiple epochs for a certain IFPB search value are determined, the average value of the residuals of the double-difference ambiguity of the first carrier corresponding to multiple satellite epochs for multiple IFPB search value can be calculated.

[0064] Similarly, the average residual of the double-difference ambiguity of the first carrier corresponding to multiple satellites and multiple epochs can be determined for each of the multiple IFPB search values.

[0065] Once the average value of the residuals of the double difference ambiguity of the first carrier corresponding to multiple satellites and multiple epochs under each IFPB search value is determined, the average values ​​can be compared to obtain the minimum value among the average values. Then, in S104, the IFPB search value corresponding to the minimum value can be calibrated as the relative IFPB value between the first receiver and the second receiver.

[0066] It should be noted that the double-difference ambiguity determined by the above formula (5) is the floating-point solution of the double-difference ambiguity. In practical applications, when high precision is required, the floating-point solution of the double-difference ambiguity can be fixed to obtain the fixed solution of the double-difference ambiguity. Then, according to the above formula (6) and the fixed solution of the double-difference ambiguity, the fixed solution residual of the double-difference ambiguity can be obtained.

[0067] It is understandable that the observation data in S101 includes phase observations and pseudorange observations for the first and second carriers of multiple satellites at each of the multiple IFPB search values ​​and multiple epochs.

[0068] When determining the double-difference ambiguity of the first carrier of a satellite at a certain epoch and a certain IFPB search value, the phase observations and pseudorange observations of the first and second carriers of the satellite at that epoch and the IFPB search value are used to make the determination.

[0069] It should be noted that the inter-receiver IFPB calibration method provided in this application embodiment can be executed by an inter-receiver IFPB calibration device, or a control module within that device for executing the inter-receiver IFPB calibration method. This application embodiment uses the execution of the inter-receiver IFPB calibration method by the inter-receiver IFPB calibration device as an example to illustrate the inter-receiver IFPB calibration device provided in this application embodiment.

[0070] Figure 2 This is a schematic diagram of the inter-receiver IFPB calibration device provided in an embodiment of this application. The inter-receiver IFPB calibration device 200 may include:

[0071] The first acquisition module 201 is used to acquire observation data from the first receiver and the second receiver for multiple satellites of the GLONASS system at multiple epochs. The observation data includes phase observation values ​​and pseudorange observation values ​​for the first carrier and the second carrier of the satellite.

[0072] The determination module 202 is used to determine the double-difference ambiguity residuals under multiple IFPB search values ​​corresponding to the first carrier of each satellite at each epoch, based on the observation data.

[0073] The second acquisition module 203 is used to acquire the average value of the double difference ambiguity residuals of all satellites and all epochs under each IFPB search value in multiple IFPB search values;

[0074] The calibration module 204 is used to calibrate the relative IFPB value between the first receiver and the second receiver based on the minimum of multiple average values.

[0075] In this embodiment, phase and pseudorange observations of the first and second carriers of multiple satellites in a GLONASS system at multiple epochs are obtained from the first and second receivers. Based on the observation data, the double-difference ambiguity residuals under multiple IFPB search values ​​corresponding to the first carrier at each epoch of each satellite are determined. The average value of the double-difference ambiguity residuals of all satellites at all epochs under each IFPB search value is obtained. Based on the minimum value of multiple average values, the relative IFPB value between the first and second receivers is calibrated. Compared with related technologies for IFPB calibration, this embodiment is not limited by the baseline length and can easily calibrate IFPB using a medium or long baseline, thus improving IFPB calibration efficiency.

[0076] In some possible implementations of embodiments of this application, the determining module 202 includes:

[0077] The first determination submodule is used to determine the wide-lane ambiguity of the wide-lane combination of the first carrier and the second carrier corresponding to the first epoch of the first satellite for each of the multiple IFPB search values, based on the observation data. The first epoch of the first satellite is any one epoch of any one satellite among the multiple epochs of multiple satellites.

[0078] The calculation submodule is used to calculate the ionospheric combination ambiguity of the first carrier and the second carrier corresponding to the first epoch of the first satellite based on the observation data;

[0079] The second determining submodule is used to determine the double-difference ambiguity of the first carrier corresponding to the first epoch of the first satellite based on the wide-lane ambiguity and the ionosphere-free combined ambiguity;

[0080] The third determination submodule is used to determine the residual of the double-difference ambiguity based on the double-difference ambiguity.

[0081] In some possible implementations of the embodiments of this application, the first determining submodule is specifically used for:

[0082] For multiple IFPB search values, the width ambiguity under each IFPB search value is determined using the combined observation value MW algorithm based on the observation data.

[0083] In some possible implementations of the embodiments of this application, the second determining submodule is specifically used for:

[0084] The double-difference ambiguity is determined according to the above formula (5).

[0085] In some possible implementations of the embodiments of this application, the third determining submodule is specifically used for:

[0086] Based on the above formula (6), determine the residual of the double difference ambiguity.

[0087] The receiver-to-receiver IFPB calibration device in this application embodiment can be a device, or it can be a component, integrated circuit, or chip in a terminal. The device can be a mobile electronic device or a non-mobile electronic device. For example, mobile electronic devices can be mobile phones, tablets, laptops, PDAs, in-vehicle electronic devices, wearable devices, ultra-mobile personal computers (UMPCs), netbooks, or personal digital assistants (PDAs), etc., while non-mobile electronic devices can be servers, network-attached storage (NAS), personal computers (PCs), televisions (TVs), ATMs, or self-service machines, etc. This application embodiment does not impose specific limitations.

[0088] The receiver-to-receiver IFPB calibration device in this embodiment can be a device with an operating system. This operating system can be Android, iOS, or other possible operating systems; this embodiment does not impose specific limitations.

[0089] The receiver-to-receiver IFPB calibration device provided in this application embodiment can achieve... Figure 1 To avoid repetition, the various processes in the receiver-to-receiver IFPB calibration method embodiment will not be described again here.

[0090] Optional, such as Figure 3As shown, this application embodiment also provides an electronic device 300, including a processor 301, a memory 302, and a program or instructions stored in the memory 302 and executable on the processor 301. When the program or instructions are executed by the processor 301, they implement the various processes of the above-described receiver inter-IFPB calibration method embodiment and achieve the same technical effect. To avoid repetition, they will not be described again here.

[0091] It should be noted that the electronic devices in the embodiments of this application include the mobile electronic devices and non-mobile electronic devices described above.

[0092] In some possible implementations of the embodiments of this application, processor 301 may include a central processing unit (CPU), or an application-specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the embodiments of this application.

[0093] In some possible implementations of embodiments of this application, memory 302 may include read-only memory (ROM), random access memory (RAM), disk storage media device, optical storage media device, flash memory device, electrical, optical, or other physical / tangible memory storage device. Therefore, typically, memory 302 includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the inter-receiver IFPB calibration method according to embodiments of this application.

[0094] Figure 4 This is a schematic diagram of the hardware structure of an electronic device that implements the embodiments of this application.

[0095] The electronic device 400 includes, but is not limited to, components such as: radio frequency unit 401, network module 402, audio output unit 403, input unit 404, sensor 405, display unit 406, user input unit 407, interface unit 408, memory 409, and processor 410.

[0096] Those skilled in the art will understand that the electronic device 400 may also include a power supply (such as a battery) for supplying power to various components. The power supply may be logically connected to the processor 410 through a power management system, thereby enabling functions such as managing charging, discharging, and power consumption through the power management system. Figure 4The electronic device structure shown does not constitute a limitation on the electronic device. The electronic device may include more or fewer components than shown, or combine certain components, or have different component arrangements, which will not be elaborated here.

[0097] The processor 410 is configured to: acquire observation data from the first and second receivers for multiple epochs of multiple satellites in the GLONASS system, wherein the observation data includes phase observations and pseudorange observations for the first and second carriers of the satellites; determine the double-difference ambiguity residuals for multiple IFPB search values ​​corresponding to each epoch of the first carrier of each satellite based on the observation data; acquire the average value of the double-difference ambiguity residuals for all satellites at all epochs under each IFPB search value; and calibrate the relative IFPB value between the first and second receivers based on the minimum value of the multiple average values.

[0098] In this embodiment, phase and pseudorange observations of the first and second carriers of multiple satellites in a GLONASS system at multiple epochs are obtained from the first and second receivers. Based on the observation data, the double-difference ambiguity residuals under multiple IFPB search values ​​corresponding to the first carrier at each epoch of each satellite are determined. The average value of the double-difference ambiguity residuals of all satellites at all epochs under each IFPB search value is obtained. Based on the minimum value of multiple average values, the relative IFPB value between the first and second receivers is calibrated. Compared with related technologies for IFPB calibration, this embodiment is not limited by the baseline length and can easily calibrate IFPB using a medium or long baseline, thus improving IFPB calibration efficiency.

[0099] In some possible implementations of the embodiments of this application, the processor 410 is specifically used for:

[0100] For multiple IFPB search values, based on the observation data, the wide-lane ambiguity of the wide-lane combination of the first carrier and the second carrier corresponding to the first epoch of the first satellite is determined for each IFPB search value, where the first epoch of the first satellite is any one epoch of any satellite among multiple epochs.

[0101] Based on the observation data, calculate the ionospheric combination ambiguity of the first carrier and the second carrier corresponding to the first epoch of the first satellite;

[0102] Based on the wide-lane ambiguity and the ionosphere-free combined ambiguity, the double-difference ambiguity corresponding to the first carrier wave of the first satellite in the first epoch is determined;

[0103] Determine the residual of the double-difference ambiguity based on the double-difference ambiguity.

[0104] In some possible implementations of the embodiments of this application, the processor 410 is specifically used for:

[0105] For multiple IFPB search values, the width ambiguity under each IFPB search value is determined using the combined observation value MW algorithm based on the observation data.

[0106] In some possible implementations of the embodiments of this application, the processor 410 is specifically used for:

[0107] The double-difference ambiguity is determined according to the above formula (5).

[0108] In some possible implementations of the embodiments of this application, the processor 410 is specifically used for:

[0109] Based on the above formula (6), determine the residual of the double difference ambiguity.

[0110] It should be understood that, in this embodiment, the input unit 404 may include a graphics processing unit (GPU) 4041 and a microphone 4042. The GPU 4041 processes image data of still images or videos obtained by an image capture device (such as a camera) in video capture mode or image capture mode. The display unit 406 may include a display panel 4061, which may be configured in the form of a liquid crystal display, an organic light-emitting diode, etc. The user input unit 407 includes a touch panel 4071 and other input devices 4072. The touch panel 4071 is also called a touch screen. The touch panel 4071 may include a touch detection device and a touch controller. Other input devices 4072 may include, but are not limited to, physical keyboards, function keys (such as volume control buttons, power buttons, etc.), trackballs, mice, joysticks, etc., which will not be described in detail here. The memory 409 can be used to store software programs and various data, including but not limited to applications and operating systems. The processor 410 may integrate an application processor and a modem processor, wherein the application processor mainly handles the operating system, user interface, and applications, and the modem processor mainly handles wireless communication. It is understandable that the aforementioned modem processor may not be integrated into the processor 410.

[0111] This application also provides a readable storage medium storing a program or instructions. When the program or instructions are executed by a processor, they implement the various processes of the above-described receiver inter-IFPB calibration method embodiments and achieve the same technical effect. To avoid repetition, they will not be described again here.

[0112] The processor is the processor in the electronic device described in the above embodiments. The readable storage medium includes a computer-readable storage medium, and examples of computer-readable storage media include non-transitory computer-readable storage media such as ROM, RAM, magnetic disks, or optical disks.

[0113] It should be noted that, in this document, 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 that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0114] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the related technology, can be embodied in the form of a computer software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0115] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A method for calibrating inter-receiver phase-frequency offset, characterized in that, The method includes: The first and second receivers acquire observation data for multiple satellites and multiple epochs of the GLONASS system, wherein the observation data includes phase observations and pseudorange observations for the first and second carriers of the satellites. Based on the observation data, determine the double-difference ambiguity residuals under multiple phase inter-frequency deviation search values ​​of the first carrier corresponding to each epoch of each satellite; Obtain the average value of the double-difference ambiguity residuals for all satellites at all epochs under each phase inter-frequency deviation search value; The relative value of the phase frequency deviation between the first receiver and the second receiver is calibrated based on the minimum value of the plurality of average values.

2. The method according to claim 1, characterized in that, The step of determining the double-difference ambiguity residual under multiple phase inter-frequency deviation search values ​​of the first carrier corresponding to each epoch of each satellite based on the observation data includes: For multiple phase-frequency offset search values, based on the observation data, the wide-lane ambiguity of the wide-lane combination of the first carrier and the second carrier corresponding to the first epoch of the first satellite is determined for each phase-frequency offset search value, wherein the first epoch of the first satellite is any one epoch of any one of the multiple epochs of the multiple satellites. Based on the observation data, calculate the ionospheric combination ambiguity of the first carrier and the second carrier corresponding to the first epoch of the first satellite; Based on the wide-lane ambiguity and the ionosphere-free combined ambiguity, determine the double-difference ambiguity of the first carrier corresponding to the first epoch of the first satellite; Based on the double-difference ambiguity, determine the residual of the double-difference ambiguity.

3. The method according to claim 2, characterized in that, The step of determining the wide-lane ambiguity of the wide-lane combination of the first carrier and the second carrier corresponding to the first epoch of the first satellite for each phase inter-frequency offset search value, based on the observation data, includes: For multiple phase inter-frequency deviation search values, the wide-lane ambiguity under each phase inter-frequency deviation search value is determined using the combined observation value MW algorithm based on the observation data.

4. The method according to claim 2, characterized in that, The step of determining the double-difference ambiguity of the first carrier corresponding to the first epoch of the first satellite based on the wide-lane ambiguity and the ionosphere-free combined ambiguity includes: The double-difference ambiguity is determined according to the following formula: in, For the double-difference ambiguity, For the ionosphere-free combined ambiguity, Let f1 be the width ambiguity, f2 be the frequency of the first carrier, and f3 be the frequency of the second carrier.

5. The method according to claim 2, characterized in that, The step of determining the residual of the double-difference ambiguity based on the double-difference ambiguity includes: The residual of the double-difference ambiguity is determined according to the following formula: in, The residual of the double-difference ambiguity, The difference between the satellite and the ground distance between the first receiver and the second receiver and the first satellite is given. The values ​​are the double-difference phase observations of the first carrier by the first receiver and the second receiver. Let λ be the double-difference ambiguity, and λ1 be the wavelength of the first carrier wave.

6. A receiver inter-frequency phase offset calibration device, characterized in that, The device includes: The first acquisition module is used to acquire observation data from the first receiver and the second receiver for multiple satellites of the GLONASS system at multiple epochs, wherein the observation data includes phase observation values ​​and pseudorange observation values ​​for the first carrier and the second carrier of the satellite. The determination module is used to determine, based on the observation data, the double-difference ambiguity residuals under multiple phase inter-frequency deviation search values ​​of the first carrier corresponding to each epoch of each satellite; The second acquisition module is used to acquire the average value of the double-difference ambiguity residuals of all satellites at all epochs under each phase inter-frequency deviation search value among the multiple phase inter-frequency deviation search values; The calibration module is used to calibrate the relative value of the phase frequency deviation between the first receiver and the second receiver based on the minimum value of a plurality of said average values.

7. The apparatus according to claim 6, characterized in that, The determining module includes: The first determining submodule is used to determine, based on the observation data, the wide-lane ambiguity of the wide-lane combination of the first carrier and the second carrier corresponding to the first epoch of the first satellite for each phase inter-frequency deviation search value, wherein the first epoch of the first satellite is any one epoch of any one of the multiple epochs of the multiple satellites. The calculation submodule is used to calculate the ionospheric-free combination ambiguity of the first carrier and the second carrier corresponding to the first epoch of the first satellite based on the observation data. The second determining submodule is used to determine the double-difference ambiguity of the first carrier corresponding to the first epoch of the first satellite based on the wide-lane ambiguity and the ionosphere-free combined ambiguity. The third determining submodule is used to determine the residual of the double-difference ambiguity based on the double-difference ambiguity.

8. The apparatus according to claim 7, characterized in that, The first determining submodule is specifically used for: For multiple phase inter-frequency deviation search values, the wide-lane ambiguity under each phase inter-frequency deviation search value is determined using the combined observation value MW algorithm based on the observation data.

9. The apparatus according to claim 7, characterized in that, The second determining submodule is specifically used for: The double-difference ambiguity is determined according to the following formula: in, For the double-difference ambiguity, For the ionosphere-free combined ambiguity, Let f1 be the width ambiguity, f2 be the frequency of the first carrier, and f3 be the frequency of the second carrier.

10. The apparatus according to claim 7, characterized in that, The third determining submodule is specifically used for: The residual of the double-difference ambiguity is determined according to the following formula: in, The residual of the double-difference ambiguity, The difference between the satellite and the ground distance between the first receiver and the second receiver and the first satellite is given. The values ​​are the double-difference phase observations of the first carrier by the first receiver and the second receiver. Let λ be the double-difference ambiguity, and λ1 be the wavelength of the first carrier wave.

11. An electronic device, characterized in that, The electronic device includes: a processor, a memory, and a program or instructions stored in the memory and executable on the processor, wherein the program or instructions, when executed by the processor, implement the steps of the receiver inter-frequency phase offset calibration method as described in any one of claims 1 to 5.

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