Method, device and equipment for detecting ambiguity fixing anomaly between reference stations and medium

Abstract

The application discloses a reference station ambiguity fixing abnormality detection method, device, equipment and medium, the method comprises the following steps: estimating troposphere dry delay based on troposphere prior model, estimating troposphere wet delay based on troposphere prior knowledge, calculating troposphere delay theoretical value Δ▽T based on ionosphere-free model, obtaining total troposphere delay according to the sum of troposphere dry delay and troposphere wet delay, comparing total troposphere delay with troposphere delay theoretical value Δ▽T, and determining narrow-lane ambiguity fixing abnormality when the deviation exceeds a specified threshold. The application effectively solves the problem that the ratio test and network element ambiguity closure test method cannot accurately test the abnormal fixed ambiguity. Moreover, the greater the ambiguity fixing abnormality deviation, the more accurate the detection, and the application prospect is good.

Description

Technical Field

[0001] This invention relates to the field of satellite navigation and positioning technology, specifically to a method, device, equipment, and medium for detecting fixed anomalies in ambiguity between reference stations. Background Technology

[0002] Real-time kinematic (RTK) technology accurately estimates spatial correlation errors and establishes a spatial correlation error region model within the network range of reference stations (base stations), providing users with real-time atmospheric error correction information and enabling precise terminal positioning. Accurate estimation of spatial correlation errors depends on the accurate and reliable fixing of ambiguities; therefore, accurate verification of anomalous ambiguities is essential. For wide-lane ambiguities, due to their longer wavelengths, ambiguity deviations generally do not exceed one week, making ambiguity anomaly detection relatively easy. For narrow-lane ambiguities, ambiguity anomalies may show deviations of one week or more, and correct verification of narrow-lane ambiguities is crucial for accurate extraction of spatial correlation errors. Therefore, narrow-lane ambiguity is a key research focus in the industry. Conventional narrow-lane ambiguity verification methods are generally based on the Ratio test and the network element ambiguity closure test. The Ratio test is a confidence test method; its threshold is set empirically. A larger threshold makes it difficult to fix ambiguities, reducing the number of available satellites, while a smaller threshold allows incorrectly fixed ambiguities to pass the test, resulting in providing users with erroneous atmospheric error corrections. The ambiguity closure test method for network elements is a necessary but not sufficient test. A network element with open ambiguity definitely has anomalous narrow-lane ambiguity, but even with closed ambiguity, anomalous narrow-lane ambiguity may still exist. Therefore, this method cannot detect ambiguity when the sum of the ambiguity deviations of the two baselines within the network element is zero. In summary, existing methods all have the potential to fail to detect anomalous ambiguity. Therefore, a reliable method for detecting anomalous ambiguity is needed. Summary of the Invention

[0003] Purpose of the invention: This invention proposes a method for detecting fixed ambiguity anomalies between reference stations, which solves the problem that the Ratio test and the network element ambiguity closure test methods cannot accurately detect fixed ambiguities.

[0004] The present invention also provides a device, equipment and computer storage medium for detecting fixed anomalies in ambiguity between reference stations.

[0005] Technical solution: In a first aspect, the present invention provides a method for detecting fixed anomalies in ambiguity between reference stations, comprising the following steps:

[0006] Tropospheric dry delay estimated based on tropospheric prior model

[0007] Estimate tropospheric wet delay based on prior knowledge of the troposphere

[0008] Theoretical value of tropospheric delay calculated based on ionosphere-free model.

[0009] According to the tropospheric delay and tropospheric wet delay The sum gives the total tropospheric delay. Total tropospheric delay Compared with the theoretical value of tropospheric delay The comparison is performed, and when the deviation exceeds a specified threshold, the narrow alley ambiguity is determined to be abnormal.

[0010] In some embodiments of the first aspect, the tropospheric dry delay is estimated based on a tropospheric prior model. Includes: estimating tropospheric dry delay based on the tropospheric prior model GPT2w.

[0011] In some embodiments of the first aspect, tropospheric wet delay is estimated using prior tropospheric knowledge. include:

[0012] Based on the calculation principle of zenith tropospheric wet delay and the principle that the inter-satellite single-difference projection between two reference stations is approximately equal, the single-difference projection function value ΔMF of zenith wet delay is obtained by using the satellite elevation angles of the two reference stations.

[0013] Based on the solution equation for dual-frequency ionospheric ambiguity Based on ionospheric combined observations The single-difference projection function value ΔMF of the zenith wet delay and the narrow-lane wavelength λ NL Calculate the ionospheric combined ambiguity for each satellite. And relative zenith wet delay (RZWD);

[0014] Calculate the tropospheric wet delay of the satellite: in The value of the double-difference projection function of the zenith wet delay is taken from the calculated single-difference projection function value ΔMF of the zenith wet delay.

[0015] In some embodiments of the first aspect, the ionosphere-free model is as follows:

[0016]

[0017] Where f1 is the carrier frequency of the first signal, f2 is the carrier frequency of the second signal; λ1 is the carrier wavelength of the first signal, λ2 is the carrier wavelength of the second signal; and ρ is the station-to-satellite distance. The ambiguity of the first signal, The ambiguity of the second signal.

[0018] In some embodiments of the first aspect, and Calculated using the following method:

[0019] according to The wide-lane ambiguity is calculated and fixed by rounding. The fixed solution for the wide-lane ambiguity is denoted as... L represents the double difference operator. MW For observations without ionosphere and without geometric combinations, λ MW For combining wide-lane wavelengths;

[0020] According to the definition of wide-lane ambiguity, the ambiguity of the first signal... Ambiguity with the second signal Difference: For ionosphere-free combined ambiguity N IF Transform the calculation formula:

[0021] Based on known and The ambiguity of the first signal was calculated. And fix Ambiguity;

[0022] according to Determine the ambiguity of the second signal.

[0023] In some embodiments of the first aspect, there is no ionosphere and no geometric combination of observations L. MW and combined wide-lane wavelength λ MW The following formula is used to calculate:

[0024]

[0025] In the formula, φ i (i = 1, 2) represents the carrier phase observation value in weeks for frequency i.

[0026] Secondly, the present invention provides a device for detecting fixed anomalies in ambiguity between reference stations, comprising:

[0027] The tropospheric dry delay estimation module is configured to estimate the tropospheric dry delay based on a tropospheric prior model.

[0028] The tropospheric wet delay estimation module is configured to estimate the tropospheric wet delay using prior tropospheric knowledge.

[0029] The module for calculating theoretical tropospheric delay is configured to calculate theoretical tropospheric delay based on an ionospheric-free model.

[0030] The ambiguity anomaly detection module is configured to determine ambiguity based on tropospheric delay. and tropospheric wet delay The sum gives the total tropospheric delay. Total tropospheric delay Compared with the theoretical value of tropospheric delay The comparison is performed, and when the deviation exceeds a specified threshold, the narrow alley ambiguity is determined to be abnormal.

[0031] Thirdly, the present invention also provides a computer device comprising: one or more processors; a memory; and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, wherein when the programs are executed by the processors, they implement the steps of the inter-base station ambiguity fixation anomaly detection method as described in the first aspect of the present invention.

[0032] Fourthly, the present invention also provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the inter-base station ambiguity fixation anomaly detection method as described in the first aspect of the present invention.

[0033] Beneficial Effects: This invention proposes a method, apparatus, device, and medium for detecting reference station ambiguity anomalies based on tropospheric prior model information. After ambiguity is fixed, the method relies on a high-precision tropospheric prior model to model the dry and wet delays of the troposphere separately. By comparing the calculated tropospheric values ​​with the modeled values, the abnormally fixed ambiguity can be accurately identified. This invention effectively solves the problem that the Ratio test and the network element ambiguity closure test methods cannot accurately detect abnormally fixed ambiguities. Furthermore, this method is more accurate in detecting ambiguities with larger anomaly deviations, showing great application potential. Attached Figure Description

[0034] Figure 1 This is a flowchart of the inter-base station ambiguity fixed anomaly detection method according to the present invention;

[0035] Figure 2 This is a schematic diagram comparing the theoretical and estimated values ​​of tropospheric delay at 400-600 epochs according to an embodiment of the present invention.

[0036] Figure 3 This is a schematic diagram comparing the theoretical and estimated values ​​of tropospheric delay at epochs 2400-2500 according to an embodiment of the present invention. Detailed Implementation

[0037] The technical solution of the present invention will be further described below with reference to the accompanying drawings.

[0038] Example 1

[0039] This invention proposes a method for detecting the integrity of inter-station ambiguity fixation based on tropospheric prior information, referring to... Figure 1 The method includes the following steps:

[0040] Step (1) Estimate the tropospheric dry delay based on the tropospheric prior model.

[0041] According to an embodiment of the present invention, the tropospheric dry delay is estimated based on the tropospheric prior model GPT2w. Among various tropospheric empirical models, the GPT2w model is currently the tropospheric empirical model with the highest nominal accuracy, providing specific modeled meteorological elements while modeling the tropospheric delay. Given the relevant input parameters of the model, the tropospheric dry delay is obtained.

[0042] Step (2) estimates the tropospheric wet delay based on prior knowledge of the troposphere.

[0043] According to an embodiment of the present invention, the specific steps for estimating tropospheric wet delay are as follows:

[0044] The observations for constructing the ionosphere-free (IF) combination and the ionosphere-free geometry-free (MW) combination are as follows:

[0045]

[0046] In the formula, Represents the double difference operator; φ IF For carrier phase observations in cycles without ionospheric assemblies; N MW N represents the ambiguity of the wide alleyway. IF For ionospheric composite ambiguity; T is the tropospheric dry delay correction; ρ is the station-satellite distance; I is the ionospheric empirical model correction; L MW For observations without ionosphere and without geometric combination, L IF These are observations of the ionosphere-free combination, in meters; λ MW For the combined wide-lane wavelength; λ NL This refers to the combined narrow-lane wavelength. The specific expressions for the two types of combined observations and wavelengths are as follows:

[0047]

[0048] In the formula:

[0049] λ i (i = 1, 2) represents the carrier wavelength of frequency i;

[0050] φ i (i = 1, 2) represents the carrier phase observation value in weeks for frequency i;

[0051] f i(i = 1, 2) represents the carrier frequency of frequency i;

[0052] P i (i = 1, 2) represents pseudorange observations with frequency i;

[0053] C represents the speed of light in a vacuum.

[0054] The wide-lane ambiguity can be solved using equations (1) and (2), and fixed by rounding. The fixed solution for the wide-lane ambiguity is denoted as...

[0055] Let A and B represent two reference stations, k and r represent the non-reference satellite and the reference satellite, respectively, and ZWD represent the zenith wet delay of the reference station. and The elevation angles of satellite k at locations A and B are respectively. and The elevation angles of satellites at base station A and B are represented by MF, MF represents the projection function of zenith wet delay, and ZWD is the elevation angle of satellites at base station A and B, respectively. A and ZWD B These represent the zenith wet delay at stations A and B, respectively. The zenith tropospheric wet delay can be expressed as:

[0056]

[0057] Since ZWD is completely unrelated to ambiguity, using the form of estimating relative zenith wet delay (RZWD) can reduce the number of parameters to be estimated, which is beneficial to ambiguity resolution to some extent. Since the distance between base stations is much smaller than the distance between stations and satellites, the inter-satellite single-difference mapping functions of stations A and B are approximately equal, and equation (3) can be transformed into the form of equation (4):

[0058]

[0059] In the formula: RZWD is the relative zenith wet delay, which is solved by formula (5).

[0060] Substituting the parameters, we can obtain the single-difference projection function value ΔMF of the zenith wet delay.

[0061] The equation for solving narrow-lane ambiguity using a dual-frequency, ionosphere-free system is constructed as follows:

[0062]

[0063] In the formula, For the i-th ionosphere-free combination observation, since ΔMF, λ NL It is known that the values ​​of each satellite can be calculated using equation (5). Ambiguity and RZWD.

[0064] according to For N IF Deformation:

[0065]

[0066] In the formula, N i (i = 1, 2) represents the integer ambiguity with frequency i.

[0067] because and The solution has already been found, so Δ▽N1 can be calculated according to equation (6), and then the fixed value can be searched using the LAMBDA algorithm. Ambiguity.

[0068] The ambiguity can be calculated using the following formula:

[0069]

[0070] At the same time, the tropospheric wet delay of each satellite can also be obtained:

[0071]

[0072] The double-difference projection function value represents the zenith wet delay. Since the distance between the two base stations is much smaller than the distance between the base station and the satellite, the double-difference... The single-difference projection function value approximately equal to the zenith wet delay Single difference It has been obtained according to equation (4).

[0073] Step (3) Calculate the theoretical value of tropospheric delay based on the ionosphere-free model.

[0074] According to an embodiment of the present invention, after solving the basic carrier ambiguities N1 and N2 in step (2), an ionosphere-free model is constructed as follows:

[0075]

[0076] All parameters in the above formula are known values, and the theoretical value of tropospheric delay (also known as the modeling value) Δ▽T can be calculated.

[0077] Step (4) Perform narrow alley ambiguity anomaly detection.

[0078] According to an embodiment of the present invention, the sum of the dry tropospheric delay and the wet tropospheric delay calculated through steps (1) and (2) is the total tropospheric delay, which is:

[0079]

[0080] The tropospheric delay calculated in step (3) is and A difference comparison is performed, and if the difference exceeds a specified threshold, the narrow alley ambiguity fixation anomaly can be determined. Further, the specified threshold is 6cm.

[0081] Figure 2 and Figure 3 A schematic diagram comparing the theoretical and estimated values ​​of tropospheric delay at different epochs according to an embodiment of the present invention is shown. Figure 2 It can be seen that due to a 2-week ambiguity deviation, the estimated tropospheric delay of the BeiDou C30 satellite at epochs 458-459 resulted in a deviation of approximately 15cm between the theoretical and ambiguity values. At epochs 460-464, the ambiguity deviation was only 1 week, so the difference between the estimated and theoretical tropospheric delay values ​​was halved to approximately 7cm. In the correctly ambiguity-fixed portion, the difference was within 1cm. Therefore, the ambiguity-fixed situation can be accurately distinguished. Furthermore, the greater the ambiguity deviation, the stronger the detection capability of the method proposed in this invention.

[0082] Figure 3 It can be seen that there is a deviation of about 7-10 cm between the estimated value and the theoretical value of the Beidou C21 satellite at 2450-2500 epochs, with an average deviation of about 7.2 cm, which is still a relatively large deviation. It can be used to accurately distinguish whether the ambiguity is fixed or incorrect.

[0083] This invention, based on fixed wide-lane and narrow-lane ambiguities, constructs an ionospheric-free combined model and incorporates precise reference station coordinates to eliminate geometric station-to-satellite distances and calculate tropospheric delay errors. When the narrow-lane ambiguity is incorrectly fixed (i.e., a one-cycle deviation occurs), the calculated tropospheric delay will deviate from the modeled value by approximately 11 cm. A tropospheric prior model with sub-millimeter accuracy is used to estimate the tropospheric dry delay, and tropospheric wet delay is estimated using tropospheric prior knowledge. The tropospheric wet delay is used as a parameter estimate in the narrow-lane ambiguity resolution model. After fixing the ambiguities using the LAMBDA algorithm, the fixed ambiguities can be used to optimize the tropospheric wet delay parameter to obtain a high-precision value. Small deviations in the ambiguity of individual satellites in the fixed ambiguity matrix have minimal impact on the tropospheric wet delay. The total tropospheric delay is the sum of the tropospheric dry delay and the tropospheric wet delay. The total tropospheric delay is compared with the calculated tropospheric delay error; when the deviation exceeds 6 cm, the narrow-lane ambiguity fixing is considered abnormal. This method effectively solves the problem that the Ratio test and the network element ambiguity closure test methods cannot accurately detect abnormally fixed ambiguities. Furthermore, this method has the advantage that the greater the deviation of the fixed ambiguity anomaly, the more accurate the detection.

[0084] Example 2

[0085] Based on the same technical concept as the method embodiments, the present invention also provides a reference station ambiguity fixation anomaly detection device, comprising:

[0086] The tropospheric dry delay estimation module is configured to estimate the tropospheric dry delay based on a tropospheric prior model.

[0087] The tropospheric wet delay estimation module is configured to estimate the tropospheric wet delay using prior tropospheric knowledge.

[0088] The module for calculating theoretical tropospheric delay is configured to calculate theoretical tropospheric delay based on an ionospheric-free model.

[0089] The ambiguity anomaly detection module is configured to determine ambiguity based on tropospheric delay. and tropospheric wet delay The sum gives the total tropospheric delay. Total tropospheric delay Compared with the theoretical value of tropospheric delay The comparison is performed, and when the deviation exceeds a specified threshold, the narrow alley ambiguity is determined to be abnormal.

[0090] According to an embodiment of the present invention, the tropospheric dry delay estimation module estimates the tropospheric dry delay based on the tropospheric prior model GPT2w.

[0091] According to an embodiment of the present invention, the tropospheric wet delay estimation module estimates the tropospheric wet delay using prior tropospheric knowledge. include:

[0092] Based on the calculation principle of zenith tropospheric wet delay and the principle that the inter-satellite single-difference projection between two reference stations is approximately equal, the single-difference projection function value of zenith wet delay is obtained using the satellite elevation angles of the two reference stations.

[0093] Based on the solution equation for dual-frequency ionospheric ambiguity Based on ionospheric combined observations The single-difference projection function value ΔMF of the zenith wet delay and the narrow-lane wavelength λ NL Calculate the ionospheric combined ambiguity for each satellite. And relative zenith wet delay (RZWD);

[0094] Calculate the tropospheric wet delay of the satellite: in This represents the double-difference projection function value of the zenith wet delay, which is obtained by using the calculated single-difference projection function value of the zenith wet delay.

[0095] According to an embodiment of the present invention, the ionosphere-free model used in the tropospheric delay theoretical value calculation module is as follows:

[0096]

[0097] Where f1 is the carrier frequency of the first signal, f2 is the carrier frequency of the second signal; λ1 is the carrier wavelength of the first signal, λ2 is the carrier wavelength of the second signal; and ρ is the station-to-satellite distance. The ambiguity of the first signal, The ambiguity of the second signal.

[0098] According to an embodiment of the present invention, and Calculated using the following method:

[0099] according to The wide-lane ambiguity is calculated and fixed by rounding. The fixed solution for the wide-lane ambiguity is denoted as... L represents the double difference operator. MW For observations without ionosphere and without geometric combinations, λ MW For combining wide-lane wavelengths;

[0100] According to the definition of wide-lane ambiguity, the ambiguity of the first signal... Ambiguity with the second signal Difference: For ionosphere-free combined ambiguity N IF Transform the calculation formula:

[0101] Based on known and The ambiguity of the first signal was calculated. And fix Ambiguity;

[0102] according to Determine the ambiguity of the second signal.

[0103] In practice, and The calculation can be accomplished through the additional functions of the tropospheric wet delay estimation module, as described in the above method embodiment, which realizes the calculation of the basic carrier ambiguity during the calculation of tropospheric wet delay.

[0104] According to an embodiment of the present invention, the observation value L is without ionosphere and without geometric combination. MW and combined wide-lane wavelength λ MW Calculated using the following method:

[0105]

[0106] In the formula, φ i (i = 1, 2) represents the carrier phase observation value in weeks for frequency i.

[0107] According to an embodiment of the present invention, ionospheric composite observations and narrow alley wavelength λ NL Calculated using the following method:

[0108]

[0109] The meanings of each parameter have been explained above and will not be repeated here.

[0110] Example 3

[0111] The present invention also provides a computer device comprising: one or more processors; a memory; and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, wherein when the programs are executed by the processors, they implement the steps of the inter-base station ambiguity fixation anomaly detection method as described in the present invention.

[0112] Example 4

[0113] The present invention also provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the reference station ambiguity fixation anomaly detection method as described in the present invention.

[0114] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0115] This invention is described with reference to flowchart illustrations of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each step in the flowchart, and combinations of steps in the flowchart, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing device, generate instructions for implementing the steps in the flowchart. Figure 1 A device for a function specified in one or more processes.

[0116] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 The function specified in one or more processes.

[0117] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 Steps of a specified function in one or more processes.

Claims

1. A method for detecting fixed anomalies in ambiguity between reference stations, characterized in that, Includes the following steps: Tropospheric dry delay estimated based on tropospheric prior model ; Estimating tropospheric wet delay using tropospheric prior knowledge ; Theoretical value of tropospheric delay calculated based on ionosphere-free model. ; According to the tropospheric delay and tropospheric wet delay The sum gives the total tropospheric delay. , will delay the total tropospheric time Compared with the theoretical value of tropospheric delay The comparison is performed, and when the deviation exceeds a specified threshold, the narrow alley ambiguity is determined to be abnormal. Among them, tropospheric wet delay is estimated using tropospheric prior knowledge. include: Based on the calculation principle of zenith tropospheric wet delay and the principle that the inter-satellite single-difference projection between two reference stations is approximately equal, the single-difference projection function value of zenith wet delay is obtained using the satellite elevation angles of the two reference stations. ; Based on the solution equation for dual-frequency ionospheric ambiguity Based on ionosphere-free combined observations The single-difference projection function value of the zenith wet delay and narrow alley wavelength Calculate the ionospheric combined ambiguity for each satellite. And relative zenith wet delay (RZWD); Calculate the tropospheric wet delay of the satellite: ,in This represents the double-difference projection function value of the zenith wet delay, which is obtained by using the calculated single-difference projection function value of the zenith wet delay. .

2. The method according to claim 1, characterized in that, Tropospheric dry delay estimated based on tropospheric prior model Includes: estimating tropospheric dry delay based on the tropospheric prior model GPT2w. .

3. The method according to claim 1, characterized in that, The ionosphere-free model is as follows: ； in The carrier frequency of the first signal. The carrier frequency of the second signal; The carrier wavelength of the first signal. The carrier wavelength of the second signal; The distance between the station and the star; The ambiguity of the first signal, The ambiguity of the second signal; Indicates frequency as The carrier phase observations in weeks, .

4. The method according to claim 3, characterized in that, and Calculated using the following method: according to The wide-lane ambiguity is calculated and fixed by rounding. The fixed solution for the wide-lane ambiguity is denoted as... , This represents the double difference operator. These are observations without an ionosphere and without geometric combinations. For combining wide-lane wavelengths; According to the definition of wide-lane ambiguity, the ambiguity of the first signal... Ambiguity with the second signal Difference: For ionosphere-free combined ambiguity Transform the calculation formula: Based on known and The ambiguity of the first signal was calculated. and fix Ambiguity; according to Determine the ambiguity of the second signal. .

5. The method according to claim 4, characterized in that, Observations without ionosphere and without geometric combination and combined wide-lane wavelength The following formula is used to calculate: ； In the formula, Indicates frequency as pseudorange observations, , This represents the speed of light in a vacuum.

6. The method according to claim 1, characterized in that, The specified threshold is 6cm.

7. A device for detecting fixed anomalies in ambiguity between reference stations, characterized in that, include: The tropospheric dry delay estimation module is configured to estimate the tropospheric dry delay based on a tropospheric prior model. ; The tropospheric wet delay estimation module is configured to estimate the tropospheric wet delay using prior tropospheric knowledge. ; The module for calculating theoretical tropospheric delay is configured to calculate theoretical tropospheric delay based on an ionospheric-free model. ; The ambiguity anomaly detection module is configured to determine ambiguity based on tropospheric delay. and tropospheric wet delay The sum gives the total tropospheric delay. , will delay the total tropospheric time Compared with the theoretical value of tropospheric delay The comparison is performed, and when the deviation exceeds a specified threshold, the narrow alley ambiguity is determined to be abnormal. Among them, the tropospheric wet delay estimation module estimates the tropospheric wet delay using prior tropospheric knowledge. include: Based on the calculation principle of zenith tropospheric wet delay and the principle that the inter-satellite single-difference projection between two reference stations is approximately equal, the single-difference projection function value of zenith wet delay is obtained using the satellite elevation angles of the two reference stations. ; Based on the solution equation for dual-frequency ionospheric ambiguity Based on ionosphere-free combined observations The single-difference projection function value of the zenith wet delay and narrow alley wavelength Calculate the ionospheric combined ambiguity for each satellite. And relative zenith wet delay (RZWD); Calculate the tropospheric wet delay of the satellite: ,in This represents the double-difference projection function value of the zenith wet delay, which is obtained by using the calculated single-difference projection function value of the zenith wet delay. .

8. A computer device, characterized in that, include: One or more processors; Memory; And one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, wherein when the programs are executed by the processors, they implement the steps of the inter-base station ambiguity fixation anomaly detection method as described in any one of claims 1-6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the inter-base station ambiguity fixation anomaly detection method as described in any one of claims 1-6.

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