Pseudo-range hardware delay calibration method and device

Abstract

A pseudo-range hardware delay calibration method and device are suitable for a single-station receiver, and the method comprises the following steps: carrying out precise point positioning ambiguity fixation (PPP-AR) positioning estimation on a single station based on a satellite-based enhancement service (SSR) correction number, and determining integer ambiguity information; estimating the receiver ionosphere-free combination pseudo-range hardware delay of each satellite of a single station by using the ionosphere-free pseudo-range observation value combination and the ionosphere-free carrier wave observation value combination in combination with the integer ambiguity information, the pseudo-range in the SSR service and the phase clock error correction; the method comprises the following steps: estimating receiver MW pseudo-range hardware delay of each satellite of a single station by using wide lane combination (MW) observation value combination and integer ambiguity information in combination with uncalibrated phase delay and uncalibrated phase deviation (UPD) correction in SSR (Simple Sequence Repeat) service; based on receiver ionosphere-free pseudo-range hardware delay and receiver MW pseudo-range hardware delay, hardware delay information of each satellite and each frequency point of the single-station receiver is separated. According to the embodiment of the invention, the pseudo-range hardware delay calibration of the single-station receiver is realized.

Description

Technical Field

[0001] The present invention relates to satellite navigation technology, and more particularly to a method and device for calibrating pseudorange hardware delay. Background Art

[0002] The Global Navigation Satellite System (GNSS) can provide global users with three-dimensional, all-weather, high-quality positioning, navigation and timing (PNT) services, which are widely used in transportation, navigation, public safety and other fields. However, the GNSS navigation service can only obtain meter-level positioning accuracy. In order to improve positioning accuracy and availability, many countries have developed navigation augmentation systems, such as the Wide Area Augmentation System (WAAS), the European Geostationary Navigation Overlay Service (EGNOS), the Service Embedded BeiDou System (BDSBAS) and the Galileo Free High Accuracy Service (Galileo HAS). High-precision applications in related technologies, such as geodesy, deformation monitoring and drone mapping, usually use single-station real-time dynamic carrier phase difference technology (RTK), small area network real-time dynamic positioning technology (NRTK), and precise point positioning technology (PPP) services; however, they cannot meet the needs of smart driving, precision agriculture, consumer drones, and shared bicycles for high-precision centimeter-level services anytime and anywhere. In recent years, some companies have begun to provide NRTK, PPP-RTK and other services based on large-scale GNSS tracking station networks.

[0003] The National Satellite Navigation and Positioning Reference Service System (Giant CORS), that is, the large-scale GNSS tracking station network, has high construction costs. At present, some commercial companies have built thousands of large-scale GNSS tracking station networks with high operation and maintenance costs, but they still cannot meet customers' needs for high-precision services anytime and anywhere: for intelligent driving services, it is necessary to cover the main road network; in low-latitude areas, in order to deal with the problem of active ionospheric, it is necessary to encrypt stations; for customers with domestic and overseas integrated services, it is also necessary to build stations in overseas areas. In order to meet the above needs, it is necessary to integrate various data resources and expand the coverage area, which will involve various types of receivers and antennas participating in the networking. The hardware delay of the receiver is different, which will lead to the degradation of NRTK and PPP-RTK services. In order to meet the needs of commercial high-performance services, it is necessary to calibrate the hardware delay of thousands of tracking station receivers to improve the service performance of hybrid device networking; for carrier observations: CDMA signals have no obvious impact, and the FDMA signal inter-frequency phase deviation (PIFB, Phase Inter Frequency Bias) is linearly related to the frequency number, which is relatively easy to calibrate or estimate, and the method is relatively mature; for pseudorange observations: different receiver types, different firmware versions, and different antennas have different receiver pseudorange hardware delays, and this problem exists for both CDMA and FDMA signals.

[0004] A large number of studies have focused on the hardware delay calibration problem of the above-mentioned receiver pseudorange. Among them, the more representative literature includes: Wanninger studied the calibration technology of GLONASS PIFB for online reference stations, but did not involve more complex receiver pseudorange calibration; Zhixin Yang proposed a real-time GLONASS carrier and pseudorange calibration strategy, but this strategy is based on a zero baseline and cannot calibrate existing online base station receivers; Fu Zheng et al. proposed a Beidou multi-frequency receiver pseudorange calibration method, but this method only calibrates receivers of the same type and gives the receiver pseudorange delay information of the same type of receivers, but does not give the receiver pseudorange delay information of each satellite and each frequency point corresponding to each receiver; Yanyan Liu proposed a GLONASS pseudorange inter-frequency deviation calibration method, which requires regional networking and has limited calibration accuracy; Yulong Ge also proposed a PPP estimation method for the inter-frequency deviation of GLONASS pseudorange, which is based on different model assumptions. The problem is that the pseudorange deviation is relatively random and it is difficult to use assumptions such as linear models and polynomial models. ZhengZhang introduced a calibration method for the pseudorange hardware delay of GLONASS receivers. This method is affected by the accuracy of ionospheric estimation and the mutual absorption of various parameters.

[0005] In summary, the hardware delay calibration of pseudorange for single-station receivers in related technologies has the following problems: First, effective calibration methods need to be based on zero baselines and short baselines, which are not available for online base stations, and zero baseline calibration does not consider the influence of receiver antennas and cables; second, calibration and estimation methods for non-zero baselines and short baselines have many factors affecting the calibration accuracy and cannot provide hardware delay information for each satellite and frequency point of a single-station receiver. How to implement hardware delay calibration of pseudorange for single-station receivers has become a problem to be solved. Summary of the invention

[0006] The embodiment of the present application provides a method for calibrating pseudorange hardware delay, which is applicable to a single-station receiver, including: Based on the satellite-based augmentation service SSR correction number, the precise point positioning ambiguity fixed PPP-AR positioning estimation is performed on the single station to determine the integer ambiguity information of the carrier phase observation value on each frequency point; The ionosphere-free pseudorange observation combination and ionosphere-free carrier observation combination are used to estimate the receiver ionosphere-free combined pseudorange hardware delay of each satellite at a single station by combining the integer ambiguity information, pseudorange clock correction number and phase clock correction number in the SSR service. The receiver MW pseudorange hardware delay of each satellite at a single station is estimated by using the wide-lane combined MW observation combination, integer ambiguity information, and the uncalibrated phase delay and uncalibrated phase deviation (UPD) corrections in the SSR service. Based on the receiver's ionosphere-free pseudorange hardware delay and the receiver's MW pseudorange hardware delay, the hardware delay information of each satellite and each frequency point of a single-station receiver is separated.

[0007] On the other hand, an embodiment of the present application further provides a computer storage medium, wherein the computer storage medium stores a computer program, and when the computer program is executed by a processor, the above-mentioned method for calibrating the pseudorange hardware delay is implemented.

[0008] On the other hand, an embodiment of the present application further provides a terminal, comprising: a memory and a processor, wherein the memory stores a computer program; wherein: The processor is configured to execute the computer program in the memory; When the computer program is executed by the processor, the method for calibrating pseudorange hardware delay as described above is implemented.

[0009] On the other hand, the embodiment of the present application also provides a pseudorange hardware delay calibration device, which is arranged in a single-station receiver or connected to a single-station receiver, including: a determination unit, a first estimation unit, a second estimation unit and a processing unit; wherein, The determination unit is set as follows: based on the satellite-based augmentation service SSR correction number, the precise point positioning ambiguity fixed PPP-AR positioning estimation is performed on the single station, and the integer ambiguity information of the carrier phase observation value on each frequency point is determined; The first estimation unit is configured to estimate the receiver ionosphere-free combined pseudorange hardware delay of each satellite at a single station by using the ionosphere-free pseudorange observation value combination and the ionosphere-free carrier observation value combination, in combination with the integer ambiguity information, the pseudorange clock correction number and the phase clock correction number in the SSR service; The second estimation unit is configured to estimate the receiver MW pseudorange hardware delay of each satellite of a single station by using the wide lane combined MW observation value combination and the integer ambiguity information, combined with the uncalibrated phase delay uncalibrated phase deviation UPD correction number in the SSR service; The processing unit is configured to separate the hardware delay information of each satellite and each frequency point of the single-station receiver based on the receiver ionosphere-free pseudorange hardware delay and the receiver MW pseudorange hardware delay.

[0010] The disclosed embodiment implements the hardware delay calibration of pseudorange of a single-station receiver.

[0011] Other features and advantages of the present application will be described in the following description, and partly become apparent from the description, or be understood by implementing the present application. Other advantages of the present application can be realized and obtained by the schemes described in the description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The accompanying drawings are used to provide an understanding of the technical solution of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the technical solution of the present application and do not constitute a limitation on the technical solution of the present application.

[0013] Figure 1 A flowchart of a method for calibrating pseudorange hardware delay according to an embodiment of the present disclosure; Figure 2 The present invention is a structural block diagram of a device for calibrating pseudorange hardware delay according to an embodiment of the present invention. DETAILED DESCRIPTION

[0014] The present application describes multiple embodiments, but the description is exemplary rather than restrictive, and it is obvious to those skilled in the art that there may be more embodiments and implementations within the scope of the embodiments described in the present application. Although many possible feature combinations are shown in the drawings and discussed in the specific embodiments, many other combinations of the disclosed features are also possible. Unless specifically limited, any feature or element of any embodiment may be used in combination with any other feature or element in any other embodiment, or may replace any other feature or element in any other embodiment.

[0015] The present application includes and contemplates combinations of features and elements known to those of ordinary skill in the art. The embodiments, features and elements disclosed in the present application may also be combined with any conventional features or elements to form a unique invention scheme. Any features or elements of any embodiment may also be combined with features or elements from other invention schemes to form another unique invention scheme. Therefore, it should be understood that any feature shown and / or discussed in the present application may be implemented individually or in any appropriate combination. Therefore, except for the limitations made according to the attached claims and their equivalents, the embodiments are not subject to other restrictions. In addition, various modifications and changes may be made within the scope of protection of the attached claims.

[0016] In addition, when describing representative embodiments, the specification may have presented the method and / or process as a specific sequence of steps. However, to the extent that the method or process does not rely on the specific order of the steps described herein, the method or process should not be limited to the steps of the specific order described. As will be understood by those of ordinary skill in the art, other sequences of steps are also possible. Therefore, the specific sequence of the steps set forth in the specification should not be interpreted as a limitation to the claims. In addition, the claims for the method and / or process should not be limited to the steps of performing them in the order written, and those skilled in the art can easily understand that these sequences can be changed and still remain within the spirit and scope of the embodiments of the present application.

[0017] The disclosed embodiments fully consider the needs of large-scale GNSS network with mixed-type equipment networking, and provide a method for calibrating pseudo-range hardware delay. The method is based on SSR correction numbers (State Space Representation), also referred to as satellite-based augmentation service correction numbers. It can be effectively calibrated without using zero baseline or short baseline, and can also avoid the technical defects of non-baseline methods. The calibration of receiver antennas can be considered, which is convenient for calibrating the pseudo-range hardware delay of each frequency point of online base stations, and supports the realization of unbiased mixed networking of various types of receivers and antennas, which is of great significance.

[0018] Figure 1Flow chart of the method for calibrating pseudorange hardware delay according to an embodiment of the present disclosure, which is applicable to a single-station receiver, such as Figure 1 As shown, including: Step 101: Perform precise point positioning ambiguity fixation (PPP-AR) positioning estimation on a single station based on satellite-based augmentation service (SSR) corrections to determine integer ambiguity information of carrier phase observations at each frequency point; In an exemplary embodiment, the integer ambiguity information in the embodiment of the present disclosure includes: ultra-wide lane ambiguity , wide lane ambiguity , the integer ambiguity of the first frequency point and the integer ambiguity of the second frequency point , Frequency The integer ambiguity ; Step 102: using the ionosphere-free pseudorange observation value combination and the ionosphere-free carrier observation value combination, combined with the integer ambiguity information, the pseudorange clock correction number and the phase clock correction number in the SSR service, the receiver ionosphere-free combined pseudorange hardware delay of each satellite of the single station is estimated; Step 103, using the wide lane combination (MW) observation value combination, the integer ambiguity information, and the uncalibrated phase delay uncalibrated phase deviation (UPD) correction number in the SSR service, the receiver MW pseudorange hardware delay of each satellite of the single station is estimated; Step 104: Separate the hardware delay information of each satellite and each frequency point of the single-station receiver based on the receiver ionosphere-free pseudorange hardware delay and the receiver MW pseudorange hardware delay.

[0019] The disclosed embodiment implements the hardware delay calibration of pseudorange of a single-station receiver.

[0020] In an exemplary embodiment, referring to the related art, step 101 of the embodiment of the present disclosure performs PPP-AR positioning estimation on a single station based on SSR corrections, and determines the integer ambiguity information of the carrier phase observation value at each frequency point, including: Step 1010: The floating point ambiguity of each frequency point is estimated using the precise point positioning PPP estimation model based on the SSR correction number. , and convert the floating point ambiguity of each frequency point into the ultra-wide lane floating point ambiguity and wide lane floating point ambiguity ; The disclosed embodiment converts the floating point ambiguity of each frequency point into an ultra-wide lane floating point ambiguity , Wide Lane Floating Point Ambiguity The expression is: (1) Step 1011: Use the ultra-wide lane UPD provided by the SSR service ( )、Wide Lane UPD( )、Narrow Alley UPD( ) products and eliminate the ultra-wide lane hardware delay at the receiver end through inter-satellite single difference , Wide Lane Hardware Delay , Narrow Lane Hardware Delay , achieving ultra-wide lane floating point ambiguity , Wide Lane Floating Point Ambiguity , and the ambiguity of the hardware delay between the pseudorange and the first frequency of the carrier The ambiguity is fixed, and the following integer ambiguity information is obtained: Ultra-wide lane ambiguity , wide lane ambiguity , the integer ambiguity of the first frequency point and the integer ambiguity of the second frequency point , Frequency The integer ambiguity .

[0021] In an exemplary embodiment, the PPP estimation model based on the SSR correction number in the embodiment of the present disclosure is: (2) in, For tracking stations Tracking Satellites Frequency The difference between the observed value and the calculated value of the pseudorange observation value (OMC, Observed-minus-computed) value, For tracking stations Tracking Satellites Frequency OMC value of carrier observation value, It is a receiver To Satellite The unit vector of is the receiver position correction, is the receiver clock error that absorbs the receiver pseudorange hardware delay, is the satellite clock error that absorbs the satellite pseudorange hardware delay, It is the ionospheric delay at the first frequency point that absorbs the hardware delay between the receiver and the satellite pseudorange. It absorbs the ambiguity of pseudorange and carrier hardware delay. is the pseudorange frequency deviation, It is the satellite clock frequency deviation; the precise satellite orbit correction number broadcast by the SSR service is used to correct OMC, Obtained from the precise satellite clock correction number, Provided by SSR service, , , , , and is the parameter to be estimated, In the SSR service, it is a pseudo-range clock, which absorbs the satellite pseudo-range hardware delay. (3) The pseudorange and carrier hardware delay are absorbed and the expression is: (4) In an exemplary embodiment, the GNSS original observation equation in the embodiment of the present disclosure is expressed as: (5) (6) In the formula, It is a tracking station Tracking Satellites Frequency The carrier observation value, It is a tracking station Tracking Satellites Frequency The pseudo-range observation value of It is a tracking station To Satellite The geometric distance is the ionospheric delay at the first frequency point in the line of sight, is the signal frequency, is the signal wavelength, is the tropospheric delay in the line of sight, is the receiver clock error, is the satellite clock error, The receiver is at the frequency Carrier hardware delay on The satellite is at the frequency Carrier hardware delay on The receiver is at the frequency Pseudorange hardware delay on The satellite is at the frequency Pseudorange hardware delay on It is the frequency The integer ambiguity of is the carrier observation noise, is the pseudorange observation noise.

[0022] Taking the dual-frequency observation values ​​of the first frequency point L1 and the second frequency point L2 as an example, step 102 of the embodiment of the present disclosure estimates the ionosphere-free combined pseudorange hardware delay of the receiver of each satellite of a single station, including: Based on the carrier observations of the first frequency L1 and the second frequency L2 without ionosphere, the pseudorange observations of the first frequency L1 and the second frequency L2 without ionosphere, the satellite pseudorange clock corrections, and the phase clock corrections in the SSR service, the least squares estimator is used to estimate the .

[0023] The carrier observation values ​​of the L1 and L2 ionosphere-free combination in the embodiment of the present disclosure are: (7) in, is the ionospheric-free ambiguity, which can be obtained from , Combined to get, , They are the receiver and satellite phase clock, That is, the satellite phase clock correction number in the SSR service. ; The pseudo-range observation values ​​of the L1 and L2 ionosphere-free combination in the embodiment of the present disclosure are: (8) in, That is, the satellite pseudo-range clock correction number in the SSR service. is the ionospheric-free combination of the receiver pseudorange hardware delay, ; Subtracting formula (8) from formula (7) yields: (9) Among them, a single satellite system estimates a ; Each satellite estimates one ; It is an ionospheric ambiguity free and can be obtained from the integer ambiguity of the first frequency point and the integer ambiguity of the second frequency Combine to get; is the satellite pseudorange clock correction number in the SSR service, is the phase clock correction number in the SSR service; using multi-epoch observation data and the least squares estimator, it can be estimated and .

[0024] In an exemplary embodiment, step 103 of the present disclosure utilizes MW observation value combination, combined with SSR service Corrections, estimating the receiver MW combined pseudorange hardware delay for each satellite at a single station, including: Step 1031, substituting the GNSS original observation equations (5) and (6) into the MW combined observation values ​​of L1 and L2; Step 1032: Using multi-epoch observation data, the least squares estimator is used to estimate .

[0025] In an exemplary embodiment, the expression of the MW combined observation value of L1 and L2 in the embodiment of the present disclosure is: (10) Substituting the GNSS original observation equations (5) and (6) into the MW combined observation values ​​of L1 and L2 (10) respectively, we can obtain: (11) (12) Among them, a single satellite system estimates a ; Each satellite estimates one ; is the wide lane ambiguity, which can be obtained from , Combine to get; It is the satellite MW combined hardware delay, which can be obtained through the SSR service correction number correction; Using multi-epoch observation data and the least squares estimator, we can estimate and .

[0026] In an exemplary embodiment, the embodiment of the present disclosure is based on the receiver ionospheric pseudorange hardware delay , receiver MW combined pseudorange hardware delay , separate the hardware delay information of each satellite and each frequency point of the single-station receiver, including solving the following linear equations , , thereby achieving the calibration of the hardware delay of a single station receiver: (13); in, represents the receiver MW combined pseudorange hardware delay, Indicates the receiver ionosphere-free combined pseudorange hardware delay, Indicates the frequency of the first frequency signal. Indicates the second frequency signal frequency, Indicates the receiver Tracking Satellites Pseudorange hardware delay at the first frequency point, Indicates the receiver Tracking Satellites Pseudorange hardware delay at the second frequency.

[0027] The embodiment of the present disclosure also provides a computer storage medium, in which a computer program is stored. When the computer program is executed by a processor, the above-mentioned method for pseudorange hardware delay calibration is implemented.

[0028] The embodiment of the present disclosure further provides a terminal, comprising: a memory and a processor, wherein a computer program is stored in the memory; The processor is configured to execute the computer program in the memory; When the computer program is executed by a processor, the method for calibrating pseudorange hardware delay as described above is implemented.

[0029] Figure 2 FIG. 1 is a structural block diagram of a device for calibrating pseudorange hardware delay according to an embodiment of the present disclosure. Figure 2 As shown, it includes: a determination unit, a first estimation unit, a second estimation unit and a processing unit; wherein, The determination unit is set as follows: based on the satellite-based augmentation service SSR correction number, the precise point positioning ambiguity fixed PPP-AR positioning estimation is performed on the single station, and the integer ambiguity information of the carrier phase observation value on each frequency point is determined; The first estimation unit is configured to estimate the receiver ionosphere-free combined pseudorange hardware delay of each satellite at a single station by using the ionosphere-free pseudorange observation value combination and the ionosphere-free carrier observation value combination, in combination with the integer ambiguity information, the pseudorange clock correction number and the phase clock correction number in the SSR service; The second estimation unit is configured to estimate the receiver MW pseudorange hardware delay of each satellite of a single station by using the wide lane combined MW observation value combination and the integer ambiguity information, combined with the uncalibrated phase delay uncalibrated phase deviation UPD correction number in the SSR service; The processing unit is configured to separate the hardware delay information of each satellite and each frequency point of the single-station receiver based on the receiver ionosphere-free pseudorange hardware delay and the receiver MW pseudorange hardware delay.

[0030] In an exemplary embodiment, the apparatus of the embodiment of the present disclosure is disposed in a single-station receiver or connected to a single-station receiver.

[0031] In an exemplary embodiment, the integer ambiguity information in the embodiment of the present disclosure includes: Ultra-wide lane blur , wide lane ambiguity , the integer ambiguity of the first frequency point and the integer ambiguity of the second frequency point , Frequency The integer ambiguity .

[0032] In an exemplary embodiment, the determination unit of the embodiment of the present disclosure is configured as follows: The PPP estimation model based on the SSR correction number estimates the floating point ambiguity of each frequency point , and convert the floating point ambiguity of each frequency point into the ultra-wide lane floating point ambiguity and wide lane floating point ambiguity ; Ultra-wide lane uncalibrated phase deviation using SSR service , Wide Lane Uncalibrated Phase Deviation , Narrow Lane Uncalibrated Phase Deviation Products that eliminate ultra-wide lane hardware delays at the receiver end through inter-satellite single difference , Wide Lane Hardware Delay , Narrow Lane Hardware Delay , achieving the converted ultra-wide lane floating point ambiguity , Wide Lane Floating Point Ambiguity , and the ambiguity of the hardware delay between the pseudorange and the first frequency of the carrier The ambiguity is fixed and the integer ambiguity information is obtained.

[0033] In an exemplary embodiment, the first estimation unit of the embodiment of the present disclosure is configured as follows: According to the carrier observation values ​​of the ionosphere-free combination of the first frequency point L1 and the second frequency point L2, the pseudorange observation values ​​of the ionosphere-free combination of the first frequency point L1 and the second frequency point L2, the satellite pseudorange clock correction number, and the phase clock correction number in the SSR service, the receiver ionosphere-free combination pseudorange hardware delay of each satellite at a single station is estimated by using multi-epoch observation data and a least squares estimator.

[0034] In an exemplary embodiment, the second estimation unit of the embodiment of the present disclosure is configured as follows: The original GNSS observation equation is substituted into the MW combined observation values ​​of the first frequency point L1 and the second frequency point L2. The receiver MW combined pseudorange hardware delay of each satellite at a single station is estimated using the least squares estimator using multi-epoch observation data.

[0035] In an exemplary embodiment, the processing unit of the embodiment of the present disclosure is configured to separate the hardware delay information of each satellite and each frequency point of the single-station receiver through the following linear equations: ; in, represents the receiver MW combined pseudorange hardware delay, Indicates the receiver ionosphere-free combined pseudorange hardware delay, Indicates the frequency of the first frequency signal. Indicates the second frequency signal frequency, Indicates the receiver Tracking Satellites Pseudorange hardware delay at the first frequency point, Indicates the receiver Tracking Satellites Pseudorange hardware delay at the second frequency.

[0036] It will be appreciated by those skilled in the art that all or some of the steps, systems, and functional modules / units in the methods disclosed above may be implemented as software, firmware, hardware, and appropriate combinations thereof. In hardware implementations, the division between the functional modules / units mentioned in the above description does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed by several physical components in cooperation. Some or all components may be implemented as software executed by a processor, such as a digital signal processor or a microprocessor, or implemented as hardware, or implemented as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include a computer storage medium (or non-transitory medium) and a communication medium (or transient medium). As is known to those skilled in the art, the term "computer storage medium" includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer. In addition, it is well known to those skilled in the art that communication media typically contain computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

Claims

1. A method for calibrating pseudorange hardware delay, applicable to a single-station receiver, characterized in that: include: Based on the satellite-based augmentation service SSR correction number, the precise point positioning ambiguity fixed PPP-AR positioning estimation is performed on the single station to determine the integer ambiguity information of the carrier phase observation value on each frequency point; The ionosphere-free pseudorange observation combination and ionosphere-free carrier observation combination are used to estimate the receiver ionosphere-free combined pseudorange hardware delay of each satellite at a single station by combining the integer ambiguity information, pseudorange clock correction number and phase clock correction number in the SSR service. The receiver MW pseudorange hardware delay of each satellite at a single station is estimated by using the wide-lane combined MW observation combination, integer ambiguity information, and the uncalibrated phase delay and uncalibrated phase deviation (UPD) corrections in the SSR service. Based on the receiver's ionosphere-free pseudorange hardware delay and the receiver's MW pseudorange hardware delay, the hardware delay information of each satellite and each frequency point of a single-station receiver is separated.

2. The method according to claim 1, characterized in that The integer ambiguity information includes: Ultra-wide lane blur , wide lane ambiguity , the integer ambiguity of the first frequency point and the integer ambiguity of the second frequency point , Frequency The integer ambiguity .

3. The method according to claim 2, characterized in that The step of determining the integer ambiguity information of the carrier phase observation value at each frequency point includes: The PPP estimation model based on the SSR correction number estimates the floating point ambiguity of each frequency point , and convert the floating point ambiguity of each frequency point into the ultra-wide lane floating point ambiguity and wide lane floating point ambiguity ; Ultra-wide lane uncalibrated phase deviation using SSR service , Wide Lane Uncalibrated Phase Deviation , Narrow Lane Uncalibrated Phase Deviation Products that eliminate ultra-wide lane hardware delays at the receiver end through inter-satellite single difference , Wide Lane Hardware Delay , Narrow Lane Hardware Delay , achieving the conversion of the ultra-wide lane floating point ambiguity , the wide lane floating point ambiguity , and the ambiguity of the hardware delay between the pseudorange and the first frequency of the carrier The ambiguity is fixed and the integer ambiguity information is obtained.

4. The method according to any one of claims 1 to 3, characterized in that: The estimating the receiver ionosphere-free combined pseudorange hardware delay of each satellite of a single station comprises: According to the carrier observation values ​​of the ionosphere-free combination of the first frequency point L1 and the second frequency point L2, the pseudorange observation values ​​of the ionosphere-free combination of the first frequency point L1 and the second frequency point L2, the satellite pseudorange clock correction number, and the phase clock correction number in the SSR service, multi-epoch observation data is used to estimate the receiver ionosphere-free combination pseudorange hardware delay of each satellite at a single station using a least squares estimator.

5. The method according to claim 4, characterized in that The estimating the receiver MW pseudo-range hardware delay of each satellite of a single station includes: The original GNSS observation equation is substituted into the MW combined observation values ​​of the first frequency point L1 and the second frequency point L2, and the receiver MW combined pseudorange hardware delay of each satellite at a single station is estimated by using multi-epoch observation data and a least squares estimator.

6. The method according to claim 5, characterized in that The hardware delay information of each satellite and each frequency point of a single-station receiver is separated by the following linear equations: ; in, represents the receiver MW combined pseudorange hardware delay, Indicates the receiver ionosphere-free combined pseudorange hardware delay, Indicates the frequency of the first frequency signal. Indicates the second frequency signal frequency, Indicates the receiver Tracking Satellites Pseudorange hardware delay at the first frequency point, Indicates the receiver Tracking Satellites Pseudorange hardware delay at the second frequency.

7. A computer storage medium, wherein a computer program is stored in the computer storage medium, and when the computer program is executed by a processor, the method for calibrating the pseudorange hardware delay according to any one of claims 1 to 6 is implemented.

8. A terminal, comprising: A memory and a processor, wherein the memory stores a computer program; wherein, The processor is configured to execute the computer program in the memory; When the computer program is executed by the processor, the method for pseudorange hardware delay calibration according to any one of claims 1 to 6 is implemented.

9. A pseudorange hardware delay calibration device, characterized in that: include: A determination unit, a first estimation unit, a second estimation unit and a processing unit; wherein, The determination unit is set as follows: based on the satellite-based augmentation service SSR correction number, the precise point positioning ambiguity fixed PPP-AR positioning estimation is performed on the single station, and the integer ambiguity information of the carrier phase observation value on each frequency point is determined; The first estimation unit is configured to estimate the receiver ionosphere-free combined pseudorange hardware delay of each satellite at a single station by using the ionosphere-free pseudorange observation value combination and the ionosphere-free carrier observation value combination, in combination with the integer ambiguity information, the pseudorange clock correction number and the phase clock correction number in the SSR service; The second estimation unit is configured to estimate the receiver MW pseudorange hardware delay of each satellite of a single station by using the wide lane combined MW observation value combination and the integer ambiguity information, combined with the uncalibrated phase delay and uncalibrated phase deviation UPD correction number in the SSR service; The processing unit is configured to separate the hardware delay information of each satellite and each frequency point of the single-station receiver based on the receiver ionosphere-free pseudorange hardware delay and the receiver MW pseudorange hardware delay.

10. The device according to claim 9, characterized in that The integer ambiguity information includes: Ultra-wide lane blur , wide lane ambiguity , the integer ambiguity of the first frequency point and the integer ambiguity of the second frequency point , Frequency The integer ambiguity .

Images