Method and device for determining wide-lane integer ambiguity, electronic equipment and vrs system

Abstract

The application provides a method and device for determining wide-lane integer ambiguity, electronic equipment and VRS system. After the first single-difference wide-lane float ambiguity of a satellite is calculated, the trend error of the single-difference wide-lane float ambiguity is used to correct the first single-difference wide-lane float ambiguity, so as to reduce the error caused by the multipath effect on the first single-difference wide-lane float ambiguity. The corrected first single-difference wide-lane float ambiguity is used to determine the wide-lane integer ambiguity of the satellite in the first time period, so as to suppress the influence of the multipath effect on the observation accuracy of the reference station, improve the correctness of the calculated wide-lane integer ambiguity, and further improve the accuracy of the subsequent positioning and other related calculations through the wide-lane integer ambiguity.

Description

Technical Field

[0001] This application relates to the field of satellite navigation technology, and in particular to a method, apparatus, electronic device, and VRS system for determining wide lane integer ambiguity. Background Technology

[0002] In GNSS systems, terminal equipment needs to observe the carrier phase of satellite signals to accurately receive them and improve the accuracy of observations. A crucial calculation in processing these carrier phase observations is how to correctly determine the integer ambiguity of the satellite carrier phase observations.

[0003] In existing technologies, the MW combination method can be used to fix the wide-lane ambiguity, and then the IF combination ambiguity and the fixed wide-lane ambiguity can be used to determine the ambiguity at a single frequency point. However, the calculated wide-lane integer ambiguity is affected by the multipath effect, and the accuracy of the obtained wide-lane integer ambiguity is not high, which affects the accuracy of subsequent calculations such as positioning using the wide-lane integer ambiguity. Summary of the Invention

[0004] This application provides a method, apparatus, electronic device, and VRS system for determining wide alley integer ambiguity, which can improve the accuracy of calculating wide alley integer ambiguity.

[0005] The first aspect of this application provides a method for determining wide-lane integer ambiguity, comprising: calculating a first single-difference wide-lane floating-point ambiguity based on satellite observation data of a first time period; correcting the first single-difference wide-lane floating-point ambiguity using the single-difference wide-lane floating-point ambiguity trend term error of a second time period; wherein the single-difference wide-lane floating-point ambiguity trend term error is used to indicate the multipath error between the satellite and a reference satellite; the second time period is the time period preceding the first time period, and the interval between the first time period and the second time period is the orbital repetition period of the satellite; and determining the wide-lane integer ambiguity of the first time period based on the corrected first single-difference wide-lane floating-point ambiguity.

[0006] A second aspect of this application provides an apparatus for determining the integer ambiguity of a wide alleyway, for performing the method described in any of the first aspects of this application.

[0007] A third aspect of this application provides an electronic device, including a processor and a memory; wherein the memory stores a computer program, and when the processor executes the calculator program, the processor can be used to perform the method described in any of the first aspects of this application.

[0008] A fourth aspect of this application provides a VRS system comprising: at least three reference stations, any two of which form a baseline, wherein the reference stations determine the wide-lane integer ambiguity of a satellite by means of the method described in any one of the first aspects of this application.

[0009] In summary, the method, apparatus, electronic equipment, and VRS system provided in this application for determining wide-lane integer ambiguity can correct the first single-difference wide-lane floating-point ambiguity of the satellite using the trend term error of the single-difference wide-lane floating-point ambiguity after calculation, thereby reducing the error caused by multipath effects on the first single-difference wide-lane floating-point ambiguity. Using the corrected first single-difference wide-lane floating-point ambiguity to determine the wide-lane integer ambiguity of the satellite in the first time period can suppress the impact of multipath effects on the accuracy of the reference station's received observations, improve the accuracy of the calculated wide-lane integer ambiguity, and thus improve the accuracy of subsequent positioning and other related calculations based on the wide-lane integer ambiguity. Attached Figure Description

[0010] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0011] Figure 1 A flowchart illustrating an embodiment of the method for determining wide aisle integer ambiguity provided in this application;

[0012] Figure 2 A schematic diagram illustrating the method for determining the trend term error of single-difference wide-lane floating-point ambiguity provided in this application;

[0013] Figure 3 A flowchart illustrating another embodiment of the method for determining the integer ambiguity of wide aisle provided in this application;

[0014] Figure 4 This is a flowchart illustrating another embodiment of the method for determining the integer ambiguity of the wide alleyway provided in this application. Detailed Implementation

[0015] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0016] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a particular order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0017] The application scenario described in this application can be a Global Navigation Satellite System (GNSS). This system includes multiple satellites orbiting the Earth and provides positioning services to terminal devices located on the Earth's surface through one or more satellites. The terminal device on the Earth's surface can determine its latitude, longitude, elevation, and other positioning data by receiving positioning signals from multiple satellites in orbit. For example, taking a single satellite in Earth orbit as an example, the terminal device can receive positioning signals from multiple satellites, including the satellite itself, and these positioning signals can be used to determine its positioning data. Exemplarily, in some satellite positioning systems, the terminal device can receive positioning signals from four or eight satellites at a given time and then collectively determine its location at that moment based on the received signals.

[0018] In practical implementation, GNSS includes: Global Positioning System (GPS), Galileo system, and BeiDou Navigation Satellite System (BDS). BeiDou Navigation Satellite System further includes Medium Earth Orbit (MEO) satellites, Geostationary Orbit (GEO) satellites, and Inclined Geosynchronous Orbit (IGSO) satellites.

[0019] Terminal devices that can enjoy the positioning services provided by GNSS can also be called terminals. Terminal devices can be user equipment (UE), mobile station (MS), mobile terminal (MT), etc. Terminal devices can also be mobile phones, tablets, computers with wireless transceiver capabilities, virtual reality (VR) terminal devices, augmented reality (AR) terminal devices, wireless terminal devices in industrial control, wireless terminal devices in self-driving, wireless terminal devices in remote medical surgery, wireless terminal devices in smart grids, wireless terminal devices in transportation safety, wireless terminal devices in smart cities, wireless terminal devices in smart homes, etc.

[0020] In a specific application, a Virtual Reference Station (VRS) is a network-based real-time kinematic (RTK) positioning system that integrates Internet technology, wireless communication technology, computer network management technology, and GPS technology. It provides positioning services to terminal devices through physical stations. A VRS system includes at least three reference stations. With the precise coordinates of each reference station known, ambiguity is fixed and other calculations are performed using the reference station data to construct virtual observation station data, which is then sent to the user for RTK positioning. In this process, correctly determining the wide-lane integer ambiguity is fundamental to ensuring the accuracy of subsequent calculations. The integer ambiguity, also known as the integer unknown, is the integer unknown corresponding to the first observation of the phase difference between the carrier phase and the reference phase when measuring the carrier phase of a GNSS ...

[0021] This application provides a method, apparatus, electronic device, and VRS system for determining wide-lane integer ambiguity. These methods can suppress the impact of multipath effects on the accuracy of reference station received observations, improve the accuracy of the calculated wide-lane integer ambiguity, and thus improve the accuracy of subsequent positioning and other related calculations based on the wide-lane integer ambiguity. The technical solution of this application is described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0022] Figure 1 A flowchart illustrating an embodiment of the method for determining the integer ambiguity of wide aisle provided in this application is shown below. Figure 1 The method illustrated can be implemented by any terminal device capable of using the positioning services provided by a GNSS system, or by a physical station or reference station in a VRS system. This application uses a terminal device as the implementing entity as an example, not as a limitation. Figure 1 As shown, the method for determining the integer ambiguity of the wide alleyway provided in this embodiment includes:

[0023] S100: Obtain satellite observation parameters for the first time period.

[0024] When locating, the terminal device first obtains satellite observation parameters for the first time period in S100, and then performs subsequent calculations based on these parameters. It is understood that the terminal device can simultaneously obtain observation parameters from multiple satellites. In some embodiments, the satellite observation parameters obtained by the terminal device include: the satellite's frequency f1 and phase at the L1 frequency point. Wavelength λ1 and double-difference pseudorange P1, satellite frequency f2 and phase at L2 frequency point Wavelength λ2 and double-difference pseudo-range P2, etc.

[0025] S101: Based on the satellite observation parameters for the first time period in S100, calculate the first single-difference wide-lane floating-point ambiguity of the satellite within the first time period. In some embodiments, the terminal device can substitute the satellite observation parameters into the following formula 1 to calculate the first single-difference wide-lane floating-point ambiguity of the satellite within the first time period.

[0026] S102: Use the error of the single-difference wide-lane floating-point ambiguity trend term of the satellite in the second time period to correct the first single-difference wide-lane floating-point ambiguity obtained in S101.

[0027] Specifically, due to the multipath effect of the satellite signals received by the terminal equipment, the satellite observation parameters obtained by directly using the satellite signals may contain errors. Therefore, the first single-difference wide-lane floating-point ambiguity calculated using the satellite observation parameters... Errors also exist. Therefore, in this embodiment of the application, the first single-difference wide-lane floating-point ambiguity is used. Before proceeding with subsequent calculations, it is corrected to reduce the multipath effect on the first single-difference wide-lane floating-point ambiguity. The resulting error.

[0028] In some embodiments, the single-difference wide-lane floating-point ambiguity trend term error can be specifically used to indicate the multipath error between the satellite and the reference satellite. Then, when the first single-difference wide-lane floating-point ambiguity... After subtracting the error of the trend term of the single-difference wide-lane floating-point ambiguity of the satellite, the effect of multipath effect on the first single-difference wide-lane floating-point ambiguity can be recovered. The change.

[0029] In some embodiments, the second time period is the time period preceding the first time period, and the interval between the first and second time periods is the satellite's orbital repetition period. In specific implementations, a lead time should also be added between the second and first time periods. For example, assuming the satellite's orbital repetition period is 7 days and the lead time is 1715 seconds, the trend term error value corresponding to time t within the first time period is t - 86400*7 + 1715. In this way, the trend term error values ​​corresponding to all times within the entire first time period can be determined, thus obtaining the single-difference wide-lane floating-point ambiguity trend term error calculated for the second time period. This post-fixed double-difference wide-lane ambiguity based on a time period (long arc segment) extracts the pseudorange trend term error from the MW combined floating-point solution with high accuracy, thus more effectively mitigating the impact of multipath errors in real-time processing.

[0030] In some embodiments, the single-difference wide-lane floating-point ambiguity trend term error of the satellite in the second time period may be calculated in advance by the terminal device and stored in the storage space; or, it may be calculated by the terminal device before S102; or, it may be calculated by other devices and obtained by the terminal device from other devices.

[0031] In some embodiments, the storage space may store the single-difference wide-lane floating-point ambiguity trend term errors of satellites for multiple time periods prior to the first time period. Then, before S102, the terminal device can obtain the pre-stored single-difference wide-lane floating-point ambiguity trend term errors of the second time period from the storage space based on the first time period, the satellite's orbital repetition period, and the satellite's lead time.

[0032] In some embodiments, this method of using the time period of the previous orbital repetition cycle of the satellite to correct the parameters of the current time period can also be called sidereal filtering. Sidereal filtering is a method that uses the daily repetition characteristics of satellite constellations to separate and reduce multipath errors. It can reduce the impact of multipath on the next cycle by extracting trend terms from the position domain or the solution residual.

[0033] S103: Based on the corrected first single-difference wide-lane floating-point ambiguity in S102, determine the wide-lane integer ambiguity of the satellite in the first time period.

[0034] In some embodiments, the terminal device may obtain the double-difference wide-lane floating-point ambiguity of the satellite based on the corrected first single-difference wide-lane floating-point ambiguity and the single-difference wide-lane floating-point ambiguity of the satellite's reference star.

[0035] For example, the terminal device can use the following formula two to determine the corrected first single-difference wide-lane floating-point ambiguity. Subtract the single-difference wide-lane floating-point ambiguity of the satellite's reference star. Obtain the satellite's double-difference wide-lane floating-point ambiguity. Among them, s j It serves as the reference star.

[0036]

[0037] Subsequently, the terminal equipment can obtain the wide-lane integer ambiguity of the satellite in the first time period based on the average value of the double-difference wide-lane floating-point ambiguity.

[0038] For example, the terminal device can calculate the double-difference wide-lane floating-point ambiguity using the following formula (Formula 3). The average value is then rounded to obtain the wide-lane integer ambiguity of the satellite in the first time period.

[0039]

[0040] In summary, the method for determining wide-lane integer ambiguity provided in this application allows the terminal device to correct the first single-difference wide-lane floating-point ambiguity using the single-difference wide-lane floating-point ambiguity trend term error after calculating the first single-difference wide-lane floating-point ambiguity of the satellite, thereby reducing the multipath effect on the first single-difference wide-lane floating-point ambiguity. The error introduced is then addressed by using the corrected first single-difference wide-lane floating-point ambiguity to determine the wide-lane integer ambiguity of the satellite in the first time period. This suppresses the impact of multipath effects on the accuracy of the reference station's received observations, improves the accuracy of the calculated wide-lane integer ambiguity, and consequently enhances the accuracy of subsequent positioning and other related calculations based on the wide-lane integer ambiguity.

[0041] Figure 2 The schematic diagram of the method for determining the trend term error of single-difference wide-lane floating-point ambiguity provided in this application can be used to obtain... Figure 1 The error of the trend term of the single-difference wide-lane floating-point ambiguity of the satellite used to correct the first single-difference wide-lane floating-point ambiguity is determined.

[0042] In some embodiments, the terminal device may execute at regular intervals. Figure 2 The method shown calculates the single-difference wide-lane floating-point ambiguity trend term error for all moments within a given time period. For example, assuming a satellite orbit repetition period of 7 days, the terminal device can calculate and store the single-difference wide-lane floating-point ambiguity trend term error for all moments within the previous 24 hours every one day (24 hours). This is then performed during execution... Figure 1In the embodiment described, the single-difference wide-lane floating-point ambiguity trend term error for the required second time period can be determined from the single-difference wide-lane floating-point ambiguity trend term error for all moments stored in the storage space.

[0043] In some embodiments, when calculating the single-difference wide-lane floating-point ambiguity trend term error for different types of satellites, the terminal device needs to use different calculation methods due to the different orbital repetition periods and observation times of the satellites. That is... Figure 2 In S100, reference daily observation files for different satellites can be acquired, and these files can be used as satellite observation parameters for subsequent calculations. The reference daily observation files acquired in S100 include: GPS reference daily observation files, Galileo reference daily observation files, BeiDou MEO reference daily observation files, and BeiDou GEO / IGSO reference daily observation files.

[0044] exist Figure 2 In the example shown, satellites can be classified into three types based on their reference daily observation files: Type I satellites (GPS and Galileo satellites), Type II satellites (BDS MEO satellites), and Type III satellites (BDSGEO and IGSO satellites). Figure 2 The method for calculating the single-difference wide-lane floating-point ambiguity trend term error for three types of satellites is explained separately. Taking the calculation of the single-difference wide-lane floating-point ambiguity trend term error for the second time period by the terminal device as an example, the calculation method for other time periods is the same.

[0045] like Figure 2 As shown, for Type I GPS and Galileo satellites, the steps for calculating the single-difference wide-lane floating-point ambiguity trend term error of the satellite in the second time period include:

[0046] S201: Based on the satellite observation data of the second time period, obtain the second single-difference wide-lane floating-point ambiguity sequence of the satellite in the second time period. In some embodiments, the terminal device can substitute the satellite observation parameters of the second time period into the following formula four, and calculate the second single-difference wide-lane floating-point ambiguity of the satellite in the second time period using the MW calculation method.

[0047]

[0048] Where, λ wl Let f1 and f2 be the wavelengths of the wide-lane combination, and f1 and f2 be the frequencies of the two points of the wide-lane combination. and For carrier phase observations at two frequency points, P1 s and This refers to the pseudorange observations at two frequency points. It is understood that the terminal device can receive signals from multiple satellites simultaneously; therefore, the second single-difference wide-lane floating-point ambiguity of multiple satellites can be calculated using Formula 4. Therefore, it can be represented as a second single-difference wide-lane floating-point ambiguity sequence. In the form of , variable i represents the number of satellites processed by the terminal device. Subsequent formulas use the calculation of one satellite as an example. In actual calculations, the terminal device will repeat the calculation i times to obtain a sequence of single-difference wide-lane floating-point ambiguity trend term errors for i satellites.

[0049] S202: Based on the second single-difference wide-lane floating-point ambiguity obtained in S201 and the single-difference wide-lane floating-point ambiguity of the satellite's reference star in the second time period, the double-difference wide-lane floating-point ambiguity of the satellite in the second time period is obtained.

[0050] For example, using the second single-difference wide-lane floating-point ambiguity Subtract the single-difference wide-lane floating-point ambiguity of the satellite's reference satellite in the second time period. The double-difference wide-lane floating-point ambiguity of the satellite during the second time period is obtained. In some embodiments, the terminal device can obtain the double-difference wide-lane floating-point ambiguity using the following formula:

[0051]

[0052] S203: Based on the double-difference wide-lane floating-point ambiguity obtained in S202, obtain the double-difference wide-lane integer ambiguity.

[0053] For example, calculating the double-difference wide-lane floating-point ambiguity over the entire second time period (arc segment). The average value is rounded down, and when the length of the second time period is greater than a certain length and the difference between the average value and the most recent integer is less than a set threshold T (i.e., ... (At time), the integer ambiguity of the double-difference wide-lane is obtained by rounding down to the nearest integer. In some embodiments, the terminal device can obtain the integer ambiguity of the double-difference wide-lane using the following formula six.

[0054]

[0055] S204: Based on the satellite's double-difference wide-lane floating-point ambiguity obtained in S202 during the second time period, and the double-difference wide-lane integer ambiguity obtained in S203, the error of the double-difference wide-lane floating-point ambiguity trend term is obtained.

[0056] For example, the floating-point ambiguity of double-difference wide-lane Subtract the integer fuzziness of the double-difference wide aisle The error of the double-difference wide-lane floating-point ambiguity trend term is obtained. In some embodiments, the terminal device can obtain the error of the double-difference wide-lane floating-point ambiguity trend term using the following formula (Formula 7).

[0057]

[0058] S205: Based on the first set of single-difference wide-lane floating-point ambiguity and double-difference wide-lane integer ambiguity of the satellite's reference star, obtain the error of the single-difference wide-lane floating-point ambiguity trend term.

[0059] For example, the first set of single-difference wide-lane floating-point ambiguity errors of the satellite's reference star. Set it to 0, and change the double-difference wide-lane integer ambiguity obtained in S204. Convert to single-difference wide-lane floating-point ambiguity trend term error It can be represented by the following formula eight.

[0060]

[0061] S206: Denoise the trend term error obtained in S205 to obtain the denoised single-difference wide-lane floating-point ambiguity trend term error. In some embodiments, a low-pass filter can be used to denoise the trend term error.

[0062] like Figure 2 As shown, for the second type of BDS MEO satellite, the steps for calculating the error of the single-difference wide-lane floating-point ambiguity trend term of the satellite in the second time period include:

[0063] Steps S201-S206 are the same as those for calculating the single-difference wide-lane floating-point ambiguity trend term error for the first type of satellite. The difference lies in the fact that, since the third type of satellite requires a second type of satellite as the reference satellite, after S206, it is necessary to calculate the second set of single-difference wide-lane floating-point ambiguity trend term errors for the second type of satellite. This is used for subsequent correction of the first single-difference wide-lane floating-point ambiguity of the third type of satellite. Therefore, steps after S206 include:

[0064] S207: Based on the single-difference wide-lane floating-point ambiguity of the reference star in the second time period and the single-difference wide-lane floating-point ambiguity of the reference star in the second time period, obtain the second set of single-difference wide-lane floating-point ambiguity trend term error of the reference star.

[0065] For example, for a reference satellite, calculate the single-difference wide-lane floating-point ambiguity of the reference satellite in the second time period. And take the average value Subsequently, the single-difference wide-lane floating-point ambiguity of the reference star in the second time period was used. Subtract the average The second set of single-difference wide-lane floating-point ambiguity trend term errors of the reference star is obtained. In some embodiments, the terminal device can obtain the second set of single-difference wide-lane floating-point ambiguity trend term errors using the following formula (Equation 9).

[0066]

[0067] S208: Denoise the second set of single-difference wide-lane floating-point ambiguity trend term errors of the reference star obtained in S207 to obtain the denoised second set of single-difference wide-lane floating-point ambiguity trend term errors. In some embodiments, a low-pass filter can be used to denoise the trend term error.

[0068] like Figure 2 As shown, for the third type of BDS GEO and IGSO satellites, the steps for calculating the error of the single-difference wide-lane floating-point ambiguity trend term of the satellite in the second time period include:

[0069] S301: Based on the satellite observation data of the second time period, obtain the second single-difference wide-lane floating-point ambiguity sequence of the satellite in the second time period. The specific implementation method is the same as S201, and will not be described again.

[0070] S302: Based on the second single-difference wide-lane floating-point ambiguity obtained in S301, and the second single-difference wide-lane floating-point ambiguity, obtain the single-difference wide-lane floating-point ambiguity trend term error.

[0071] For example, after calculating the average value of the second single-difference wide-lane floating-point ambiguity, the average value is subtracted from the second single-difference wide-lane floating-point ambiguity to obtain the single-difference wide-lane floating-point ambiguity trend term error. In some embodiments, the terminal device can obtain the single-difference wide-lane floating-point ambiguity trend term error using the following formula:

[0072] S303: Use a low-pass filter to denoise the single-difference wide-lane floating-point ambiguity trend term error obtained in S302, and obtain the denoised single-difference wide-lane floating-point ambiguity trend term error. In some embodiments, a low-pass filter can be used to denoise the trend term error.

[0073] Figure 3 A flowchart illustrating another embodiment of the method for determining the integer ambiguity of the wide aisle provided in this application is shown below. Figure 3 As shown, when the terminal device determines the wide-lane integer ambiguity, it first calculates the first single-difference wide-lane floating-point ambiguity of the satellite in the first time period using the MW method shown in S101. Subsequently, the terminal device can retrieve the single-difference wide-lane floating-point ambiguity trend term error of the second time period from the storage space based on the first time period, the satellite's orbital repetition period, and the satellite's lead time. Figure 3 The specific implementation method and principle of S101 in China Figure 1 The same applies to S101, so it will not be repeated here.

[0074] exist Figure 3 In the illustrated embodiment, the first single-difference wide-lane floating-point ambiguity for GPS / Galileo and BDS MEO satellites is performed. The correction specifically includes: S1021: using the first single-difference wide-lane floating-point ambiguity. Subtract the single-difference wide-lane floating-point ambiguity trend term error for the second time period. The corrected first single-difference wide-lane floating-point ambiguity is obtained. In some embodiments, the terminal device can obtain the corrected first single-difference wide-lane floating-point ambiguity using the following formula eleven.

[0075]

[0076] Finally, the corrected first single-difference wide-lane floating-point ambiguity is used. The wide-lane integer ambiguity of the satellite in the first time period is determined in the manner shown in S103. Figure 3 The specific implementation method and principle of S103 in China Figure 1 The same applies to S103 in the above, so it will not be described again.

[0077] Figure 4 A flowchart illustrating another embodiment of the method for determining the integer ambiguity of the wide alleyway provided in this application is shown below. Figure 4 As shown, when the terminal device determines the wide-lane integer ambiguity, it first calculates the first single-difference wide-lane floating-point ambiguity of the satellite in the first time period using the MW method shown in S101. Subsequently, the terminal device can retrieve the single-difference wide-lane floating-point ambiguity trend term error of the second time period from the storage space based on the first time period, the satellite's orbital repetition period, and the satellite's lead time. Figure 4 The specific implementation method and principle of S101 in China Figure 1 The same applies to S101, so it will not be repeated here.

[0078] exist Figure 4 In the illustrated embodiment, the first single-difference wide-lane floating-point ambiguity for BDS GEO and IGSO satellites was performed. Correction: Since BDS GEO and IGSO satellites select BDS MEO as the reference satellite, the reference date corresponding to the MEO reference satellite is different from that of GEO / IGSO. Therefore, it is necessary to deduct the influence of the MEO satellite trend term error on the reference date. In S1022, the terminal equipment first calculates the first time period, the orbital repetition period of the satellite, and the lead time of the satellite, and then calculates the second set of single-difference wide-lane floating-point ambiguity trend term error of the reference satellite. The specific acquisition method is the same as S207, and will not be repeated here. Subsequently, the first single-difference wide-lane floating-point ambiguity is obtained using the following formula twelve. Subtract the single-difference wide-lane floating-point ambiguity trend term error for the second time period. And subtract the error of the second group of single-difference wide-lane floating-point ambiguity trend terms. The corrected first single-difference wide-lane floating-point ambiguity is obtained.

[0079]

[0080] Finally, the corrected first single-difference wide-lane floating-point ambiguity is used. The wide-lane integer ambiguity of the satellite in the first time period is determined in the manner shown in S103. Figure 4 The specific implementation method and principle of S103 in China Figure 1 The same applies to S103 in the above, so it will not be described again.

[0081] In summary, the embodiments provided in this application, for GPS, Galileo, and BeiDou MEO satellites, firstly utilize long-term static observation data of the reference day to fix the double-difference wide-lane ambiguity, extract the double-difference trend term error based on the fixed double-difference wide-lane ambiguity, and convert the double-difference trend term error into a single-difference trend term error to correct the single-difference floating-point wide-lane ambiguity of the observation day. For BeiDou GEO / IGSO satellites, considering that their orbital repetition period is different from that of MEO and the observation time is longer, this invention extracts the single-difference trend term error from the single-difference floating-point wide-lane ambiguity, and considers the issue of subtraction with the MEO reference star during the solution, introducing the influence of the trend term error of the reference star at the corresponding time. This also solves the reference star selection problem caused by the different orbital repetition periods of different BeiDou satellites, overcomes the influence of the different orbital repetition periods of different BeiDou satellite types on the double-difference method for extracting the periodic pseudorange trend term error, and has a good effect on the BeiDou system. Moreover, the implementation of the embodiments of this application has no impact on the client and does not require any specific modifications.

[0082] In the foregoing embodiments, the method for determining the integer ambiguity of the wide lane provided by the embodiments of this application has been described. To implement the functions of the methods provided by the embodiments of this application, the terminal device, as the executing entity, may include hardware structures and / or software modules, implementing the above functions in the form of hardware structures, software modules, or a combination of hardware structures and software modules. Whether a particular function is executed in the form of hardware structures, software modules, or a combination of hardware structures and software modules depends on the specific application and design constraints of the technical solution.

[0083] For example, this application provides an apparatus for determining wide-lane integer ambiguity, comprising: a calculation module, a correction module, and a determination module, wherein the calculation module is used to calculate a first single-difference wide-lane floating-point ambiguity based on satellite observation data for a first time period; the correction module is used to correct the first single-difference wide-lane floating-point ambiguity using the trend term error of the single-difference wide-lane floating-point ambiguity for a second time period; and the determination module is used to determine the wide-lane integer ambiguity for the first time period based on the corrected first single-difference wide-lane floating-point ambiguity.

[0084] The specific implementation method and principle of the steps performed by the device for determining the integer ambiguity of the wide aisle can be referred to the foregoing embodiments of this application, and will not be repeated here.

[0085] It should be noted that the division of the various modules in the above device is merely a logical functional division. In actual implementation, they can be fully or partially integrated into a single physical entity, or they can be physically separated. Furthermore, these modules can be implemented entirely in software via processing element calls; they can be fully implemented in hardware; or some modules can be implemented by processing element calls to software, while others are implemented in hardware. For example, a processing module can be a separate processing element, or it can be integrated into a chip within the above device. Alternatively, it can be stored as program code in the device's memory, and called and executed by a processing element of the device. The implementation of other modules is similar. Moreover, these modules can be fully or partially integrated together, or they can be implemented independently. The processing element mentioned here can be an integrated circuit with signal processing capabilities. In the implementation process, each step of the above method or each of the above modules can be completed through integrated logic circuits in the hardware of the processor element or through software instructions.

[0086] For example, these modules can be one or more integrated circuits configured to implement the above methods, such as one or more application-specific integrated circuits (ASICs), one or more digital signal processors (DSPs), or one or more field-programmable gate arrays (FPGAs). As another example, when a module is implemented using processing element scheduler code, the processing element can be a general-purpose processor, such as a central processing unit (CPU) or other processor capable of calling program code. Furthermore, these modules can be integrated together to implement a system-on-a-chip (SOC).

[0087] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid-state disk (SSD)).

[0088] For example, this application also provides an electronic device, including a processor and a memory; wherein the memory stores a computer program, and the processor can execute the computer program. When the processor executes the computer program, the processor can be used to perform steps in any of the methods for determining wide-lane integer ambiguity in the foregoing embodiments of this application.

[0089] This application also provides a computer-readable storage medium storing a computer program, which, when executed, can be used to perform steps in any of the methods for determining wide-lane integer ambiguity in the foregoing embodiments of this application.

[0090] This application also provides a chip for executing instructions, the chip being used to perform steps in any of the methods for determining wide lane integer ambiguity described above in this application.

[0091] This application also provides a Virtual Reference Station (VRS) system, which includes at least three reference stations, with any two of the three reference stations forming a baseline. The reference stations can be used to determine the wide-lane integer ambiguity of a satellite by performing any of the methods described above for determining wide-lane integer ambiguity in this application.

[0092] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0093] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A method for determining the integer ambiguity of a wide alleyway, characterized in that, include: Calculate the first single-difference wide-lane floating-point ambiguity based on satellite observation data from the first time period; The first single-difference wide-lane floating-point ambiguity is corrected using the single-difference wide-lane floating-point ambiguity trend term error of the second time period; the single-difference wide-lane floating-point ambiguity trend term error is used to indicate the multipath error between the satellite and the reference satellite; the second time period is the time period before the first time period, and the interval between the first time period and the second time period is the orbital repetition period of the satellite. Based on the corrected first single-difference wide-lane floating-point ambiguity, determine the wide-lane integer ambiguity of the first time period; Before correcting the first single-difference wide-lane floating-point ambiguity using the single-difference wide-lane floating-point ambiguity trend term error of the second time period, the method further includes: Based on the first time period, the orbital repetition period of the satellite, and the lead time of the satellite, the single-difference wide-lane floating-point ambiguity trend term error of the satellite in the second time period is obtained from the storage space; the single-difference wide-lane floating-point ambiguity trend term error in the second time period is calculated before the first time period, and the storage space stores the single-difference wide-lane floating-point ambiguity trend term errors of multiple time periods before the first time period. The error of the single-difference wide-lane floating-point ambiguity trend term in the second time period is calculated, including: Based on the satellite observation data of the second time period, calculate the second single-difference wide-lane floating-point ambiguity of the satellite in the second time period; Based on the second single-difference wide-lane floating-point ambiguity and the single-difference wide-lane floating-point ambiguity of the satellite's reference star in the second time period, the double-difference wide-lane floating-point ambiguity of the satellite in the second time period is obtained. Based on the aforementioned double-difference wide-lane floating-point ambiguity, the double-difference wide-lane integer ambiguity is obtained; Based on the floating-point ambiguity of the double-difference wide-lane and the integer ambiguity of the double-difference wide-lane in the second time period, the error of the trend term of the floating-point ambiguity of the double-difference wide-lane is obtained; Based on the first set of single-difference wide-lane floating-point ambiguity of the reference satellite and the double-difference wide-lane integer ambiguity, the error of the single-difference wide-lane floating-point ambiguity trend term is obtained. The error of the single-difference wide-lane floating-point ambiguity trend term is denoised.

2. The method according to claim 1, characterized in that, After denoising the error of the single-difference wide-lane floating-point ambiguity trend term, the method further includes: Based on the single-difference wide-lane floating-point ambiguity of the reference star in the second time period and the single-difference wide-lane floating-point ambiguity of the reference star in the second time period, the second set of single-difference wide-lane floating-point ambiguity trend term error of the reference star is obtained. The error of the second group of single-difference wide-lane floating-point ambiguity trend terms of the reference star is denoised.

3. The method according to claim 2, characterized in that, The calculation of the single-difference wide-lane floating-point ambiguity trend term error of the satellite in the second time period includes: Based on the satellite observation data of the second time period, the second single-difference wide-lane floating-point ambiguity sequence of the satellite in the second time period is obtained; Based on the second single-difference wide-lane floating-point ambiguity and the second single-difference wide-lane floating-point ambiguity, the error of the single-difference wide-lane floating-point ambiguity trend term is obtained; The error of the single-difference wide-lane floating-point ambiguity trend term is denoised.

4. The method according to claim 2 or 3, characterized in that, The step of using the single-difference wide-lane floating-point ambiguity trend term error of the second time period to correct the first single-difference wide-lane floating-point ambiguity includes: The corrected first single-difference wide-lane floating-point ambiguity is obtained by subtracting the trend term error of the single-difference wide-lane floating-point ambiguity in the second time period from the first single-difference wide-lane floating-point ambiguity.

5. The method according to claim 3, characterized in that, The step of correcting the single-difference wide-lane floating-point ambiguity using the trend term error of the single-difference wide-lane floating-point ambiguity includes: Based on the first time period, the orbital repetition period of the satellite, and the lead time of the satellite, the second set of single-difference wide-lane floating-point ambiguity trend term error of the reference star; The corrected first single-difference wide-lane floating-point ambiguity is obtained by subtracting the trend term error of the single-difference wide-lane floating-point ambiguity in the second time period from the first single-difference wide-lane floating-point ambiguity and subtracting the trend term error of the second group of single-difference wide-lane floating-point ambiguity.

6. The method according to claim 1, characterized in that, The step of determining the wide-lane integer ambiguity of the satellite in the first time period based on the corrected first single-difference wide-lane floating-point ambiguity includes: Based on the corrected first single-difference wide-lane floating-point ambiguity and the single-difference wide-lane floating-point ambiguity of the satellite's reference star, the double-difference wide-lane floating-point ambiguity of the satellite is obtained. The wide-lane integer ambiguity of the satellite in the first time period is obtained based on the average value of the double-difference wide-lane floating-point ambiguity.

7. An apparatus for determining the integer ambiguity of a wide alleyway, characterized in that, Used to perform the method as described in any one of claims 1-6.

8. An electronic device, characterized in that, include: A processor and a memory; wherein the memory stores a computer program, and when the processor executes the calculator program, the processor can be used to perform the method as described in any one of claims 1-6.

9. A VRS system, characterized in that, include: At least three reference stations, any two of which form a baseline, wherein the reference stations determine the wide-lane integer ambiguity of the satellite by means of the method described in any one of claims 1-6.

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