A multi-frequency multi-GNSS precise single-point positioning method, device and equipment

Abstract

A multi-frequency multi-GNSS precise single-point positioning method includes: selecting pseudo-range and phase observation data of a single global or regional tracking station of a GNSS system; using the pseudo-range and phase observation data of each fundamental frequency of the tracking station to construct a single-system multi-frequency original observation equation; introducing a receiver code deviation time-varying parameter, using a parameter reorganization method, reintegrating the parameters in the original observation equation, eliminating the mathematical rank deficiency in the original observation equation, and obtaining a new observation equation; introducing a receiver system bias parameter to construct a multi-frequency multi-GNSS precise single-point positioning model. The present invention introduces a time-varying RCB parameter into the multi-frequency multi-mode GNSS non-combined pseudo-range and phase observation equation to overcome the adverse effects of short-term changes in RCB on the estimation accuracy and positioning performance of parameters such as ionospheric delay and ambiguity. In addition, the present invention can significantly enhance the model strength, improve positioning accuracy and convergence efficiency, and obtain higher parameter estimation accuracy.

Description

Technical Field

[0001] The present invention relates to the field of satellite navigation precision positioning technology, and in particular to a multi-frequency multi-GNSS precision single-point positioning method, device and equipment. Background Art

[0002] Precise point positioning (PPP) is one of the main supporting technologies for navigation and location services. Compared with traditional relative positioning technology, PPP has outstanding advantages such as no need for ground reference stations, flexible operation, and cost saving for users. It has been widely used in fields such as precision positioning, crustal deformation monitoring, and atmospheric science. In recent years, with the continuous modernization and upgrading of the US GPS and Russian GLONASS systems and the rapid construction and development of the European Galileo and my country's Beidou systems, the increasingly rich GNSS frequencies and signal types have provided rich data resources for further improving the accuracy, timeliness, and reliability of navigation and positioning services. In recent years, GNSS construction has shown a trend of multi-frequency and multi-mode development, and multi-frequency and multi-mode GNSS fusion PPP technology has become a frontier hotspot in the current satellite navigation and positioning field. However, in the existing studies, when constructing the multi-frequency and multi-mode PPP observation equations, the receiver code bias (RCB) is regarded as a daily constant. However, due to factors such as ambient temperature changes and firmware version upgrades, the receiver code bias has significant short-term changes within the day. Previous studies have shown that the differential code bias (DCB) of the receiver can change by more than 9 nanoseconds in a day. Therefore, failure to take into account the short-term changes in the receiver code bias has become a bottleneck restricting the further improvement of the existing multi-frequency and multi-mode PPP positioning performance and a key factor affecting the accuracy of PPP ionospheric delay extraction. Summary of the invention

[0003] The purpose of the present invention is to overcome the defects and problems in the prior art of not taking into account the short-term changes in the receiver code deviation, resulting in low estimation accuracy and positioning performance of parameters such as ionospheric delay and ambiguity, and to provide a multi-frequency multi-GNSS precise single-point positioning method, device and equipment taking into account the changes in the receiver code deviation.

[0004] To achieve the above objectives, the technical solution of the present invention is: a multi-frequency multi-GNSS precise point positioning method, comprising:

[0005] Select pseudorange and phase observation data from a single global or regional tracking station of the GNSS system;

[0006] The original observation equation of single system multi-frequency is constructed by using the pseudo-range and phase observation data of each fundamental frequency of the tracking station;

[0007] The receiver code deviation time-varying parameter is introduced, and the parameters in the original observation equation are reintegrated using the parameter reorganization method to eliminate the mathematical rank deficiency in the original observation equation and obtain a new observation equation.

[0008] The bias parameters between receiver systems are introduced to build a multi-frequency and multi-GNSS precise point positioning model.

[0009] The original observation equation of the single system multi-frequency is:

[0010]

[0011] Where, T represents the satellite system; S represents the satellite; r represents the receiver; i represents the epoch; f represents the frequency; and Pseudorange and phase observations for code and carrier phase observations; is the geometric distance from the receiver to the satellite; and dt T，s (i) is the clock difference between the receiver and the satellite; Z r (i) is the zenith tropospheric delay at the station; is the tropospheric projection function; is the ionospheric delay of the first frequency; is the ratio between frequency f and the ionospheric delay of the first frequency; is the carrier phase wavelength; and is the code deviation between the receiver and the satellite; It is the floating point ambiguity after absorbing the corresponding biases of satellite and receiver; is the sum of pseudorange multipath effects, observation noise and other unmodeled errors; is the sum of carrier phase multipath effects, observation noise and other unmodeled errors.

[0012] The new observation equation is:

[0013]

[0014] Where, T represents the satellite system; S represents the satellite; r represents the receiver; i represents the epoch; f represents the frequency; and Pseudorange and phase observations for code and carrier phase observations; is the clock error of satellite S published by IGS; is the geometric distance from the receiver to the satellite; The clock error of receiver r solved for the new observation equation; is the tropospheric projection function; Zr(i) is the zenith tropospheric delay of the station; is the ratio between frequency f and the ionospheric delay of the first frequency; The ionospheric slant delay of satellite S corresponding to the first frequency solved for the new observation equation; The pseudorange hardware delay of the receiver r corresponding to the frequency f solved by the new observation equation; The pseudorange hardware delay of satellite S corresponding to frequency f solved by the new observation equation; is the sum of pseudorange multipath effects, observation noise and other unmodeled errors; is the carrier phase wavelength; is the ambiguity corresponding to the frequency f between the receiver r and the satellite S solved by the new observation equation; is the sum of carrier phase multipath effect, observation noise and other unmodeled errors; α is the parameter The coefficient of The coefficient of .

[0015] By recombining the parameters to eliminate the rank deficiency in the original observation equation, the specific form of each parameter in the new observation equation is as follows:

[0016]

[0017] In the formula, Combined satellite pseudorange hardware delay parameters for ionospheric elimination; The pseudorange hardware delay parameter of the first epoch ionospheric elimination combined receiver; is the receiver pseudorange hardware delay parameter of the geometry-free combination of the first epoch; is the receiver pseudorange hardware delay parameter without geometry combination; is the satellite pseudorange hardware delay parameter without geometry combination; is the receiver pseudorange hardware delay parameter of the first epoch; is the ratio between the ionospheric delays of the second frequency and the first frequency; is the receiver pseudorange hardware delay parameter of the geometry-free combination of the first epoch; is the satellite pseudorange hardware delay parameter without geometry combination; is the first frequency satellite pseudorange hardware delay parameter; is the satellite pseudorange hardware delay parameter of the second frequency; is the receiver pseudorange hardware delay parameter of the first frequency epoch; is the receiver pseudorange hardware delay parameter of the first epoch of the second frequency; is the receiver pseudorange hardware delay parameter of the i-th epoch of the first frequency; is the receiver pseudorange hardware delay parameter of the i-th epoch of the second frequency.

[0018] When the frequency f is less than 3, the parameter Does not exist.

[0019] When epoch i is the first epoch, the parameter Does not exist.

[0020] The multi-frequency multi-GNSS precise point positioning model is:

[0021]

[0022] In the formula, is the pseudorange observation value of the GPS system; It is the GPS satellite clock error obtained based on the IGS precise satellite clock error product; is the geometric distance from the receiver to the GPS satellite; is the receiver clock error of the GPS system; is the tropospheric projection function of the GPS satellite; is the ratio between the GPS system frequency f and the ionospheric delay of the first frequency; It is the GPS system receiver pseudorange hardware delay; It is the hardware delay combination of GPS system satellite pseudorange; is the carrier phase observation value of the GPS system; is the carrier phase wavelength of the GPS system; is the GPS system carrier phase integer ambiguity; is the pseudorange observation value of the BDS system; The BDS satellite clock error is obtained based on the IGS precise satellite clock error product; is the geometric distance from the receiver to the BDS satellite; is the tropospheric projection function of the BDS satellite; is the carrier phase observation value of the BDS system; The BDS satellite clock error is obtained based on the IGS precise satellite clock error product; is the carrier phase wavelength of the BDS system; is the integer ambiguity of the carrier phase of the BDS system; It is the hardware delay combination of BDS system satellite pseudorange; is the inter-system deviation of the BDS system relative to the GPS system; is the inter-system bias of the Galileo system relative to the GPS system; It is the sum of pseudo-range multipath effect, observation noise and other unmodeled errors of the GPS system; It is the sum of the GPS system phase multipath effect, observation noise and other unmodeled errors; It is the BDS system receiver pseudorange hardware delay; is the ratio between the BDS system frequency f and the first frequency ionospheric delay; It is the sum of pseudo-range multipath effect, observation noise and other unmodeled errors of the BDS system; It is the sum of the phase multipath effect, observation noise and other unmodeled errors of the BDS system; is the pseudorange observation value of the Galileo system; It is the hardware delay combination of Galileo system satellite pseudorange; is the ratio between the Galileo system frequency f and the ionospheric delay of the first frequency; Galileo system receiver pseudorange hardware delay; is the carrier phase observation value of the Galileo system; The Galileo satellite clock error is obtained based on the IGS precise satellite clock error product; is the geometric distance from the receiver to the Galileo satellite; is the receiver clock error of the Galileo system; is the tropospheric projection function of the Galileo satellite; is the Galileo system carrier phase integer ambiguity; It is the sum of the Galileo system pseudorange multipath effect, observation noise and other unmodeled errors; is the sum of the Galileo system phase multipath effect, observation noise and other unmodeled errors; is the carrier phase wavelength of the Galileo system.

[0023] A multi-frequency multi-GNSS precise single-point positioning device, comprising:

[0024] The data selection module is used to select the pseudorange and phase observation data of a single global or regional tracking station of the GNSS system;

[0025] The original observation equation construction module is used to construct the original observation equation of single system multi-frequency using the pseudo-range and phase observation data of each basic frequency of the tracking station;

[0026] The new observation equation construction module is used to introduce the time-varying parameters of the receiver code deviation, and use the parameter reorganization method to reintegrate the parameters in the original observation equation, eliminate the mathematical rank deficiency in the original observation equation, and obtain the new observation equation;

[0027] The model building module is used to introduce the deviation parameters between receiver systems and build a multi-frequency and multi-GNSS precise point positioning model.

[0028] A multi-frequency multi-GNSS precise point positioning device, comprising a memory and a processor;

[0029] The memory is used to store computer program code and transmit the computer program code to the processor;

[0030] The processor is used to execute the method as described above according to the instructions in the computer program code.

[0031] A computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method described above is implemented.

[0032] Compared with the prior art, the present invention has the following beneficial effects:

[0033] In a multi-frequency multi-GNSS precise point positioning method, device and equipment of the present invention, by introducing time-varying receiver code deviation parameters into the multi-frequency multi-mode GNSS non-combined pseudorange and phase observation equations, a set of rigorous real-time data processing models and methods for precise point positioning technology capable of optimally fusing and processing multi-frequency multi-mode GNSS signals is established, fundamentally overcoming the adverse effects of short-term changes in receiver code deviations on the estimation accuracy and positioning performance of parameters such as ionospheric delay and ambiguity. In addition, the precise point positioning method using multi-frequency multi-GNSS can significantly enhance the model strength, improve positioning accuracy and convergence efficiency, and obtain higher parameter estimation accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a flow chart of a multi-frequency multi-GNSS precise point positioning method of the present invention.

[0035] Figure 2 It is a structural block diagram of a multi-frequency multi-GNSS precise single-point positioning device of the present invention.

[0036] Figure 3 It is a structural block diagram of a multi-frequency multi-GNSS precise single-point positioning device of the present invention. DETAILED DESCRIPTION

[0037] The present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0038] Embodiment 1:

[0039] See also Figure 1 , a multi-frequency multi-GNSS precise point positioning method, comprising:

[0040] S1. Select pseudorange and phase observation data of a single global or regional tracking station of the GNSS system;

[0041] The observation data include Beidou, GPS and Galileo system multi-frequency observation data; precise satellite orbit and clock products are obtained through the website of the International GNSS Service Organization IGS;

[0042] S2, using the pseudorange and phase observation data of each fundamental frequency of the tracking station, construct the original observation equation of single system multi-frequency;

[0043] The original observation equation of the single system multi-frequency is:

[0044]

[0045] Where, T represents the satellite system; s represents the satellite; r represents the receiver; i represents the epoch; f represents the frequency; and The code and carrier phase observation pseudorange and phase observation values ​​after eliminating the effects of solid ground tide, ocean load, phase rotation, relativistic effect, earth rotation effect, satellite and receiver antenna phase center offset (PCOs) and variation (PCVs); is the geometric distance from the receiver to the satellite; and is the clock difference between the receiver and the satellite; Z r (i) is the zenith tropospheric delay at the station; is the tropospheric projection function; is the ionospheric delay of the first frequency; is the ratio between frequency f and the ionospheric delay of the first frequency; is the carrier phase wavelength; and is the code deviation between the receiver and the satellite; It is the floating point ambiguity after absorbing the corresponding biases of satellite and receiver; is the sum of pseudorange multipath effects, observation noise and other unmodeled errors; is the sum of carrier phase multipath effects, observation noise and other unmodeled errors;

[0046] Different from the prior art, the above observation equation can eliminate the influence of short-term changes in the receiver pseudorange hardware delay on other estimated parameters by describing the receiver pseudorange hardware delay as a time-varying parameter;

[0047] S3, introduce the receiver code deviation time-varying parameter, use the parameter reorganization method to reintegrate the parameters in the original observation equation, eliminate the mathematical rank deficiency in the original observation equation, and obtain a new observation equation;

[0048] The new observation equation is:

[0049]

[0050] Where, T represents the satellite system; S represents the satellite; r represents the receiver; i represents the epoch; f represents the frequency; and Pseudorange and phase observations for code and carrier phase observations; is the clock error of satellite S published by IGS; is the geometric distance from the receiver to the satellite; The clock error of receiver r solved for the new observation equation; is the tropospheric projection function; Z r (i) is the zenith tropospheric delay at the station; is the ratio between frequency f and the ionospheric delay of the first frequency; The ionospheric slant delay of satellite S corresponding to the first frequency solved for the new observation equation; The pseudorange hardware delay of the receiver r corresponding to the frequency f solved by the new observation equation; The pseudorange hardware delay of satellite S corresponding to frequency f (f ≥ 3) solved by the new observation equation; is the sum of pseudorange multipath effects, observation noise and other unmodeled errors; is the carrier phase wavelength; is the ambiguity corresponding to the frequency f between the receiver r and the satellite S solved by the new observation equation; is the sum of carrier phase multipath effect, observation noise and other unmodeled errors; α is the parameter The coefficient of The meaning of is the change of the receiver pseudorange hardware delay of the current epoch relative to the first epoch. Therefore, the parameter The coefficient α is 0 in the first epoch and 1 from the second epoch onwards; β is the parameter The coefficient of It only exists in the multi-frequency observation equation, so its coefficient β is 0 in the dual-frequency observation equation, and when the frequency is greater than 2, the β value is 1;

[0051] By recombining the parameters to eliminate the rank deficiency in the original observation equation, the specific form of each parameter in the new observation equation is as follows:

[0052]

[0053]

[0054] In the formula, Combined satellite pseudorange hardware delay parameters for ionospheric elimination; The pseudorange hardware delay parameter of the first epoch ionospheric elimination combined receiver; is the receiver pseudorange hardware delay parameter of the geometry-free combination of the first epoch; is the receiver pseudorange hardware delay parameter without geometry combination; is the satellite pseudorange hardware delay parameter without geometry combination; is the receiver pseudorange hardware delay parameter of the first epoch; is the ratio between the ionospheric delays of the second frequency and the first frequency; is the receiver pseudorange hardware delay parameter of the geometry-free combination of the first epoch; is the satellite pseudorange hardware delay parameter without geometry combination; is the first frequency satellite pseudorange hardware delay parameter; is the satellite pseudorange hardware delay parameter of the second frequency; is the receiver pseudorange hardware delay parameter of the first frequency epoch; is the receiver pseudorange hardware delay parameter of the first epoch of the second frequency; is the receiver pseudorange hardware delay parameter of the i-th epoch of the first frequency; is the receiver pseudorange hardware delay parameter of the i-th epoch of the second frequency;

[0055] When the frequency f is less than 3, the satellite pseudorange hardware delay parameter can be absorbed by the ionospheric delay parameter, so the parameter does not exist;

[0056] When epoch i is the first epoch, the parameter It does not exist because The meaning of is the change of the receiver pseudorange hardware delay of the current epoch relative to the receiver pseudorange hardware delay of the first epoch;

[0057] S4, introduce the receiver system bias parameters to build a multi-frequency multi-GNSS precise point positioning model;

[0058] The multi-frequency multi-GNSS precise point positioning model is:

[0059]

[0060] In the formula, is the pseudorange observation value of the GPS system; It is the GPS satellite clock error obtained based on the IGS precise satellite clock error product; is the geometric distance from the receiver to the GPS satellite; is the receiver clock error of the GPS system; is the tropospheric projection function of the GPS satellite; is the ratio between the GPS system frequency f and the ionospheric delay of the first frequency; It is the GPS system receiver pseudorange hardware delay; It is the hardware delay combination of GPS system satellite pseudorange; is the carrier phase observation value of the GPS system; is the carrier phase wavelength of the GPS system; is the GPS system carrier phase integer ambiguity; is the pseudorange observation value of the BDS system; The BDS satellite clock error is obtained based on the IGS precise satellite clock error product; is the geometric distance from the receiver to the BDS satellite; is the tropospheric projection function of the BDS satellite; is the carrier phase observation value of the BDS system; The BDS satellite clock error is obtained based on the IGS precise satellite clock error product; is the carrier phase wavelength of the BDS system; is the integer ambiguity of the carrier phase of the BDS system; It is the hardware delay combination of BDS system satellite pseudorange; is the inter-system deviation of the BDS system relative to the GPS system; is the inter-system bias of the Galileo system relative to the GPS system; It is the sum of pseudo-range multipath effect, observation noise and other unmodeled errors of the GPS system; It is the sum of the GPS system phase multipath effect, observation noise and other unmodeled errors; It is the BDS system receiver pseudorange hardware delay; is the ratio between the BDS system frequency f and the first frequency ionospheric delay; It is the sum of pseudo-range multipath effect, observation noise and other unmodeled errors of the BDS system; It is the sum of the phase multipath effect, observation noise and other unmodeled errors of the BDS system; is the pseudorange observation value of the Galileo system; It is the hardware delay combination of Galileo system satellite pseudorange; is the ratio between the Galileo system frequency f and the ionospheric delay of the first frequency; Galileo system receiver pseudorange hardware delay; is the carrier phase observation value of the Galileo system; The Galileo satellite clock error is obtained based on the IGS precise satellite clock error product; is the geometric distance from the receiver to the Galileo satellite; is the receiver clock error of the Galileo system; is the tropospheric projection function of the Galileo satellite; is the Galileo system carrier phase integer ambiguity; It is the sum of the Galileo system pseudorange multipath effect, observation noise and other unmodeled errors; is the sum of the Galileo system phase multipath effect, observation noise and other unmodeled errors; is the carrier phase wavelength of the Galileo system.

[0061] Compared with the prior art, the present invention regards the RCB parameter as a time-varying parameter, and establishes a rigorous and improved multi-frequency multi-mode PPP model by solving the model rank deficiency problem caused by introducing the time-varying RCB parameter into the multi-frequency multi-mode GNSS non-combined pseudorange and phase observation equations, and estimates the change of the receiver code deviation over time by epoch; the new model needs to fundamentally overcome the adverse effects of the short-term changes of the multi-frequency RCB on the estimation accuracy of parameters such as ionospheric delay and ambiguity while being backward compatible with the multi-frequency PPP model, and can significantly improve the ionospheric delay extraction accuracy and ambiguity estimation accuracy. The multi-frequency multi-GNSS precise single-point positioning model proposed by the present invention is suitable for multi-frequency and multi-GNSS modes. Compared with the dual-frequency single-system precise single-point positioning model, the present invention can significantly enhance the model strength, improve the positioning accuracy and convergence efficiency, and obtain higher parameter estimation accuracy. In addition, the model involved in the present invention can not only estimate the satellite code bias parameters other than the first frequency and the second frequency, and be used for analyzing the satellite code bias of the third frequency and above, but also extract the inter-epoch variation of the receiver code bias other than the first frequency and the second frequency, and be used for studying the variation law of the receiver code bias of different frequencies in different systems.

[0062] By using the present invention to perform PPP processing based on multi-frequency GNSS observation data, the percentage of improvement of the ionospheric accuracy estimated by different stations compared with the traditional PPP method is shown in Table 1. It can be seen from Table 1 that, taking the ionospheric variation obtained by the measured data of the phase observation value as a reference, except for the MTDN station GPS system, the ionospheric delay accuracy estimated by the present invention can be improved by more than 59% compared with the traditional PPP method.

[0063] Table 1

[0064]

[0065] Table 2

[0066] Station GPS BDS Galileo FTNA 7.41 59.49 93.75 LAMB 75.89 74.83 80.00 MTDN 75.58 82.21 84.11

[0067] Table 2 is the probability distribution of the correlation coefficient between the time variation and temperature variation of the receiver RCB extracted based on the method of the present invention. It can be seen that the receiver code deviation variation of all frequency points can be estimated by the present invention, and it is found that the receiver code deviation variation has a significant correlation with the temperature variation of the measuring station, and the correlation coefficients of more than 22% of the measuring stations are above 80%.

[0068] Embodiment 2:

[0069] See also Figure 2, a multi-frequency multi-GNSS precise single-point positioning device, comprising:

[0070] The data selection module is used to select the pseudorange and phase observation data of a single global or regional tracking station of the GNSS system;

[0071] The original observation equation construction module is used to construct the original observation equation of single system multi-frequency using the pseudo-range and phase observation data of each basic frequency of the tracking station;

[0072] The original observation equation of the single system multi-frequency is:

[0073]

[0074] Where, T represents the satellite system; S represents the satellite; r represents the receiver; i represents the epoch; f represents the frequency; and Pseudorange and phase observations for code and carrier phase observations; is the geometric distance from the receiver to the satellite; and is the clock difference between the receiver and the satellite; Z r (i) is the zenith tropospheric delay at the station; is the tropospheric projection function; is the ionospheric delay of the first frequency; is the ratio between frequency f and the ionospheric delay of the first frequency; is the carrier phase wavelength; and is the code deviation between the receiver and the satellite; It is the floating point ambiguity after absorbing the corresponding biases of satellite and receiver; is the sum of pseudorange multipath effects, observation noise and other unmodeled errors; is the sum of carrier phase multipath effects, observation noise and other unmodeled errors;

[0075] The new observation equation construction module is used to introduce the time-varying parameters of the receiver code deviation, and use the parameter reorganization method to reintegrate the parameters in the original observation equation, eliminate the mathematical rank deficiency in the original observation equation, and obtain the new observation equation;

[0076] The new observation equation is:

[0077]

[0078] Where, T represents the satellite system; S represents the satellite; r represents the receiver; i represents the epoch; f represents the frequency; and Pseudorange and phase observations for code and carrier phase observations; is the clock error of satellite S published by IGS; is the geometric distance from the receiver to the satellite; The clock error of receiver r solved for the new observation equation; is the tropospheric projection function; Z r (i) is the zenith tropospheric delay at the station; is the ratio between frequency f and the ionospheric delay of the first frequency; The ionospheric slant delay of satellite S corresponding to the first frequency solved for the new observation equation; The pseudorange hardware delay of the receiver r corresponding to the frequency f solved by the new observation equation; The pseudorange hardware delay of satellite S corresponding to frequency f solved by the new observation equation; is the sum of pseudorange multipath effects, observation noise and other unmodeled errors; is the carrier phase wavelength; is the ambiguity corresponding to the frequency f between the receiver r and the satellite S solved by the new observation equation; is the sum of carrier phase multipath effect, observation noise and other unmodeled errors; α is the parameter The coefficient of The coefficient of

[0079] By recombining the parameters to eliminate the rank deficiency in the original observation equation, the specific form of each parameter in the new observation equation is as follows:

[0080]

[0081] In the formula, Combined satellite pseudorange hardware delay parameters for ionospheric elimination; The pseudorange hardware delay parameter of the first epoch ionospheric elimination combined receiver; is the receiver pseudorange hardware delay parameter of the geometry-free combination of the first epoch; is the receiver pseudorange hardware delay parameter without geometry combination; is the satellite pseudorange hardware delay parameter without geometry combination; is the receiver pseudorange hardware delay parameter of the first epoch; is the ratio between the ionospheric delays of the second frequency and the first frequency; is the receiver pseudorange hardware delay parameter of the geometry-free combination of the first epoch; is the satellite pseudorange hardware delay parameter without geometry combination; is the first frequency satellite pseudorange hardware delay parameter; is the satellite pseudorange hardware delay parameter of the second frequency; is the receiver pseudorange hardware delay parameter of the first frequency epoch; is the receiver pseudorange hardware delay parameter of the first epoch of the second frequency; is the receiver pseudorange hardware delay parameter of the i-th epoch of the first frequency; is the receiver pseudorange hardware delay parameter of the i-th epoch of the second frequency;

[0082] When the frequency f is less than 3, the parameter does not exist;

[0083] When epoch i is the first epoch, the parameter does not exist;

[0084] Model building module, used to introduce the deviation parameters between receiver systems and build a multi-frequency multi-GNSS precise point positioning model;

[0085] The multi-frequency multi-GNSS precise point positioning model is:

[0086]

[0087] In the formula, is the pseudorange observation value of the GPS system; It is the GPS satellite clock error obtained based on the IGS precise satellite clock error product; is the geometric distance from the receiver to the GPS satellite; is the receiver clock error of the GPS system; is the tropospheric projection function of the GPS satellite; is the ratio between the GPS system frequency f and the ionospheric delay of the first frequency; It is the GPS system receiver pseudorange hardware delay; It is the hardware delay combination of GPS system satellite pseudorange; is the carrier phase observation value of the GPS system; is the carrier phase wavelength of the GPS system; is the GPS system carrier phase integer ambiguity; is the pseudorange observation value of the BDS system; The BDS satellite clock error is obtained based on the IGS precise satellite clock error product; is the geometric distance from the receiver to the BDS satellite; is the tropospheric projection function of the BDS satellite; is the carrier phase observation value of the BDS system; The BDS satellite clock error is obtained based on the IGS precise satellite clock error product; is the carrier phase wavelength of the BDS system; is the integer ambiguity of the carrier phase of the BDS system; It is the hardware delay combination of BDS system satellite pseudorange; is the inter-system deviation of the BDS system relative to the GPS system; is the inter-system bias of the Galileo system relative to the GPS system; It is the sum of pseudo-range multipath effect, observation noise and other unmodeled errors of the GPS system; It is the sum of the GPS system phase multipath effect, observation noise and other unmodeled errors; It is the BDS system receiver pseudorange hardware delay; is the ratio between the BDS system frequency f and the first frequency ionospheric delay; It is the sum of pseudo-range multipath effect, observation noise and other unmodeled errors of the BDS system; It is the sum of the phase multipath effect, observation noise and other unmodeled errors of the BDS system; is the pseudorange observation value of the Galileo system; It is the hardware delay combination of Galileo system satellite pseudorange; is the ratio between the Galileo system frequency .f and the ionospheric delay of the first frequency; Galileo system receiver pseudorange hardware delay; is the carrier phase observation value of the Galileo system; The Galileo satellite clock error is obtained based on the IGS precise satellite clock error product; is the geometric distance from the receiver to the Galileo satellite; is the receiver clock error of the Galileo system; is the tropospheric projection function of the Galileo satellite; is the Galileo system carrier phase integer ambiguity; It is the sum of the Galileo system pseudorange multipath effect, observation noise and other unmodeled errors; is the sum of the Galileo system phase multipath effect, observation noise and other unmodeled errors; is the carrier phase wavelength of the Galileo system.

[0088] Embodiment 3:

[0089] See also Figure 3 , a multi-frequency multi-GNSS precise point positioning device, comprising a memory and a processor;

[0090] The memory is used to store computer program code and transmit the computer program code to the processor;

[0091] The processor is used to execute the multi-frequency multi-GNSS precise point positioning method as described above according to the instructions in the computer program code.

[0092] A computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the multi-frequency multi-GNSS precise point positioning method as described above is implemented.

[0093] Generally speaking, the computer instructions for implementing the method of the present invention may be carried in any combination of one or more computer-readable storage media. Non-transitory computer-readable storage media may include any computer-readable media, except for the signal itself that is temporarily propagating.

[0094] Computer readable storage media can be, for example, but not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or components, or any combination thereof. More specific examples (non-exhaustive list) of computer readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAn), a read-only memory (R0n), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present invention, a computer readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, device or device.

[0095] Computer program code for performing the operation of the present invention can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Snalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages, in particular, Kython language suitable for neural network computing and platform frameworks based on TensorFlow, KyTorch, etc. can be used. The program code can be executed entirely on the user's computer, partially on the user's computer, as an independent software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer or to an external computer (for example, using an Internet service provider to connect via the Internet) through any type of network, including a local area network (LAN) or a wide area network (WAN).

[0096] The above-mentioned device and non-temporary computer-readable storage medium can refer to the detailed description of the multi-frequency multi-GNSS precise point positioning method and its beneficial effects, which will not be repeated here.

[0097] Although the embodiments of the present invention have been shown and described above, it should be understood that the above embodiments are exemplary and should not be construed as limitations on the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A multi-frequency multi-GNSS precise point positioning method, characterized in that: include: Select pseudorange and phase observation data from a single global or regional tracking station of the GNSS system; The original observation equation of single system multi-frequency is constructed by using the pseudo-range and phase observation data of each fundamental frequency of the tracking station; The receiver code deviation time-varying parameter is introduced, and the parameters in the original observation equation are reintegrated using the parameter reorganization method to eliminate the mathematical rank deficiency in the original observation equation and obtain the new observation equation: Where, T represents the satellite system; S represents the satellite; r represents the receiver; i represents the epoch; f represents the frequency; and Pseudorange and phase observations for code and carrier phase observations; is the clock error of satellite s published by IGS; is the geometric distance from the receiver to the satellite; The clock error of receiver r solved for the new observation equation; is the tropospheric projection function; Z r (i) is the zenith tropospheric delay at the station; is the ratio between frequency f and the ionospheric delay of the first frequency; The ionospheric slant delay of satellite S corresponding to the first frequency solved for the new observation equation; The pseudorange hardware delay of the receiver r corresponding to the frequency f solved by the new observation equation; The pseudorange hardware delay of satellite S corresponding to frequency f solved by the new observation equation; is the sum of pseudorange multipath effects, observation noise and other unmodeled errors; is the carrier phase wavelength; is the ambiguity corresponding to the frequency f between the receiver r and the satellite S solved by the new observation equation; is the sum of carrier phase multipath effect, observation noise and other unmodeled errors; α is the parameter The coefficient of The coefficient of The bias parameters between receiver systems are introduced to build a multi-frequency and multi-GNSS precise point positioning model.

2. A multi-frequency multi-GNSS precise point positioning method according to claim 1, characterized in that: The original observation equation of the single system multi-frequency is: Where, T represents the satellite system; S represents the satellite; r represents the receiver; i represents the epoch; f represents the frequency; and Pseudorange and phase observations for code and carrier phase observations; is the geometric distance from the receiver to the satellite; and dt T，s (i) is the clock difference between the receiver and the satellite; Z r (i) is the zenith tropospheric delay at the station; is the tropospheric projection function; is the ionospheric delay of the first frequency; is the ratio between frequency f and the ionospheric delay of the first frequency; is the carrier phase wavelength; and is the code deviation between the receiver and the satellite; It is the floating point ambiguity after absorbing the corresponding biases of satellite and receiver; is the sum of pseudorange multipath effects, observation noise and other unmodeled errors; is the sum of carrier phase multipath effects, observation noise and other unmodeled errors.

3. The multi-frequency multi-GNSS precise point positioning method according to claim 1, characterized in that: By recombining the parameters to eliminate the rank deficiency in the original observation equation, the specific form of each parameter in the new observation equation is as follows: In the formula, Combined satellite pseudorange hardware delay parameters for ionospheric elimination; The pseudorange hardware delay parameter of the first epoch ionospheric elimination combined receiver; is the receiver pseudorange hardware delay parameter of the geometry-free combination of the first epoch; is the receiver pseudorange hardware delay parameter without geometry combination; is the satellite pseudorange hardware delay parameter without geometry combination; is the receiver pseudorange hardware delay parameter of the first epoch; is the ratio between the ionospheric delays of the second frequency and the first frequency; is the receiver pseudorange hardware delay parameter of the geometry-free combination of the first epoch; is the satellite pseudorange hardware delay parameter without geometry combination; is the first frequency satellite pseudorange hardware delay parameter; is the satellite pseudorange hardware delay parameter of the second frequency; is the receiver pseudorange hardware delay parameter of the first frequency epoch; is the receiver pseudorange hardware delay parameter of the first epoch of the second frequency; is the receiver pseudorange hardware delay parameter of the i-th epoch of the first frequency; is the receiver pseudorange hardware delay parameter of the i-th epoch of the second frequency.

4. The multi-frequency multi-GNSS precise point positioning method according to claim 3, characterized in that: When the frequency f is less than 3, the parameter Does not exist.

5. The multi-frequency multi-GNSS precise point positioning method according to claim 3, characterized in that: When epoch i is the first epoch, the parameter Does not exist.

6. The multi-frequency multi-GNSS precise point positioning method according to claim 3, characterized in that: The multi-frequency multi-GNSS precise point positioning model is: In the formula, is the pseudorange observation value of the GPS system; It is the GPS satellite clock error obtained based on the IGS precise satellite clock error product; is the geometric distance from the receiver to the GPS satellite; is the receiver clock error of the GPS system; is the tropospheric projection function of the GPS satellite; is the ratio between the GPS system frequency f and the ionospheric delay of the first frequency; It is the GPS system receiver pseudorange hardware delay; It is the hardware delay combination of GPS system satellite pseudorange; is the carrier phase observation value of the GPS system; is the carrier phase wavelength of the GPS system; is the GPS system carrier phase integer ambiguity; is the pseudorange observation value of the BDS system; The BDS satellite clock error is obtained based on the IGS precise satellite clock error product; is the geometric distance from the receiver to the BDS satellite; is the tropospheric projection function of the BDS satellite; is the carrier phase observation value of the BDS system; The BDS satellite clock error is obtained based on the IGS precise satellite clock error product; is the carrier phase wavelength of the BDS system; is the integer ambiguity of the carrier phase of the BDS system; It is the hardware delay combination of BDS system satellite pseudorange; is the inter-system deviation of the BDS system relative to the GPS system; is the inter-system bias of the Galileo system relative to the GPS system; It is the sum of pseudo-range multipath effect, observation noise and other unmodeled errors of the GPS system; It is the sum of the GPS system phase multipath effect, observation noise and other unmodeled errors; It is the BDS system receiver pseudorange hardware delay; is the ratio between the BDS system frequency f and the first frequency ionospheric delay; It is the sum of pseudo-range multipath effect, observation noise and other unmodeled errors of the BDS system; It is the sum of the phase multipath effect, observation noise and other unmodeled errors of the BDS system; is the pseudorange observation value of the Galileo system; It is the hardware delay combination of Galileo system satellite pseudorange; is the ratio between the Galileo system frequency f and the ionospheric delay of the first frequency; It is the pseudorange hardware delay of the Galileo system receiver; is the carrier phase observation value of the Galileo system; The Galileo satellite clock error is obtained based on the IGS precise satellite clock error product; is the geometric distance from the receiver to the Galileo satellite; is the receiver clock error of the Galileo system; is the tropospheric projection function of the Galileo satellite; is the Galileo system carrier phase integer ambiguity; It is the sum of the Galileo system pseudorange multipath effect, observation noise and other unmodeled errors; is the sum of the Galileo system phase multipath effect, observation noise and other unmodeled errors; is the carrier phase wavelength of the Galileo system.

7. A multi-frequency multi-GNSS precise point positioning device, characterized in that: The device is applied to the method described in any one of claims 1 to 6, and the device comprises: The data selection module is used to select the pseudorange and phase observation data of a single global or regional tracking station of the GNSS system; The original observation equation construction module is used to construct the original observation equation of single system multi-frequency using the pseudo-range and phase observation data of each basic frequency of the tracking station; The new observation equation construction module is used to introduce the time-varying parameters of the receiver code deviation, and use the parameter reorganization method to reintegrate the parameters in the original observation equation, eliminate the mathematical rank deficiency in the original observation equation, and obtain the new observation equation; The model building module is used to introduce the deviation parameters between receiver systems and build a multi-frequency and multi-GNSS precise point positioning model.

8. A multi-frequency multi-GNSS precise point positioning device, characterized in that: including memory and processor; The memory is used to store computer program code and transmit the computer program code to the processor; The processor is configured to execute the method according to any one of claims 1 to 6 according to the instructions in the computer program code.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

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