Multi-model fusion precise point positioning timing method, device and receiver

Abstract

The present application relates to a multi-model fused precise point positioning and timing method, device and receiver. The IF model and the Uofc model are fused to solve the problem that the current IF model cannot establish the observation equation due to the lack of a certain frequency signal of the satellite in a complex environment. In addition, in the model fusion, the receiver hardware delay deviation parameter is designed to solve the problem of receiver clock error difference when the IF model and the Uofc model are integrated for PPP solution. The present invention fuses the IF model and the Uofc model for PPP solution, which can fully utilize all satellite resources observed by the receiver under normal conditions, and avoid the problem of interruption or jump in PPP positioning and timing when the satellite signal is interfered.

Description

Technical Field

[0001] The present application relates to the field of navigation positioning and timing technology, and in particular to a multi-model fusion precise single-point positioning and timing method, device and receiver. Background Art

[0002] As a new type of absolute positioning method, precise point positioning can provide high-precision positioning and timing information around the clock by receiving orbit and clock error parameters broadcast by satellites in real time. At present, the dual-frequency IF model is widely used for PPP solution. This model can effectively eliminate the first-order ionosphere and reduce the impact of ionospheric scintillation changes on positioning and timing by combining two frequencies. However, this model has high requirements for the consistency of the received satellite frequency. For a certain satellite, two frequency signals must be received at the same time before the IF model can be used for processing.

[0003] In actual engineering applications, it is often the case that some or all of the satellite dual-frequency signals are not fully received. For example, when the satellite signal is interfered by an external signal source, the receiver can only receive one frequency signal. In addition, not all receivers have excellent baseband performance. Due to cost and severe obstruction environments such as urban canyons, sometimes the receiver can only receive a single frequency of some satellites. At this time, the satellite observations of these single frequencies will not be able to participate in the normal PPP solution. The half-sum (Uofc) model combines the pseudo-range phase observations of a single frequency, which not only reduces the noise of the combined observations, but also eliminates the influence of the first-order ionospheric delay, but it needs to estimate the ambiguity parameters on both frequencies at the same time.

[0004] Existing research has also designed some technical solutions for the situation where the received satellite frequency signals are inconsistent, mainly targeting the inconsistent broadcast frequencies of satellites launched at different stages brought about by GPS modernization, and the inconsistent frequencies of BDS-2 and BDS-3 satellites. However, it is mainly aimed at the three-frequency ionospheric elimination model. This model combines the observation values ​​of three frequencies at one time, but still requires the normal reception of at least two satellite signals of different frequencies. Some scholars have proposed to use the ionospheric model to correct the ionospheric error of the single-frequency pseudorange observation equation and then participate in the PPP solution of the IF model. However, due to the limitations of the accuracy of the ionospheric model and the pseudorange observation values, the accuracy of this solution is not significantly improved. Summary of the invention

[0005] Based on this, it is necessary to provide a multi-model fusion precise single-point positioning and timing method, device and receiver to address the above technical problems, which can solve the positioning and timing problems when some or all satellites only receive single-frequency observation data.

[0006] A multi-model fusion precise point positioning and timing method, the method comprising:

[0007] Establishing a function model for data processing in precise point positioning and timing; the function model includes: an IF model and a Uofc model; the IF model is used to process dual-frequency data, and the Uofc model is used to process single-frequency data;

[0008] Obtaining a receiver hardware delay deviation parameter integrating the IF model and the Uofc model according to a clock difference between a receiver clock difference parameter of the IF model and a receiver clock difference parameter of the Uofc model;

[0009] According to the receiver hardware delay deviation parameter, the IF model and the Uofc model are fused to obtain a fusion model, so that in precise single-point positioning and timing, the satellite signal receiving a single frequency observation value is processed by the Uofc model in the fusion model, and the satellite signal receiving a complete dual-frequency observation value is processed by the IF model in the fusion model.

[0010] In one of the embodiments, it also includes: according to the clock difference between the receiver clock difference parameters of the IF model and the receiver clock difference parameters of the Uofc model, a random walk estimation method is used to obtain the receiver hardware delay deviation parameters between the fusion of the IF model and the Uofc model.

[0011] In one embodiment, the method further includes: fusing the IF model and the Uofc model according to the receiver hardware delay deviation parameter, and obtaining an observation equation of the fusion model as follows:

[0012] ;

[0013] in, and are the combined pseudorange and phase observations in the IF model, Represents a single frequency The pseudo-range phase combination observation value, Indicates that the receiver can receive satellites with two frequency observation values, This means that only satellites with single frequency observations can be received. is the three-dimensional position coordinate parameter of the ground point, is the receiver clock error parameter, , represents the actual receiver clock error, represents the combined pseudorange hardware delay, is the receiver hardware delay deviation parameter; is the estimated tropospheric delay parameter at the receiver zenith; is the combined fuzziness parameter of the IF model, is the frequency The fuzziness parameter, and are the observation noise of combined pseudorange and combined phase respectively, is the single frequency pseudorange phase combined noise of the Uofc model.

[0014] In one embodiment, it further includes: using a random walk estimation method to obtain a receiver hardware delay deviation parameter that is integrated between the IF model and the Uofc model:

[0015] ;

[0016] For a single frequency The pseudorange hardware delay.

[0017] In one embodiment, the method further includes: inferring the ambiguity according to the combined observation value of the current epoch, the receiver clock drift and the PPP related parameters of the previous epoch:

[0018] ;

[0019] in, and Indicates the current epoch and the previous epoch.

[0020] In one embodiment, the method further comprises: under static conditions, ;

[0021] Under dynamic conditions, ; represents the velocity of the current epoch, Indicates the time interval between the current epoch and the previous epoch; , represents the receiver clock error parameter of the previous epoch, represents the clock drift value of the current epoch, and All are obtained by Doppler velocity measurement.

[0022] In one of the embodiments, the ambiguity parameter jumps when the received satellite signal changes from the dual-frequency observation value to the single-frequency observation value or the single-frequency observation value is restored to the dual-frequency observation value, and the ambiguity calculation mode changes from the dual-frequency combination and single frequency Switch between.

[0023] A multi-model fusion precise point positioning and timing device, the device comprising:

[0024] A function model building module is used to build a function model for data processing in precise point positioning and timing; the function model includes: an IF model and a Uofc model; the IF model is used to process dual-frequency data, and the Uofc model is used to process single-frequency data;

[0025] A deviation calculation module, used for obtaining a receiver hardware delay deviation parameter integrating the IF model and the Uofc model according to a clock difference between a receiver clock difference parameter of the IF model and a receiver clock difference parameter of the Uofc model;

[0026] The fusion positioning and timing module is used to fuse the IF model and the Uofc model according to the receiver hardware delay deviation parameter to obtain a fusion model, so that in precise single-point positioning and timing, the Uofc model in the fusion model is used to process the satellite signal that only receives a single frequency observation value, and the IF model in the fusion model is used to process the satellite signal that can fully receive dual-frequency observation values.

[0027] A receiver comprises a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0028] Establishing a function model for data processing in precise point positioning and timing; the function model includes: an IF model and a Uofc model; the IF model is used to process dual-frequency data, and the Uofc model is used to process single-frequency data;

[0029] Obtaining a receiver hardware delay deviation parameter integrating the IF model and the Uofc model according to a clock difference between a receiver clock difference parameter of the IF model and a receiver clock difference parameter of the Uofc model;

[0030] According to the receiver hardware delay deviation parameter, the IF model and the Uofc model are fused to obtain a fusion model, so that in precise single-point positioning and timing, the Uofc model in the fusion model processes the satellite signal that only receives a single frequency observation value, and the IF model in the fusion model processes the satellite signal that can fully receive dual-frequency observation values.

[0031] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the following steps:

[0032] Establishing a function model for data processing in precise point positioning and timing; the function model includes: an IF model and a Uofc model; the IF model is used to process dual-frequency data, and the Uofc model is used to process single-frequency data;

[0033] Obtaining a receiver hardware delay deviation parameter integrating the IF model and the Uofc model according to a clock difference between a receiver clock difference parameter of the IF model and a receiver clock difference parameter of the Uofc model;

[0034] According to the receiver hardware delay deviation parameter, the IF model and the Uofc model are fused to obtain a fusion model, so that in precise single-point positioning and timing, the Uofc model in the fusion model processes the satellite signal that only receives a single frequency observation value, and the IF model in the fusion model processes the satellite signal that can fully receive dual-frequency observation values.

[0035] The above-mentioned multi-model fusion precise point positioning timing method, device and receiver adopt the fusion method of IF model and Uofc model for the design of function model, so as to solve the problem that the current IF model is unable to establish observation equations due to the lack of a certain frequency signal of the satellite in a complex environment. In addition, in the model fusion, the receiver hardware delay deviation parameter is designed to solve the problem of receiver clock error difference when the IF model and the Uofc model are integrated for PPP solution. The present invention fuses the IF model and the Uofc model for PPP solution, which can fully utilize all satellite resources observed by the receiver under normal conditions, and avoid the problem of interruption or jump in PPP positioning and timing when the satellite signal is interfered. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 A general flow chart of a precise point positioning timing method in one embodiment;

[0037] Figure 2 A schematic diagram of a flow chart of a multi-model fusion precise point positioning and timing method in one embodiment;

[0038] Figure 3 is a flowchart of a fusion model in one embodiment;

[0039] Figure 4 A schematic diagram of a flow chart of ambiguity parameter calculation in another embodiment;

[0040] Figure 5 It is a structural block diagram of a multi-model fusion precise point positioning and timing device in one embodiment;

[0041] Figure 6 FIG. 4 is a diagram showing the internal structure of a receiver in one embodiment. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0043] The multi-model fusion precise point positioning and timing method provided in this application can be applied to Figure 1 In the processing flow shown in the figure, the PPP technology uses the pseudo-range phase observation data collected by the receiver of a single measuring station to establish a correct function model, and uses Kalman filtering to continuously iterate and solve parameters such as position clock error, thereby providing coordinate and time information to users in real time.

[0044] In one embodiment, Figure 2 As shown in the figure, a multi-model fusion precise point positioning and timing method is provided, which is mainly achieved by improving Figure 1 The steps of the function model in the method include the following steps:

[0045] Step 202, establishing a function model for data processing in precise point positioning and timing.

[0046] Function models include: IF model and Uofc model; IF model is used to process dual-frequency data, and Uofc model is used to process single-frequency data.

[0047] The IF model consists of two parts, namely the combined pseudorange observation equation and the combined phase observation equation:

[0048] ;

[0049] Where: and are the combined pseudorange and phase observations in the IF model, is the three-dimensional position coordinate parameter of the ground point, is the receiver clock error parameter, which is composed of the real receiver clock error and the combined pseudorange hardware delay at the receiver end, that is, ; is the estimated tropospheric delay parameter at the receiver zenith; Combined ambiguity parameters for the IF model. In addition, and are the observation noise of combined pseudorange and combined phase respectively.

[0050] Since the IF model eliminates the first-order ionospheric delay term, it can avoid its correlation with the receiver clock error parameters and ensure the stability of timing.

[0051] The Uofc model, also known as the half-sum model, is an ionospheric elimination model. Unlike the IF model, this model does not combine observations of two different frequencies, but uses the characteristics of the positive and negative signs of the ionospheric delay terms of the pseudorange and phase observations of a single frequency to add the pseudorange and phase observations and then divide them by 2, thus eliminating the first-order ionospheric delay term. The pseudorange-phase combination observation equation of the Uofc model is:

[0052] ;

[0053] Where: Represents a single frequency The pseudo-range phase combination observation value, is the receiver clock error parameter of the half-sum model, which is composed of the actual receiver clock error and the receiver end The frequency pseudorange hardware delay is combined, that is, ; is the ambiguity parameter of the frequency, and It is a combination of two frequencies. is the ambiguity parameter of a single frequency; is the single frequency pseudorange phase combination noise of the Uofc model; the other parameters are the same as those of the IF model.

[0054] Step 204, according to the clock difference between the receiver clock difference parameter of the IF model and the receiver clock difference parameter of the Uofc model, obtain the receiver hardware delay deviation parameter of the fused IF model and the Uofc model.

[0055] It is not difficult to see from the estimated parameters in the observation equations of the IF model and the Uofc model that the only difference between the two is the clock error parameter and the ambiguity parameter. and Uofc model In essence, the only difference is the second additional term, and whether still All are related to the pseudorange hardware delay at the receiver end. The prior art shows that the pseudorange hardware delay of each frequency at the receiver end is generally stable, that is, and The difference between them can be compensated by a constant estimate or a random walk estimation parameter in the Kalman filter of PPP.

[0056] Step 206, according to the receiver hardware delay deviation parameter, the IF model and the Uofc model are integrated to obtain a fusion model, so that in the precise single-point positioning and timing, the satellite signal that only receives a single frequency observation value is processed by the Uofc model in the fusion model, and the satellite signal that can fully receive dual-frequency observation values ​​is processed by the IF model in the fusion model.

[0057] In the above-mentioned multi-model fusion precise point positioning and timing method, for the design of the function model, the IF model and the Uofc model are integrated to solve the problem that the current IF model is unable to establish the observation equation due to the lack of a certain frequency signal of the satellite in a complex environment. In addition, in the model fusion, the receiver hardware delay deviation parameter is designed to solve the problem of receiver clock error difference when the IF model and the Uofc model are integrated for PPP solution. The present invention integrates the IF model and the Uofc model for PPP solution, which can fully utilize all satellite resources observed by the receiver under normal conditions, and avoid the problem of interruption or jump in PPP positioning and timing when the satellite signal is interfered.

[0058] In one embodiment, if Figure 1 As shown in the figure, the overall process of precise point positioning and timing is explained.

[0059] 1. Data Preprocessing

[0060] The receiver demodulates the satellite signal and decodes it into the required observation data: pseudorange observations, phase observations, Doppler observations and satellite data: orbit corrections, clock corrections and DCB corrections.

[0061] 2. Single point positioning

[0062] Before performing PPP solution, single point positioning, or SPP, needs to be solved. SPP is divided into two parts: 1. Using pseudorange observations to perform least squares solution to obtain rough coordinates and receiver clock errors; 2. Using Doppler observations to perform least squares solution to obtain more accurate velocity and clock drift.

[0063] 1. Establish a mathematical model

[0064] The mathematical model of PPP is divided into a function model and a random model. The function model represents the functional relationship between the estimated parameter and the observed value, and the random model represents the estimated parameter and the statistical characteristics between them. The present invention mainly improves the function model.

[0065] In one embodiment, if Figure 3 As shown, according to the receiver hardware delay deviation parameter, the IF model and the Uofc model are integrated to obtain the observation equation of the fusion model:

[0066] ;

[0067] in, and are the combined pseudorange and phase observations in the IF model, Represents a single frequency The pseudo-range phase combination observation value, Indicates that the receiver can receive satellites with two frequency observation values, This means that only satellites with single frequency observations can be received. is the three-dimensional position coordinate parameter of the ground point, is the receiver clock error parameter, , represents the actual receiver clock error, represents the combined pseudorange hardware delay, is the receiver hardware delay deviation parameter; is the estimated tropospheric delay parameter at the receiver zenith; is the combined fuzziness parameter of the IF model, is the frequency The fuzziness parameter, and are the observation noise of combined pseudorange and combined phase respectively, is the single frequency pseudorange phase combined noise of the Uofc model.

[0068] In another embodiment, in order to ensure the consistency of the clock error parameters between the two models and to more widely adapt to the performance of different receivers, a random walk estimation method is used to obtain the receiver hardware delay deviation parameters of the fused IF model and the Uofc model.

[0069] Specifically, the random walk estimation method is used to obtain the receiver hardware delay deviation parameter of the fused IF model and Uofc model:

[0070] ;

[0071] For a single frequency The pseudorange hardware delay.

[0072] 2. Kalman Filter

[0073] Kalman filtering can use different estimation methods according to the characteristics of different parameters to be estimated. By continuously iterating the epoch observation values, a high-precision parameter value can be obtained. It is mainly divided into two parts: state prediction and measurement update. State prediction is to obtain the predicted value of the parameter to be estimated based on the parameter value of the previous epoch using the corresponding state transfer matrix; measurement update is to update the predicted value of the parameter to be estimated using the observation value of the current epoch to obtain the parameter value to be estimated in the current epoch. Due to the characteristics of the phase ambiguity parameter, the constant estimation method is usually used.

[0074] Among the parameters to be estimated in PPP, the phase ambiguity parameter is one of the important factors affecting its positioning and timing accuracy. Whether the ambiguity parameter can quickly converge to a more accurate value determines the accuracy and stability of PPP timing. Due to the surrounding environment occlusion and the loss of receiver phase-locked loop under continuous observation conditions, the ambiguity is prone to cycle slips. At present, for ambiguity parameters that have cycle slips, the IF model uses the subtraction of the combined pseudorange phase observation values ​​for initialization, and the Uofc model uses the original pseudorange and phase observation values ​​of the frequency for subtraction, and then subtracts twice the ionospheric delay, and the ionospheric delay is calculated using the ionospheric model. However, the IF model initialization method will introduce the combined pseudorange noise, which is generally a meter-level error; and the Uofc model not only introduces pseudorange noise, but also the ionospheric delay calculated using the ionospheric model deviates from its true value.

[0075] In order to solve the above problem, in one embodiment, according to the combined observation value of the current epoch, the receiver clock drift and the PPP related parameters of the previous epoch, the ambiguity is inversely calculated as:

[0076] ;

[0077] in, and Indicates the current epoch and the previous epoch.

[0078] In another embodiment, since the tropospheric parameters and the hardware delay parameters of the receiver are stable in a short time, the parameter values ​​of the previous epoch can be used directly; and the position parameters Then set them according to different states: Under static conditions, the PPP position solution of the previous epoch can be used, that is, Under dynamic conditions, it is necessary to calculate based on the position of the previous epoch and the speed of the current epoch, that is, ; The clock error parameter is calculated based on the receiver clock error value of the previous epoch and the clock drift value of the current epoch, that is, , and All are obtained by Doppler velocity measurement.

[0079] In one embodiment, when the received satellite signal changes from a dual-frequency observation value to a single-frequency observation value or the single-frequency observation value is restored to a dual-frequency observation value, it is equivalent to a jump in the ambiguity parameter. In this case, the above method can still be used to infer the ambiguity. The ambiguity calculation mode is in the dual-frequency combination mode. and single frequency Switch between.

[0080] Specifically, Figure 4As shown in Figure 2, in a complex environment, the receiver can still solve the problem normally when the satellite observations received by the receiver change from dual-frequency observations to single-frequency observations. However, the fusion model only contains pseudo-range phase combination observations of a single frequency. In addition, when the same satellite changes from dual-frequency observation to single-frequency observation, its ambiguity parameters also change from becomes , it can be regarded as a cycle slip of the satellite; similarly, if the satellite recovers from the single-frequency observation value to the dual-frequency observation value, it is also regarded as a cycle slip of the satellite. In the above two cases, the ambiguity initialization method proposed in the present invention can be used to obtain a more accurate ambiguity initial value to ensure the continuity of PPP solution and the stability of timing.

[0081] It should be understood that although Figure 2 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, Figure 2 At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0082] In one embodiment, Figure 5 As shown, a multi-model fusion precise point positioning and timing device is provided, including: a function model building module 502, a deviation calculation module 504 and a fusion positioning and timing module 506, wherein:

[0083] Function model building module 502, used to build a function model for data processing in precise point positioning and timing; the function model includes: an IF model and a Uofc model; the IF model is used to process dual-frequency data, and the Uofc model is used to process single-frequency data;

[0084] The deviation calculation module 504 is used to obtain a receiver hardware delay deviation parameter integrating the IF model and the Uofc model according to a clock difference between a receiver clock difference parameter of the IF model and a receiver clock difference parameter of the Uofc model;

[0085] The fused positioning and timing module 506 is used to fuse the IF model and the Uofc model according to the receiver hardware delay deviation parameter to obtain a fusion model, so that in precise single-point positioning and timing, the Uofc model in the fusion model is used to process the satellite signal that only receives a single frequency observation value, and the IF model in the fusion model is used to process the satellite signal that can fully receive dual-frequency observation values.

[0086] In one embodiment, the deviation calculation module 504 is also used to obtain the receiver hardware delay deviation parameter between the IF model and the Uofc model by using a random walk estimation method based on the clock error difference between the receiver clock error parameters of the IF model and the receiver clock error parameters of the Uofc model.

[0087] In one embodiment, the fusion positioning and timing module 506 is further used to fuse the IF model and the Uofc model according to the receiver hardware delay deviation parameter, and obtain the observation equation of the fusion model as follows:

[0088] ;

[0089] in, and are the combined pseudorange and phase observations in the IF model, Represents a single frequency The pseudo-range phase combination observation value, Indicates that the receiver can receive satellites with two frequency observation values, This means that only satellites with single frequency observations can be received. is the three-dimensional position coordinate parameter of the ground point, is the receiver clock error parameter, , represents the actual receiver clock error, represents the combined pseudorange hardware delay, is the receiver hardware delay deviation parameter; is the estimated tropospheric delay parameter at the receiver zenith; is the combined fuzziness parameter of the IF model, is the frequency The fuzziness parameter, and are the observation noise of combined pseudorange and combined phase respectively, is the single frequency pseudorange phase combined noise of the Uofc model.

[0090] In one embodiment, the deviation calculation module 504 is further used to adopt a random walk estimation method to obtain a receiver hardware delay deviation parameter of the fused IF model and the Uofc model:

[0091] ;

[0092] For a single frequency The pseudorange hardware delay.

[0093] In one embodiment, an ambiguity calculation module is further included, which is used to infer the ambiguity according to the combined observation value of the current epoch, the receiver clock drift and the PPP related parameters of the previous epoch:

[0094] ;

[0095] in, and Indicates the current epoch and the previous epoch.

[0096] In one embodiment, the fuzziness calculation module is further configured to, under static conditions, ;

[0097] Under dynamic conditions, ; represents the velocity of the current epoch, Indicates the time interval between the current epoch and the previous epoch; , represents the receiver clock error parameter of the previous epoch, represents the clock drift value of the current epoch, and All are obtained by Doppler velocity measurement.

[0098] In one embodiment, the ambiguity calculation module is further configured to change the ambiguity parameter when the received satellite signal changes from the dual-frequency observation value to the single-frequency observation value or the single-frequency observation value is restored to the dual-frequency observation value, and the ambiguity calculation mode changes from the dual-frequency combination and single frequency Switch between.

[0099] For the specific definition of the precise point positioning and timing device with multi-model fusion, please refer to the definition of the precise point positioning and timing method with multi-model fusion mentioned above, which will not be repeated here. Each module in the precise point positioning and timing device with multi-model fusion mentioned above can be implemented in whole or in part by software, hardware and a combination thereof. The above modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0100] In one embodiment, a receiver is provided. The receiver may be a terminal, and its internal structure diagram may be as shown in FIG. Figure 6As shown. The computer device includes a processor, a memory, a network interface and a database connected through a system bus. Among them, the processor of the receiver is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the receiver is used to store single-frequency observation data and / or dual-frequency observation data. The network interface of the receiver is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a precise single-point positioning and timing method with multi-model fusion is implemented.

[0101] Those skilled in the art will understand that Figure 6 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0102] In one embodiment, a receiver is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the method in the above embodiment when executing the computer program.

[0103] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of the method in the above embodiment are implemented.

[0104] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0105] The technical features of the above embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0106] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A multi-model fusion precise point positioning and timing method, characterized in that: The method comprises: Establishing a function model for data processing in precise point positioning and timing; the function model includes: an IF model and a Uofc model; the IF model is used to process dual-frequency data, and the Uofc model is used to process single-frequency data; Obtaining a receiver hardware delay deviation parameter integrating the IF model and the Uofc model according to a clock difference between a receiver clock difference parameter of the IF model and a receiver clock difference parameter of the Uofc model; According to the receiver hardware delay deviation parameter, the IF model and the Uofc model are fused to obtain a fusion model, so that in precise single-point positioning timing, the satellite signal receiving a single frequency observation value is processed by the Uofc model in the fusion model, and the satellite signal receiving a complete dual-frequency observation value is processed by the IF model in the fusion model; according to the clock difference between the receiver clock difference parameter of the IF model and the receiver clock difference parameter of the Uofc model, the receiver hardware delay deviation parameter between the IF model and the Uofc model is obtained, including: According to the clock difference between the receiver clock difference parameter of the IF model and the receiver clock difference parameter of the Uofc model, a random walk estimation method is used to obtain a receiver hardware delay deviation parameter integrating the IF model and the Uofc model; According to the receiver hardware delay deviation parameter, the IF model and the Uofc model are integrated to obtain a fusion model, including: According to the receiver hardware delay deviation parameter, the IF model and the Uofc model are fused to obtain the observation equation of the fusion model: in, and are the combined pseudorange and phase observations in the IF model, Represents a single frequency f j (j=1,2), s1 represents the satellite that can receive two frequency observations, s2 represents the satellite that can only receive a single frequency observation, X is the three-dimensional position coordinate parameter of the ground point, is the receiver clock error parameter, dt r represents the actual receiver clock error, d r,IF represents the combined pseudorange hardware delay, Δclk r is the receiver hardware delay deviation parameter; T r is the estimated tropospheric delay parameter at the receiver zenith; is the combined fuzziness parameter of the IF model, is the frequency f j The fuzziness parameter, ε IF,P and IF,L are the observation noise of combined pseudorange and combined phase, η j,Uofc is the single frequency pseudorange phase combined noise of the Uofc model.

2. The method according to claim 1, characterized in that The random walk estimation method is used to obtain the receiver hardware delay deviation parameter integrating the IF model and the Uofc model, including: Using the random walk estimation method, the receiver hardware delay deviation parameter between the fusion IF model and the Uofc model is obtained as follows: d r,j For a single frequency f j The pseudorange hardware delay.

3. The method according to claim 2, characterized in that The method further comprises: According to the combined observation value of the current epoch, the receiver clock drift and the PPP related parameters of the previous epoch, the ambiguity is inversely calculated as: Among them, k and k-1 represent the current epoch and the previous epoch.

4. The method according to claim 3, characterized in that The method further comprises: Under static conditions, X k =X k-1 ; Under dynamic conditions, X k =X k-1 +V k *Δt k,k-1 ; V k represents the velocity of the current epoch, Δt k,k-1 Indicates the time interval between the current epoch and the previous epoch; represents the receiver clock error parameter of the previous epoch, Indicates the clock drift value of the current epoch, V k and All are obtained by Doppler velocity measurement.

5. The method according to claim 3 or 4, characterized in that: The method further comprises: When the received satellite signal changes from dual-frequency observation value to single-frequency observation value or single-frequency observation value is restored to dual-frequency observation value, the ambiguity parameter jumps and the ambiguity calculation mode changes from dual-frequency combination to single-frequency combination. and single frequency Switch between.

6. A multi-model fusion precise point positioning timing device, used to implement the multi-model fusion precise point positioning timing method according to any one of claims 1 to 5, characterized in that: The device comprises: A function model building module is used to build a function model for data processing in precise point positioning and timing; the function model includes: an IF model and a Uofc model; the IF model is used to process dual-frequency data, and the Uofc model is used to process single-frequency data; A deviation calculation module, used for obtaining a receiver hardware delay deviation parameter integrating the IF model and the Uofc model according to a clock difference between a receiver clock difference parameter of the IF model and a receiver clock difference parameter of the Uofc model; The fusion positioning and timing module is used to fuse the IF model and the Uofc model according to the receiver hardware delay deviation parameter to obtain a fusion model, so that in precise single-point positioning and timing, the Uofc model in the fusion model is used to process the satellite signal that only receives a single frequency observation value, and the IF model in the fusion model is used to process the satellite signal that can fully receive dual-frequency observation values.

7. A receiver, comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 5 are implemented.

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