A method, system, device and storage medium for correcting receiver signal deviation

Abstract

The present invention provides a receiver signal bias correction method, system, device, and storage medium, belonging to the field of satellite navigation technology. The method includes the following steps: using GNSS reference network data to calculate the wide-lane floating point ambiguity of the satellite observed by each receiver, extracting the fractional part, and then using least squares adjustment to estimate the FCB products of all receivers and visible satellites in the reference network; extracting the ambiguity residuals of the satellites observed by all receivers, and checking station by station whether the distribution of the ambiguity residuals is less than a set threshold. If so, the least squares estimated receiver and satellite FCB products are used as the final values; if not, abnormal outliers in the ambiguity residuals of all satellites observed by each receiver are eliminated, and it is determined whether the pseudorange deviation of the satellite observed by each receiver is less than a set threshold. If not, the pseudorange deviation is used to correct the wide-lane floating point ambiguity and re-solve the FCB products. The present invention can estimate the receiver pseudorange deviation of each measuring station individually.

Description

Technical Field

[0001] The present invention belongs to the field of satellite navigation technology, and in particular relates to a receiver signal deviation correction method, system, device and storage medium. Background Art

[0002] Ambiguity fixation technology can significantly improve the convergence speed of GNSS undifferenced parameter estimation. Due to the long wavelength of widelane float ambiguities, GNSS reference networks typically adopt a widelane-first, then narrowlane ambiguity fixation strategy when estimating precision products. Therefore, obtaining highly reliable widelane float ambiguity fixation solutions is a fundamental prerequisite for GNSS precision data processing.

[0003] The key to achieving highly reliable widelane (WL) ambiguity resolution is to accurately determine the fractional cycle bias (FCB) at both the receiver and satellite. It is generally assumed that the receiver signal bias is stable, and its FCB can be expressed as a single parameter over time. However, due to the influence of satellite navigation signals and hardware configuration, the receiver signal bias for different satellite observations at the same receiver can be inconsistent, also known as signal distortion bias.

[0004] Previous studies have shown that when estimating FCB products using a mixed-type receiver reference network, the wide-lane floating ambiguity fixation rate for some receiver types is less than 60%, affected by receiver-side signal bias. Correcting for signal distortion bias by receiver type can improve the receiver ambiguity fixation rate, assuming that receivers of the same model have the same receiver-side signal bias. However, with the development of multi-GNSS systems and their widespread application across various industries, the types and configurations of GNSS receivers on the market are becoming increasingly diverse. Even with receiver-based corrections, some stations still experience poor correction results. Since a reference network corresponds to multiple receivers, a poorly calibrated station can affect the accuracy of the reference network product solution. Summary of the Invention

[0005] In order to overcome the disadvantage of poor station correction effect, the present invention provides a receiver signal deviation correction method, comprising the following steps:

[0006] A number of stations are selected to form a reference network. The wide-lane floating-point ambiguity of the satellite observed by each receiver is calculated using MW combined smoothing filtering, and the decimal part of the ambiguity is extracted. The FCB products of all receivers and visible satellites in the reference network are estimated using least squares adjustment.

[0007] The ambiguity residuals of all satellites observed by all receivers are extracted, and the distribution of the ambiguity residuals is checked station by station to see if it is less than the set threshold. If so, the FCB products of all receivers and satellites in the reference network are estimated by least squares adjustment as the final value. If not, the abnormal outliers in the ambiguity residuals of all satellites observed by each receiver are removed to obtain the pseudorange bias of the receiver. When the pseudorange bias of each receiver is greater than the set threshold, the pseudorange bias is used to correct the widelane floating ambiguity and re-solve the FCB product.

[0008] Preferably, the least squares adjustment is used to estimate the FCB products of all receivers and satellite ends of the reference network, specifically: the decimal part of the wide-lane floating-point ambiguity of the satellites that can be commonly observed by each receiver in the reference network is averaged by arc segment, and the observation equation is constructed using the average value, and then the observation equation is used to estimate the FCB products of all receivers and visible satellites in the reference network using the least squares adjustment.

[0009] Preferably, the calculation formula of the wide lane floating point ambiguity bias FCB is:

[0010]

[0011] Where, represents the fractional part of the wide lane floating point ambiguity, represents the wide-lane floating-point ambiguity, Indicates the nearest integer value of the wide lane floating point ambiguity, d r and d s are the fractional phase deviations at the receiver and satellite ends, respectively.

[0012] Preferably, the ambiguity residual calculation formula is:

[0013]

[0014] Where, Represents the ambiguity residuals of all arc segments of a single station and a single satellite, s represents the satellite system, r represents the satellite number, and Represents the receiver and visible satellite FCB products estimated using least squares adjustment.

[0015] Preferably, the pseudorange deviation The calculation method is:

[0016]

[0017] Where, represents the pseudorange bias of a single station and a single satellite independent of the receiver, Q1 and Q3 distributions represent the first quartile and third quartile of the ambiguity residual, represents the i-th ambiguity residual of a single satellite at a single station.

[0018] Preferably, the wide lane float ambiguity is corrected using the pseudorange bias by the following formula:

[0019]

[0020] Where, RDPB s r,j is the receiver-independent pseudorange bias, represents the corrected wide-lane floating-point ambiguity, Represents the average of wide-lane float ambiguities over multiple epochs.

[0021] The present invention also provides a receiver signal deviation correction system, comprising:

[0022] The FCB product acquisition module is used to select several stations to form a reference network, calculate the wide-lane floating-point ambiguity of all satellites observed by each receiver using MW combined smoothing filtering, extract the decimal part of the wide-lane floating-point ambiguity, and then use least squares adjustment to estimate the FCB products of all receivers and satellites in the reference network;

[0023] The signal bias correction module is used to extract the ambiguity residuals of all satellites observed by all receivers, and check whether the distribution of the ambiguity residuals is less than the set threshold at each station. If so, the FCB products of all receivers and satellites in the reference network are estimated by least squares adjustment as the final value; if not, the abnormal outliers in the ambiguity residuals of all satellites observed by each receiver are eliminated to obtain the pseudorange bias of the receiver; when the pseudorange bias of each receiver is greater than the set threshold, the pseudorange bias is used to correct the wide-lane floating point ambiguity and re-solve the FCB product.

[0024] The present invention also provides a computer device, comprising a memory and a processor; the memory stores a computer program, and the processor is used to run the computer program in the memory to execute the receiver signal deviation correction method.

[0025] The present invention also provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and the computer program is suitable for being loaded by a processor to execute the receiver signal deviation correction method.

[0026] The receiver signal deviation correction method, system, device and storage medium provided by the present invention have the following features:

[0027] Beneficial effects:

[0028] The present invention extracts the ambiguity residuals of all satellites observed by all receivers and checks station by station whether the distribution of the ambiguity residuals is less than a set threshold. If so, the FCB products of all receivers and satellites in the reference network are estimated using a least-squares adjustment as the final value. If not, the abnormal outliers in the ambiguity residuals of all satellites observed by each receiver are removed to obtain the receiver's pseudorange bias. Specifically, the present invention provides a "one-station-one-estimate" pseudorange bias (RDPB) correction scheme. The receiver pseudorange bias of each station in the reference network is individually estimated and used to optimize the calculation of the FCB product. This method can generate higher-quality FCB products, thereby improving the fixation rate of wide-lane floating-point ambiguities in precision products, accelerating convergence time, and enhancing the accuracy and availability of precision service product processing in the reference network. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] To more clearly illustrate the embodiments of the present invention and its design, the following briefly introduces the drawings required for this embodiment. The drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be derived from these drawings without inventive effort.

[0030] Figure 1 Flowchart of a receiver signal deviation correction method according to an embodiment of the present invention;

[0031] Figure 2 is the residual distribution of wide lane FCB products under different schemes; Figure 2 (a) Figure 2 (b) Figure 2 (c) and Figure 2 (d) shows the distribution of residuals of GPS, BDS-2, BDS-3 and Galileo system satellites under three solutions;

[0032] Figure 3 is the percentage of wide lane floating point ambiguity residuals of the measuring stations distributed in [-0.1, 0.1] under the existing scheme II in each interval;

[0033] Figure 4 is the percentage of the station wide lane floating point ambiguity residuals distributed in [-0.1, 0.1] in each interval of the present invention;

[0034] Figure 5 is the time series of satellite wide lane passing rate of each system under different schemes, among which, Figure 5 (a) Figure 5 (b) Figure 5 (c) and Figure 5(d) shows the time series of wide lane pass rates of PPP-AR GPS, BDS-2, BDS-3 and Galileo satellites under three schemes. DETAILED DESCRIPTION

[0035] In order to enable those skilled in the art to better understand the technical solution of the present invention and to be able to implement it, the present invention is described in detail below with reference to the accompanying drawings and specific embodiments. The following embodiments are only used to more clearly illustrate the technical solution of the present invention and are not intended to limit the scope of protection of the present invention.

[0036] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "axial", "radial", "circumferential" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the technical solutions of the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0037] In addition, the terms "first", "second", etc. are used for descriptive purposes only and are not to be understood as indicating or implying relative importance. In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meaning of the above terms in the present invention can be understood according to the specific circumstances. In the description of the present invention, unless otherwise specified, "plurality" means two or more, which will not be described in detail here.

[0038] Example

[0039] The present invention provides a receiver signal deviation correction method, specifically as follows Figure 1 As shown, the following steps are included:

[0040] Step 1: Select several stations to form a reference network. Use MW combined smoothing filtering to calculate the wide-lane floating point ambiguity of all satellites observed by each receiver, extract the fractional part of the wide-lane floating point ambiguity, and then use least squares adjustment to estimate the FCB products of all receivers and satellites in the reference network.

[0041] After removing observation periods with short continuity (<90 minutes) and poor robustness (>0.3 cycles) and correcting the DCB and antenna phase center deviation, the MW (Melbourne-Wübbena) combined smoothing filter is usually used to fix the wide-lane floating ambiguity. The wide-lane floating ambiguity obtained based on the MW combined smoothing filter can be expressed as follows:

[0042]

[0043] in,

[0044]

[0045] Where, and They represent the “real” wide-lane integer ambiguity and the wide-lane floating-point ambiguity obtained based on MW combined smoothing filtering; and Respectively represent the multipath and noise of the corresponding observation values; λ W represents the wide-lane combination wavelength, and λ W =c / (f1-f2), c represents the speed of light, f1 and f2 represent the carrier frequency; b r,j and denote the pseudorange hardware delays at the receiver and satellite ends at frequency j, respectively; B r,j and They represent the phase hardware delay of the receiver and satellite at frequency j respectively; j and denote the wavelength and integer ambiguity at frequency j respectively; RDPB s r,j is the receiver-independent pseudorange bias.

[0046] Since pseudorange observations are noisy and multipath errors cannot be ignored, weighting the observations for consecutive observation arcs according to the elevation angle can extract more accurate wide-lane floating ambiguity estimates. The wide-lane floating ambiguity can be expressed as follows:

[0047]

[0048] Where, represents the fractional part of the wide lane floating point ambiguity, represents the wide-lane floating-point ambiguity, Represents the nearest integer value of the wide lane floating point ambiguity. It absorbs the integer part of the FCB product and is not the "real" wide-lane integer ambiguity. r and d sThe phase decimal deviations at the receiver and satellite sides, respectively, destroy the integer characteristics of the undifferenced ambiguity. To improve the reliability of the FCB product, all observation data of the reference network can be solved by network adjustment. The floating-point solution of the ambiguity in the network is established using formula (3). The observation equation is iteratively separated by the least squares adjustment method to separate the receiver-side FCB and the satellite-side FCB until no more ambiguities are fixed after iteration (the absolute value of the ambiguity residual is less than 0.1 cycle). This completes the solution of the initial receiver and satellite-side FCB. The difference between formula (1) and formula (3) is that formula (1) introduces the composition of wide-lane floating-point ambiguity. Wide-lane floating-point ambiguity is divided into integer part and decimal part. Wide-lane floating-point ambiguity should be integer. Due to reasons such as receiver hardware and external environment, it loses its integer characteristics and becomes a floating point number. Formula (3) introduces the composition of the decimal part of wide-lane floating-point ambiguity. Only after understanding the decimal part of wide-lane floating-point ambiguity can it be eliminated to restore the integer characteristics of ambiguity and improve positioning accuracy.

[0049] Step 2: Extract the ambiguity residuals of all satellites observed by all receivers, and check whether the distribution of the ambiguity residuals is less than the set threshold at each station. If so, use the least squares adjustment to estimate the FCB products of all receivers and satellites in the reference network as the final value; if not, remove the abnormal outliers in the ambiguity residuals of all satellites observed by each receiver to obtain the pseudorange bias of the receiver, and determine whether the pseudorange bias of each receiver is less than the set threshold. If not, use the pseudorange bias to correct the widelane floating ambiguity and re-solve the FCB value.

[0050] After the wide-lane floating ambiguity is corrected by the FCB at the receiver and satellite ends, the ambiguity with integer characteristics should be close to an integer and can be rounded to the nearest integer using the Round method. The ambiguity residual can be obtained by deducting the wide-lane floating ambiguity from its rounded value. The ambiguity residual of each satellite in each system can be expressed as:

[0051]

[0052] Where, represents the ambiguity residuals of all arc segments of a single satellite at a single station; s represents the satellite system; r represents the satellite number, and represents the receiver and visible satellite FCB products estimated using least squares.

[0053] Ambiguity residuals may contain unusual outliers, which can be removed using the quartile method. The quartile method is a statistical method used to describe data distribution. It divides the dataset into four specific points: the first quartile (Q1), the second quartile (Q2), the third quartile (Q3), and the fourth quartile (Q4). If a data point is less than Q1-1.5*(Q1-Q3) or greater than Q3+1.5*(Q1-Q3), it is considered an outlier and is not included in the pseudorange deviation calculation.

[0054] According to the above outlier exclusion method, the pseudorange bias of a single station and a single satellite is independent of the receiver.

[0055] The calculation method is:

[0056]

[0057] Where, represents the pseudorange bias of a single station and a single satellite independent of the receiver; Q1 and Q3 represent the first quartile and the third quartile of the ambiguity residual, respectively. represents the i-th ambiguity residual of a single satellite at a single station.

[0058] The wide lane float ambiguity is corrected using the pseudorange bias using the following formula:

[0059]

[0060] Where, represents the corrected wide-lane floating-point ambiguity, Represents the average of wide-lane float ambiguities over multiple epochs.

[0061] It should be noted that the function of formula (6) is to correct the receiver pseudorange bias. If the satellite fix rate is lower than 90%, correction is required, and the receiver pseudorange bias is corrected. Otherwise, it is considered that the satellite receiver pseudorange bias has little effect on the wide lane floating point ambiguity fixation, and the FCB product can be directly calculated using step 1 in precise point positioning.

[0062] The wide-lane floating-point ambiguity processed by MW combined smoothing filter can be separated by the least squares adjustment in step 1 to obtain the wide-lane FCB product corrected by the pseudo-range bias at the receiver end. If the phase fractional deviation between the receiver end and the satellite end without the pseudo-range bias correction at the receiver end is d r,0 and d s,0 The wide lane floating point ambiguity corrected by pseudorange bias obtained in step 2 is solved by least square adjustment to obtain the FCB correction number Δd at the receiver and satellite end. r and Δd s, the FCB of the receiver and satellite after the pseudorange bias correction at the receiver r,1 and d s,1 for:

[0063] d r,1 =d r,0 +Δd r (7)

[0064] d s,1 =d s,0 +Δd s (8)

[0065] The above is an iterative process. When the pseudorange deviation is less than 0.05 cycles, the iteration is exited and the wide lane FCB product d is saved. r,n and d s,n and receiver pseudorange deviation correction products.

[0066] The final wide-lane FCB product and receiver pseudorange bias correction product calculated through the above steps are obtained. Due to the stable observation environment of static stations, the FCB and receiver pseudorange bias at each station are also relatively stable. In real-time precise point positioning, after performing inter-satellite single difference on the wide-lane floating ambiguities using a reference satellite, the wide-lane floating ambiguity fixation can be performed using the average of the FCB product and the receiver pseudorange bias correction product for that station over the past three days.

[0067] The present invention also provides a receiver signal deviation correction system, comprising:

[0068] The FCB product acquisition module is used to select several stations to form a reference network, calculate the wide-lane floating-point ambiguity of all satellites observed by each receiver using MW combined smoothing filtering, extract the decimal part of the wide-lane floating-point ambiguity, and then use least squares adjustment to estimate the FCB products of all receivers and satellites in the reference network;

[0069] The signal bias correction module is used to extract the ambiguity residuals of all satellites observed by all receivers, and check whether the distribution of the ambiguity residuals is less than the set threshold at each station. If so, the FCB products of all receivers and satellites in the reference network are estimated by least squares adjustment as the final value; if not, the abnormal outliers in the ambiguity residuals of all satellites observed by each receiver are eliminated to obtain the pseudorange bias of the receiver; when the pseudorange bias of each receiver is greater than the set threshold, the pseudorange bias is used to correct the wide-lane floating point ambiguity and re-solve the FCB product.

[0070] The present invention also provides a computer device, including a memory and a processor; the memory stores a computer program, and the processor is used to run the computer program in the memory to execute the receiver signal deviation correction method.

[0071] The present invention also provides a computer-readable storage medium, which stores a computer program. The computer program is suitable for being loaded by a processor to execute the receiver signal deviation correction method.

[0072] Example 2

[0073] In order to verify the effect of the present invention, the distribution of satellite residuals of GPS, BDS-2, BDS-3 and Galileo systems calculated by using a reference network of receivers of the same type and mixed types is described. Figure 2 Figures (a), (b), (c), and (d) show the distribution of satellite residuals for GPS, BDS-2, BDS-3, and Galileo systems using the same type of receivers and mixed type of receivers in the three schemes, respectively, for approximately 500 publicly available multi-system and multi-frequency GNSS reference stations. Table 1 also shows the distribution of satellite residuals for GPS, BDS-2, BDS-3, and Galileo systems using the same type of receivers and mixed type of receivers in the three schemes, as well as the corresponding probability density functions (PDFs).

[0074] Table 1 Distribution statistics of wide-lane FCB residuals of multi-system satellites of different products (unit: %)

[0075]

[0076] It can be seen from Scheme I (ignoring receiver pseudorange bias) that the satellite residuals under the existing Scheme II (consistent pseudorange bias for receivers of the same type) all show a more obvious highly clustered trend, while the peak value of the residual distribution of the existing Scheme I slightly deviates from zero; the satellite residuals of the scheme of the present invention ("one station one estimate") show a more concentrated and more standard normal distribution compared with the two existing schemes.

[0077] Figure 3 and Figure 4The percentage of stations in each interval that meet the statistical condition "wide-lane floating-point ambiguity residuals for all epochs at the station are distributed within [-0.1, 0.1]" for approximately 500 publicly available multi-system, multi-frequency GNSS reference stations, using both the same and mixed-type receivers, is calculated under both the existing scheme II and the proposed scheme. The curve in the figure represents the cumulative distribution function (CDF) of the number of stations in each interval to the total number of stations. Statistical results show that compared to the existing scheme II, the proposed scheme significantly increases the number of stations in the interval (80, 100). Overall, the number of stations in the interval (80, 100) for the GPS, BDS-2, BDS-3, and Galileo systems can be increased from 295, 338, 355, and 354 to 478, 471, 483, and 392, respectively, representing increases of 37.42%, 27.20%, 26.18%, and 9.38%, respectively.

[0078] Figure 5 The FCB products under three schemes are used to perform static real-time PPP-AR GPS, BDS-2, BDS-3 and Galileo satellite wide lane passing rate (PR) time series for dozens of reference stations with known precise coordinates using an ionosphere-free combination model. Figure 5 Figures (a), (b), (c), and (d) show the time series of the wide-lane pass rates for GPS, BDS-2, BDS-3, and Galileo satellites under the three PPP-AR schemes. It can be seen that the average PR of the GPS, BDS-2, BDS-3, and Galileo systems under the existing scheme II improves by 5.30%, 8.57%, 4.55%, and 0.37%, respectively, compared to the existing scheme I. The improvement achieved by the proposed scheme is even more significant, with increases of 9.61%, 13.58%, 9.65%, and 1.59%, respectively, for each system. Overall, the PR under the existing scheme II is superior to that of the existing scheme I, but inferior to that of the proposed scheme.

[0079] The receiver signal deviation correction method proposed in the present invention has the following advantages:

[0080] 1. The proposed method for estimating the pseudorange bias of each receiver can improve the clustering of residual distribution. The number of GPS / BDS-2 / BDS-3 / GAL wide-lane residuals distributed in the range [-0.1, 0.1] exceeding 80% is 478, 471, 483, and 392 stations, respectively. Compared with the strategy of treating the pseudorange biases of receivers of the same type as the same, the wide-lane FCB estimation improves by an average of 37.42%, 27.20%, 26.18%, and 9.38%, respectively.

[0081] 2. The FCB estimated by the proposed method improves the ambiguity fixation rate during real-time ambiguity fixation. Compared to the strategy that ignores receiver pseudorange biases, the average widelane pass rate for the GPS / BDS-2 / BDS-3 / GAL systems increases by 9.61%, 13.58%, 9.65%, and 1.59%, respectively. Compared to the strategy that treats the pseudorange biases of the same type of receivers as identical, the average widelane pass rate for each system increases by 4.08%, 4.06%, 4.80%, and 1.20%, respectively.

[0082] The above-described embodiments are only preferred specific implementation methods of the present invention, and the protection scope of the present invention is not limited thereto. Any simple changes or equivalent replacements of the technical solutions that can be obviously obtained by any technician familiar with the field within the technical scope disclosed in the present invention fall within the protection scope of the present invention.

Claims

1. A receiver signal deviation correction method, characterized in that: The steps include: A reference network is formed by selecting several stations. The wide-lane floating ambiguities of all satellites observed by each receiver are calculated using MW combined smoothing filtering. The fractional part of the wide-lane floating ambiguities is extracted, and the FCB products of all receivers and satellites in the reference network are estimated using least squares adjustment. The ambiguity residuals of all satellites observed by all receivers are extracted, and the distribution of the ambiguity residuals is checked station by station to see if it is less than the set threshold. If so, the FCB products of all receivers and satellites in the reference network are estimated by least squares adjustment as the final value. If not, the abnormal outliers in the ambiguity residuals of all satellites observed by each receiver are removed to obtain the pseudorange bias of the receiver. When the pseudorange bias of each receiver is greater than the set threshold, the pseudorange bias is used to correct the widelane floating ambiguity and re-solve the FCB product.

2. The receiver signal deviation correction method according to claim 1, wherein: The FCB products of all receivers and satellite terminals of the reference network estimated using least squares adjustment are specifically: The fractional part of the wide-lane floating-point ambiguity of the satellites that can be observed by all receivers in the reference network is averaged by arc segment, and the observation equation is constructed using the average value. The observation equation is then used to estimate the FCB products of all receivers and visible satellites in the reference network using the least squares adjustment.

3. The receiver signal deviation correction method according to claim 2, characterized in that: The observation equation is: Where, represents the fractional part of the wide lane floating point ambiguity, represents the wide-lane floating-point ambiguity, Indicates the nearest integer value of the wide lane floating point ambiguity, and are the fractional phase deviations at the receiver and satellite ends, respectively.

4. The receiver signal deviation correction method according to claim 1, wherein: The ambiguity residual calculation formula is: Where, Represents the ambiguity residuals of all arc segments of a single station and a single satellite, represents the fractional part of the wide lane floating point ambiguity, represents a satellite system, Indicates the satellite number, and Represents the receiver and visible satellite FCB products estimated using least squares adjustment.

5. The receiver signal deviation correction method according to claim 1, wherein: The pseudorange deviation The calculation method is: Where, It represents the pseudo-range deviation of a single station and a single satellite independent of the receiver, and represent the first and third quartiles of the ambiguity residuals, Indicates single station single satellite The ambiguity residual.

6. The receiver signal deviation correction method according to claim 5, characterized in that: The wide lane float ambiguity is corrected using the pseudorange bias using the following formula: Where, is the receiver-independent pseudorange bias, represents the corrected wide-lane floating-point ambiguity, Represents the average of wide-lane float ambiguities over multiple epochs.

7. A receiver signal deviation correction system, characterized in that: include: The FCB product acquisition module is used to select several stations to form a reference network, calculate the wide-lane floating-point ambiguity of all satellites observed by each receiver using MW combined smoothing filtering, extract the decimal part of the wide-lane floating-point ambiguity, and then use least squares adjustment to estimate the FCB products of all receivers and satellites in the reference network; The signal bias correction module is used to extract the ambiguity residuals of all satellites observed by all receivers, and check whether the distribution of the ambiguity residuals is less than the set threshold at each station. If so, the FCB products of all receivers and satellites in the reference network are estimated by least squares adjustment as the final value; if not, the abnormal outliers in the ambiguity residuals of all satellites observed by each receiver are eliminated to obtain the pseudorange bias of the receiver; when the pseudorange bias of each receiver is greater than the set threshold, the pseudorange bias is used to correct the wide-lane floating point ambiguity and re-solve the FCB product.

8. A computer device, characterized in that: It comprises a memory and a processor; the memory stores a computer program, and the processor is used to run the computer program in the memory to execute the receiver signal deviation correction method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and the computer program is suitable for being loaded by a processor to execute the receiver signal deviation correction method according to any one of claims 1 to 6.

Images