Pseudo-range deviation determination method and device of satellite system, equipment and medium

Abstract

The invention discloses a pseudo-range deviation determination method and device of a satellite system, equipment and a medium, and belongs to the technical field of satellite signal processing. The method comprises the following steps: carrying out ambiguity fixation on a first double-difference wide-lane ambiguity, a second double-difference wide-lane ambiguity, a first double-difference narrow-lane ambiguity and a second double-difference narrow-lane ambiguity, and determining atmospheric delay of a satellite system, a third double-difference wide-lane ambiguity and a third double-difference narrow-lane ambiguity; based on atmospheric delay, searching the third double-difference wide-lane ambiguity to determine a wide-lane ambiguity value, and searching the third double-difference narrow-lane ambiguity to determine a narrow-lane ambiguity value; obtaining target atmospheric delay between the first satellite and the second satellite based on the wide lane ambiguity value and the narrow lane ambiguity value; and substituting the target atmosphere delay into the double-difference pseudo-range observation equation to obtain the target pseudo-range deviation of the satellite system. According to the method, the pseudo-range deviation of the receiver observation satellite system can be estimated under the condition of a long baseline.

Description

Technical Field

[0001] The present application belongs to the field of satellite signal processing technology, and in particular, relates to a method, device, equipment and medium for determining pseudorange deviation of a satellite system. Background Art

[0002] On the satellite side, the new generation of BeiDou-3 system (BDS-3) satellites can be seen as a supplement to the existing BeiDou-2 system (BDS-2) satellites, making the original BDS-2 service range cover the world.

[0003] However, at some receivers, in order to be compatible with the early BDS-2 legacy signals, only the BDS-3 signal processing unit is added. As a result, although the satellite system composed of BDS-3 and BDS-2 has overlapping signals B1I / B3I, the signals still have inconsistencies in the hardware delay after passing through different receivers. Therefore, when using BDS-2 and BDS-3 observation data for GNSS data processing, the hardware bias at the receiver must be carefully handled.

[0004] In practical applications, when the receivers are separated during actual use and the two receivers that are far apart cannot form a zero baseline due to firmware upgrades or force majeure, the existing method estimates the pseudorange deviation based on the zero baseline, which is unable to estimate the pseudorange deviation of the receiver observation satellite system in the case of a long baseline. Summary of the invention

[0005] The present application aims to solve at least one of the technical problems existing in the prior art. To this end, the present application proposes a method for determining pseudorange deviation of a satellite system, which can estimate the pseudorange deviation of a receiver observing a satellite system under a long baseline condition.

[0006] In a first aspect, the present application provides a method for determining a pseudorange deviation of a satellite system, wherein the satellite system includes a first satellite, a first reference star of the first satellite, a second satellite, and a second reference star of the second satellite, and a reference station and a mobile station for observing the first satellite, the second satellite, the first reference star, and the second reference star, wherein the reference station and the mobile station are provided with a receiver, and the method includes:

[0007] Acquire an observation signal of the receiver to determine, based on the observation signal, a first double-difference wide lane ambiguity between the first satellite and the first reference star, a second double-difference wide lane ambiguity between the second satellite and the second reference star, a first double-difference narrow lane ambiguity between the first satellite and the first reference star, and a second double-difference narrow lane ambiguity between the first reference star and the second reference star;

[0008] performing ambiguity fixing on the first double-difference wide lane ambiguity, the second double-difference wide lane ambiguity, the first double-difference narrow lane ambiguity, and the second double-difference narrow lane ambiguity, determining an atmospheric delay of the satellite system, and a third double-difference wide lane ambiguity and a third double-difference narrow lane ambiguity between the first reference satellite and the second reference satellite;

[0009] Based on the atmospheric delay, searching the third double-difference wide lane ambiguity to determine a wide lane ambiguity value between the first satellite and the second satellite, and searching the third double-difference narrow lane ambiguity to determine a narrow lane ambiguity value between the first satellite and the second satellite;

[0010] Obtaining a target atmospheric delay between the first satellite and the second satellite based on the wide lane ambiguity value and the narrow lane ambiguity value;

[0011] Substituting the target atmospheric delay into the double-difference pseudorange observation equation, the target pseudorange deviation of the satellite system is obtained.

[0012] According to an embodiment of the present application, searching the third double-difference wide lane ambiguity based on the atmospheric delay to determine a wide lane ambiguity value between the first satellite and the second satellite includes:

[0013] determining a widelane search range and candidate widelane integer ambiguities of the third double-difference widelane ambiguities based on a float solution of a third double-difference widelane ambiguity between the first reference star and the second reference star;

[0014] Based on the wide lane search range, determining to search the candidate wide lane integer ambiguity and determining a degree of deviation of the candidate wide lane integer ambiguity;

[0015] Based on the atmospheric delay, an atmospheric delay difference corresponding to the deviation degree is calculated, and the wide lane ambiguity value is determined from the candidate wide lane integer ambiguities.

[0016] According to one embodiment of the present application, the wide lane search range is:

[0017]

[0018] Where floor(·) and ceil(·) are rounding down and rounding up respectively, WL(·) represents the wide lane combination of the pseudorange part, is the third double-difference widelane ambiguity; is the pseudo-range deviation between the first satellite and the second satellite at the first frequency point, is the pseudo-range deviation between the first satellite and the second satellite at the second frequency point, λ wl is the widelane wavelength of the satellite system.

[0019] According to one embodiment of the present application, the third double-difference wide lane ambiguity and the third double-difference narrow lane ambiguity are obtained based on the following steps:

[0020] Differentiating the first double-difference wide lane ambiguity and the second double-difference wide lane ambiguity to obtain the third double-difference wide lane ambiguity;

[0021] The first double-difference narrow lane ambiguity and the second double-difference narrow lane ambiguity are differentiated to obtain the third double-difference narrow lane ambiguity.

[0022] According to one embodiment of the present application, the double-difference pseudorange observation equation is:

[0023]

[0024] In the formula, E{·} represents the expectation, is the a priori pseudorange residual of the pseudorange observation value of the first satellite at the i-th frequency point minus the model prior value, is the pseudorange observation value of the second satellite at the i-th frequency point minus the observed value of the model prior value, is the phase observation of the first satellite at the i-th frequency minus the observed value of the model prior value, is the phase observation value of the second satellite at the i-th frequency point minus the observed value of the model prior value, is the GNSS receiver clock error, γ i ，g is the ionospheric amplification factor at the ith frequency point, is the ionospheric error in the observations of the first satellite, is the ionospheric error in the observations from the second satellite, is the projection coefficient of the first satellite troposphere, is the projection coefficient of the second satellite troposphere, is the pseudorange hardware delay error between the satellite and receiver in the first satellite observation, is the pseudorange hardware delay error between the satellite and receiver in the second satellite observation, is the ambiguity parameter of the first satellite, is the ambiguity parameter of the second satellite, T r and T b are the tropospheric parameters of the mobile station r and the reference station b, respectively, and is the tropospheric parameter T of the mobile station r and the reference station b r and T b Corresponding projection function, C2 represents the first satellite, C3 represents the second satellite; is the difference in pseudorange deviation between the first satellite and the second satellite.

[0025] According to one embodiment of the present application, when the observation signal includes the wide lane wavelength of the satellite system, the double difference phase and pseudorange observations of the first satellite and the first reference star, and the frequency value, the calculation formula of the first double difference wide lane ambiguity is as follows:

[0026]

[0027] Where s is the satellite identifier, is the first double-difference wide-lane ambiguity between the first satellite BDS-2 and the first reference satellite q2 calculated based on the mobile station r and the reference station b, λ wl The first double difference wide lane ambiguity The corresponding wide lane wavelength; is the double difference phase of the i-th frequency point of the first satellite BDS-2 and the first reference satellite q2 based on the mobile station r and the base station b, is the pseudo-range observation value of the first satellite BDS-2 and the first reference satellite q2 at the i-th frequency point based on the mobile station r and the base station b, i (i=1,2,3) is the frequency number, f i is the frequency value of the i-th (i=1, 2, 3) frequency point.

[0028] According to one embodiment of the present application, the target atmospheric delay includes a target double-difference ionospheric delay and a target tropospheric delay, and substituting the target atmospheric delay into the double-difference pseudorange observation equation to obtain the target pseudorange deviation of the satellite system includes:

[0029] Substituting the target double-difference ionospheric delay and the target tropospheric delay into the double-difference pseudorange observation equation to obtain pseudorange bias estimates of the first satellite and the second satellite;

[0030] Multi-epoch smoothing is performed on the pseudorange deviation estimate to obtain the target pseudorange deviation.

[0031] In a second aspect, the present application provides a pseudorange deviation determination device for a satellite system, the satellite system comprising a first satellite, a first reference star of the first satellite, a second satellite, and a second reference star of the second satellite, and a reference station and a mobile station for observing the first satellite, the second satellite, the first reference star, and the second reference star, the reference station and the mobile station are provided with a receiver, and the device comprises:

[0032] an acquisition module, configured to acquire an observation signal of the receiver, so as to determine, according to the observation signal, a first double-difference wide lane ambiguity between the first satellite and the first reference star, a second double-difference wide lane ambiguity between the second satellite and the second reference star, a first double-difference narrow lane ambiguity between the first satellite and the first reference star, and a second double-difference narrow lane ambiguity between the first reference star and the second reference star;

[0033] a first processing module, configured to perform ambiguity fixation on the first double-difference wide lane ambiguity, the second double-difference wide lane ambiguity, the first double-difference narrow lane ambiguity, and the second double-difference narrow lane ambiguity, determine the atmospheric delay of the satellite system, and a third double-difference wide lane ambiguity and a third double-difference narrow lane ambiguity between the first reference satellite and the second reference satellite;

[0034] a second processing module, configured to search the third double-difference wide lane ambiguity based on the atmospheric delay to determine a wide lane ambiguity value between the first satellite and the second satellite, and search the third double-difference narrow lane ambiguity to determine a narrow lane ambiguity value between the first satellite and the second satellite;

[0035] A third processing module, configured to obtain a target atmospheric delay between the first satellite and the second satellite based on the wide lane ambiguity value and the narrow lane ambiguity value;

[0036] The fourth processing module is used to substitute the target atmospheric delay into the double-difference pseudo-range observation equation to obtain the target pseudo-range deviation of the satellite system.

[0037] In a third aspect, the present application provides an electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein when the processor executes the computer program, the method for determining the pseudorange deviation of the satellite system as described in the first aspect above is implemented.

[0038] In a fourth aspect, the present application provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the pseudorange deviation determination method for a satellite system as described in the first aspect above.

[0039] In a fifth aspect, the present application provides a chip, comprising a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run a program or instruction to implement the pseudorange deviation determination method of the satellite system as described in the first aspect.

[0040] In a sixth aspect, the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the method for determining the pseudorange deviation of a satellite system as described in the first aspect above.

[0041] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application.

[0042] The pseudorange deviation determination of a satellite system provided by the present invention has the following beneficial effects compared with the prior art:

[0043] (1) By fixing the ambiguity of the first double-difference wide lane ambiguity, the second double-difference wide lane ambiguity, the first double-difference narrow lane ambiguity and the second double-difference narrow lane ambiguity, the atmospheric delay is considered to improve the positioning accuracy, and the third double-difference wide lane ambiguity and the third double-difference narrow lane ambiguity are searched to achieve ambiguity fixation with a higher accuracy, which can realize the long-distance estimation of the pseudo-range deviation of the first satellite and the second satellite observed by the receiver, and has a wider range of application.

[0044] (2) By introducing the inter-system pseudorange bias at the receiver end into the ionosphere-free model or the undifferenced non-combined model, the inconsistency in the hardware delay of the signal after passing through different receivers will be absorbed.

[0045] (3) It is possible to realize the pseudo-range deviation of the first satellite and the second satellite observed by the long-distance estimation receiver without being restricted by experimental conditions, and it is possible to extract the pseudo-range deviation of a single frequency point. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0047] Figure 1 is a schematic diagram of the structure of a satellite system provided in an embodiment of the present application;

[0048] Figure 2 It is a flowchart of a method for determining pseudorange deviation of a satellite system provided in an embodiment of the present application;

[0049] Figure 3 It is a structural schematic diagram of a pseudorange deviation determination system for a satellite system provided in an embodiment of the present application;

[0050] Figure 4 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0051] The following will be combined with the drawings in the embodiments of the present application to clearly describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments in the present application belong to the scope of protection of this application.

[0052] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0053] In conjunction with the accompanying drawings, the pseudorange deviation determination method for a satellite system, the pseudorange deviation determination device for a satellite system, the electronic device and the readable storage medium provided in the embodiments of the present application are described in detail through specific embodiments and their application scenarios.

[0054] The pseudorange deviation determination method of the satellite system may be applied to a terminal, and may be specifically executed by hardware or software in the terminal.

[0055] The terminal includes, but is not limited to, a portable communication device such as a mobile phone or tablet computer with a touch-sensitive surface (e.g., a touch screen display and / or a touch pad). It should also be understood that in some embodiments, the terminal may not be a portable communication device, but a desktop computer with a touch-sensitive surface (e.g., a touch screen display and / or a touch pad).

[0056] In the following various embodiments, a terminal including a display and a touch-sensitive surface is described. However, it should be understood that the terminal may include one or more other physical user interface devices such as a physical keyboard, a mouse and a joystick.

[0057] The pseudorange deviation determination method for a satellite system provided in an embodiment of the present application may be executed by an electronic device or a functional module or functional entity in an electronic device that can implement the pseudorange deviation determination method for a satellite system. The electronic devices mentioned in the embodiment of the present application include but are not limited to mobile phones, tablet computers, computers, cameras, and wearable devices. The pseudorange deviation determination method for a satellite system provided in an embodiment of the present application is described below using an electronic device as an example of an execution subject.

[0058] like Figure 1 As shown, the satellite system includes a first satellite, a first reference star of the first satellite, a second satellite and a second reference star of the second satellite, and a base station and a mobile station for observing the first satellite, the second satellite, the first reference star and the second reference star, and the base station and the mobile station are provided with receivers.

[0059] Among them, when the satellite system is the Beidou system, the first satellite can be BDS-2, the second satellite can be BDS-3, the first reference satellite q2 can be the satellite with the highest altitude angle inside the first satellite BDS-2, and the second reference satellite q3 can be the satellite with the highest altitude angle inside the second satellite BDS-3, and form a (Melbourne–Wübbena) MW combined observation value.

[0060] In the embodiment of the present application, a long baseline deployment may be used between the reference station and the mobile station.

[0061] like Figure 2 As shown, the pseudorange deviation determination method of the satellite system includes: steps 210 to 250.

[0062] Step 210: Acquire the observation signal of the receiver to determine, based on the observation signal, a first double-difference wide lane ambiguity between the first satellite and the first reference star, a second double-difference wide lane ambiguity between the second satellite and the second reference star, a first double-difference narrow lane ambiguity between the first satellite and the first reference star, and a second double-difference narrow lane ambiguity between the first reference star and the second reference star.

[0063] The observation signals are phase observation values ​​obtained by the base station and the mobile station respectively observing the first satellite BDS-2, the first reference star q2, the second satellite BDS-3, and the second reference star q3.

[0064] Among them, Double-Difference Wide-Lane Ambiguity refers to the use of double-difference (satellite difference, inter-satellite difference) technology to eliminate the hardware delay bias contained in the pseudo-range and phase combination observation values ​​to restore the integer characteristics of the ambiguity. The wide-lane ambiguity value here refers to the fixed solution of the double-difference wide-lane ambiguity.

[0065] Wide-Lane Wavelength is the actual distance corresponding to the wide-lane ambiguity period and is used to determine the integer ambiguity.

[0066] Narrow-Lane Ambiguity is the ambiguity involved in processing narrow-lane combination in GNSS receivers. It is used together with wide-lane combination to recover the original ambiguity from the signal and thus extract high-precision position information.

[0067] Narrow-Lane Wavelength is a method of calculating the period of narrow-lane ambiguity by combining the wavelengths of two frequency signals in GNSS dual-frequency measurement, solving the phase ambiguity problem, and is used for precise positioning.

[0068] In the related art, the pseudo-range bias is estimated in advance based on the zero baseline method for correction. Under the premise that there is no obvious systematic bias between the overlapping signals of BDS-2 and BDS-3, BDS-2 and BDS-3 are treated as the same system for processing, which has certain limitations. Only the Septentrio receiver with good compatibility in the Multi-GNSS Experiment (MGEX) maintained by the International GNSS Service (IGS) is used for data processing, and it is confirmed that the absolute value of the inter-system bias (ISB) at the receiver end may reach several meters. Although no systematic bias is found in the phase observation value, the existence of ISB will affect the convergence performance of the PPP floating point solution, and at the same time pollute the integer characteristics of the ambiguity, and make it impossible to fix the BDS-23 inter-system ambiguity by long-distance baseline solution or precise single-point positioning ambiguity fixation (PPP-IAR).

[0069] In the embodiments of the present application, by introducing the inter-system pseudorange bias at the receiver end into the ionosphere-free model or the non-difference non-combined model, the inconsistency of the signal in the post-hardware delay after passing through different receivers will be absorbed.

[0070] The zero baseline analysis was performed on the pseudorange deviations of the first satellite BDS-2 and the second satellite BDS-3 directly from different types of receivers, and the wide-lane ambiguity was fixed after the deviation was corrected. After the pseudorange correction, the mean of the decimal part of the wide-lane ambiguity can be reduced from -0.59 weeks to 0.03 weeks.

[0071] In terms of deviation extraction of zero baseline, the ionosphere-free combination method can extract the pseudorange baseline deviation under the ionosphere-free combination benchmark, but it is impossible to extract the pseudorange deviation of a single frequency point, and the use of zero baseline method is usually limited by experimental conditions.

[0072] The zero baseline is used to characterize the scenario where the distance between two receivers is zero during the measurement process.

[0073] In the actual implementation, the long-distance real-time dynamic positioning (RTK) fixing process is performed on the first satellite BDS-2 and the second satellite BDS-3 respectively, and the ambiguity (Ambiguity Fixing) fixing strategy of wide lane and then narrow lane ambiguity is adopted. The goal of fixing the ambiguity is to determine the specific values ​​of these integer multiples of wavelengths, so as to improve the positioning accuracy.

[0074] It should be noted that in the embodiments of the present application, the method for determining the pseudorange deviation of the satellite system is described by taking Beidou as an example. Since only the Beidou system is considered, the navigation constellation identifier g will no longer be given in the subsequent description.

[0075] In some embodiments, when the observation signal includes a wide lane wavelength, double difference phase and pseudorange observations of the first satellite BDS-2 and the first reference satellite q2, and a frequency value, the calculation formula of the first double difference wide lane ambiguity is as follows:

[0076]

[0077] Where s is the satellite identifier, is the first double-difference wide-lane ambiguity between the first satellite BDS-2 and the first reference satellite q2 calculated based on the mobile station r and the reference station b, λ wl The first double difference wide lane ambiguity The corresponding wide lane wavelength; is the double difference phase of the i-th frequency point of the first satellite BDS-2 and the first reference satellite q2 based on the mobile station r and the base station b, is the pseudo-range observation value of the i-th frequency point of the first satellite BDS-2 and the first reference satellite q2 based on the mobile station r and the base station b, i (i=1,2,3) is the frequency number of the frequency point, f i is the frequency value of the i-th (i=1, 2, 3) frequency point.

[0078] Similarly, the second double-difference wide-lane ambiguity and the second wide-lane ambiguity value of the second satellite BDS-3 and the second reference satellite q3 can be obtained, which will not be repeated here.

[0079] Step 220: Fix the ambiguities of the first double-difference wide lane ambiguity, the second double-difference wide lane ambiguity, the first double-difference narrow lane ambiguity, and the second double-difference narrow lane ambiguity, and determine the atmospheric delay of the satellite system, and the third double-difference wide lane ambiguity and the third double-difference narrow lane ambiguity between the first reference star and the second reference star.

[0080] Among them, the atmospheric delay includes double difference ionospheric delay and tropospheric delay.

[0081] Double-Difference Ionospheric Correction is a method used to eliminate the ionospheric effect. GNSS signals will be refracted when passing through the ionosphere, which will cause errors in the pseudorange and carrier phase observations. The ionospheric error will affect the positioning accuracy, and it is necessary to effectively correct the ionospheric error.

[0082] It can be understood that in the double-difference wide lane ambiguity, the first is based on the double-difference phase of the mobile station r and the reference station b. and pseudorange observations As combined observations, the error terms related to the geometric distance and the satellite are eliminated, and due to the subsystem processing of the first satellite BDS-2 and the second satellite BDS-3, the error at the receiver end can also be eliminated by inter-satellite single difference.

[0083] Therefore, the first double-difference wide-lane ambiguity has an integer characteristic, and the noise caused by the pseudorange can be suppressed after smoothing. Directly rounding the first double-difference wide-lane ambiguity can achieve ambiguity fixation with a higher accuracy.

[0084] It can be understood that after the wide lane ambiguity is fixed, the narrow lane ambiguity can be derived from the floating point ionospheric-free ambiguity, and the first satellite BDS-2 and the second satellite BDS-3 subsystems are processed. The calculation methods of the two are the same. The following is an example of calculating the first double difference narrow lane ambiguity sum of the first satellite BDS-2 and the first reference satellite q2.

[0085] In this step, the calculation formula of the first double-difference narrow lane ambiguity is:

[0086]

[0087] Where s is the satellite identifier, λ nl is the first narrow lane wavelength corresponding to the first double-difference narrow lane ambiguity, is the first double-difference original ambiguity. Since it has a narrow-lane wavelength, it is subsequently referred to as the first double-difference narrow-lane ambiguity. is the double difference ambiguity at the ith frequency point, is the double-difference wide-lane ambiguity of the first satellite; IF(·) is the ionospheric-free combination operator, f i is the frequency value of the i-th (i=1, 2, 3) frequency point.

[0088] The calculation formula of the ionospheric-free combination operator IF(·) is as follows:

[0089]

[0090] Where g is the navigation constellation identifier, i (i = 1, 2, 3) is the frequency number, and γ1 is the ionospheric amplification factor of the first frequency point. The specific expression is: where λ i is the wavelength of the corresponding frequency; γ2 is the ionospheric amplification factor of the second frequency, and the specific expression is

[0091] It can be understood that the calculation method of the second double-difference narrow lane ambiguity is the same as the calculation method of the first double-difference narrow lane ambiguity, which will not be repeated here.

[0092] In satellite systems, the Double Difference Ionospheric Delay is used to characterize the impact of the ionosphere on signal propagation delay, and the troposphere delay is used to characterize the impact of the atmospheric troposphere on signal propagation delay.

[0093] In the form of double difference, narrow lane ambiguity also has integer characteristics. The fixed solution of narrow lane ambiguity can be obtained by using ambiguity fixing methods such as rounding or LAMBDA (Least-squares AMBiguity Decorrelation Adjustment).

[0094] After fixing the wide lane ambiguity and narrow lane ambiguity, the accurate double difference ionospheric delay and tropospheric delay can also be derived. The calculation formula of double difference ionospheric delay and tropospheric delay is:

[0095]

[0096] in, is the double difference ionospheric delay between the first satellite BDS-2 and the first reference satellite q2; is the tropospheric delay between the first satellite BDS-2 and the first reference satellite q2; γ1 is the ionospheric amplification factor of the first frequency point; γ2 is the ionospheric amplification factor of the second frequency point; λ1 is the wavelength of the first frequency point; λ2 is the wavelength of the second frequency point; is the double-difference carrier observation; is the double-difference tropospheric delay; is the double difference original ambiguity value at the first frequency point, is the double difference original ambiguity value at the second frequency point, and its calculation formula is as follows:

[0097]

[0098] in, is the double difference original ambiguity value at the first frequency point, is the double-difference widelane ambiguity of the first satellite.

[0099] Step 230: Based on the atmospheric delay, search the third double-difference wide lane ambiguity to determine the wide lane ambiguity value between the first satellite and the second satellite, and search the third double-difference narrow lane ambiguity to determine the narrow lane ambiguity value between the first satellite and the second satellite.

[0100] It can be understood that in order to obtain the double difference ionosphere between the first satellite BDS-2 and the second satellite BDS-3, it is also necessary to fix the ambiguity of the first reference star q2 and the second reference star q3 according to the same fixing strategy, and then use the double difference ambiguity fixed by the first reference star q2 and the second reference star q3 as a connection to obtain a double difference ambiguity group that is unified as the benchmark of the entire Beidou system.

[0101] In some embodiments, the third double-difference wide lane ambiguity and the third double-difference narrow lane ambiguity are obtained based on the following steps:

[0102] Differentiating the first double-difference wide lane ambiguity and the second double-difference wide lane ambiguity to obtain the third double-difference wide lane ambiguity;

[0103] The first double-difference narrow lane ambiguity and the second double-difference narrow lane ambiguity are differentiated to obtain the third double-difference narrow lane ambiguity.

[0104] In some embodiments, searching the third double-difference wide lane ambiguity based on the atmospheric delay to determine a wide lane ambiguity value between the first satellite and the second satellite comprises:

[0105] determining a widelane search range and candidate widelane integer ambiguities of the third double-difference widelane ambiguities based on a float solution of a third double-difference widelane ambiguity between the first reference star and the second reference star;

[0106] Based on the wide lane search range, determining to search the candidate wide lane integer ambiguity and determining a degree of deviation of the candidate wide lane integer ambiguity;

[0107] Based on the atmospheric delay, an atmospheric delay difference corresponding to the deviation degree is calculated, and the wide lane ambiguity value is determined from the candidate wide lane integer ambiguities.

[0108] Among them, the atmospheric delay difference includes the double difference ionospheric delay difference and the tropospheric delay difference.

[0109] A double difference is further formed between the first reference star q2 and the second reference star q3 to obtain a floating point solution of the third double difference wide lane ambiguity between the first reference star q2 and the second reference star q3, which is calculated as follows:

[0110]

[0111] In the formula, The float solution of the third double difference wide lane ambiguity between the first reference star q2 and the second reference star q3; wl is the third double difference wide lane ambiguity The corresponding wide-lane wavelength; f iis the frequency value of the i-th (i=1, 2, 3) frequency point; They are the double difference phase and pseudorange observations based on the 1st and 2nd frequency points of the first reference star and the first reference star q2 of the mobile station r and the base station b respectively.

[0112] Due to the non-negligible difference between the pseudo-range deviations of the first satellite BDS-2 and the second satellite BDS-3 in the BeiDou system, and The residual pseudorange bias after double difference will be absorbed into The ambiguity does not have an integer characteristic, and simply rounding it will result in a systematic error of plus or minus N weeks.

[0113] In order to obtain the correct wide lane ambiguity value, a float solution of the third double difference wide lane ambiguity is searched.

[0114] Based on the double-difference pseudorange observation equation, the pseudorange deviation of the i-th frequency point can be determined Floating point estimate of

[0115] After obtaining the floating point solution of the third double difference wide lane ambiguity After that, the wide lane search range of the wide lane ambiguity value can be determined.

[0116] In some embodiments, the wide lane search range is:

[0117]

[0118] Where floor(·) and ceil(·) are rounded down and rounded up respectively, and WL(·) represents the wide lane combination of the pseudorange part; is the pseudorange deviation between the first satellite and the second satellite at the first frequency point, is the pseudorange deviation between the first satellite and the second satellite at the second frequency point, λ wl is the widelane wavelength of the satellite system.

[0119] The candidate wide lane integer ambiguity may be selected from the floating point solution of the third double difference wide lane ambiguity.

[0120] In order to determine the correct third double-difference wide lane ambiguity, the third double-difference narrow lane ambiguity is obtained by calculating the third double-difference wide lane ambiguity using the floating-point solution of the third double-difference wide lane ambiguity. Since there is no systematic error in the phase observations between the first satellite BDS-2 and the second satellite BDS-3, if the correct wide-lane integer ambiguity is introduced, the narrow-lane integer ambiguity derived from the floating-point solution can be searched to the correct narrow-lane ambiguity.

[0121] The narrow-lane ambiguity value refers to the integer value or estimated value of the double-difference narrow-lane ambiguity actually solved, which can directly affect the final positioning accuracy. The accuracy of the narrow-lane ambiguity value is crucial to improving the positioning accuracy of the satellite system.

[0122] However, when the wrong wide lane integer ambiguity is introduced, according to the calculation formula of double difference narrow lane ambiguity, the wide lane integer ambiguity deviates by 1 week, which will lead to double difference narrow lane ambiguity. Deviation week.

[0123] According to the calculation formula of double difference ionospheric delay and tropospheric delay, the double difference ionospheric delay difference caused by the wrong wide lane integer ambiguity The calculation formula can be expressed as:

[0124]

[0125] Tropospheric delay differences caused by erroneous wide-lane integer ambiguities The calculation formula can be expressed as:

[0126]

[0127] Among them, γ1 is the ionospheric amplification factor of the first frequency point, γ2 is the ionospheric amplification factor of the second frequency point, λ1 is the wavelength of the first frequency point, and λ2 is the wavelength of the second frequency point. is the part of the double difference original L1 ambiguity fixed error, is the part of the double difference original L2 ambiguity fixed error, It is the part where the double difference wide lane ambiguity fixes the error.

[0128] If the wide lane ambiguity deviates by 1 cycle, the first double difference narrow lane ambiguity Deviation Substituting the double-difference ionospheric delay difference into the calculation formula, it can be concluded that the ionospheric error is close to 60cm, while the tropospheric error is only about 6cm.

[0129] Therefore, in the first double-difference narrow lane ambiguity During the calculation process, when the reference stars q2 and q3 are incorrectly fixed, the ionosphere extracted by the first satellite BDS-2 and the second satellite BDS-3 in the Beidou satellite system will have a baseline deviation of at least 60 cm.

[0130] According to the double difference ionospheric delay difference and the tropospheric delay difference corresponding to each alternative wide lane integer ambiguity, a judgment condition is constructed to determine whether the narrow lane ambiguity values ​​of the first satellite BDS-2 and the second satellite BDS-3 are correctly confirmed from the alternative wide lane integer ambiguities.

[0131] For example, the alternative wide lane integer ambiguity with the smallest double difference ionospheric delay difference and the tropospheric delay difference can be used as the wide lane ambiguity value, and the alternative narrow lane integer ambiguity with the smallest double difference ionospheric delay difference and the tropospheric delay difference can be used as the narrow lane ambiguity value.

[0132] Step 240: Obtain a target atmospheric delay between the first satellite and the second satellite based on the wide lane ambiguity value and the narrow lane ambiguity value.

[0133] The target atmospheric delay includes the target double-difference ionospheric delay and the target tropospheric delay.

[0134] Among them, after bringing in the original ambiguities of the first and second frequency points, the target troposphere and ionosphere can be obtained according to the calculation formula. Since the ambiguities of the respective reference stars of the first satellite and the second satellite have been fixed, the target double-difference atmospheric delay benchmark has been unified at this time.

[0135] The error of double-difference ionospheric delay before and after the reference star ambiguity is fixed is used as the judgment condition to judge the integer characteristics of narrow lane ambiguity.

[0136] From the above, it can be seen that a deviation of one circle in the wide lane ambiguity will lead to a deviation of the ambiguity in the phase observation of the B1I band. Weeks, that is, nearly 4.33 weeks, which means that it will not only affect the integer part of the narrow lane ambiguity, but also its fractional part. Under normal circumstances, the fractional part of the narrow lane ambiguity is usually close to zero, but after the erroneous wide lane ambiguity is introduced, the integer characteristics of the narrow lane ambiguity will be weakened. Therefore, checking whether the fractional part of the narrow lane ambiguity is less than a certain threshold can narrow the search range of the wide lane ambiguity in advance.

[0137] Step 250: Substitute the target atmospheric delay into the double-difference pseudorange observation equation to obtain the target pseudorange deviation of the satellite system.

[0138] It should be noted that the double-difference pseudorange observation equation is constructed based on the following method:

[0139] First, the single-difference observation equation between GNSS long-distance real-time kinematic (RTK) stations in non-combined mode is as follows:

[0140]

[0141] in:

[0142]

[0143] In the formula, E{·} represents the expectation, and is the pseudorange and phase observed OMC (Observed minus Computed) value, which is obtained by subtracting the model value from the pseudorange and phase observed values ​​between the mobile station r and the base station b. s is the satellite identifier, g is the navigation constellation identifier, and i (i = 1, 2, 3) is the frequency number of the frequency point. The model value is calculated based on the satellite position and ground true coordinates calculated by the satellite using the broadcast ephemeris or precise ephemeris, and taking into account corrections such as solid tide and earth rotation correction. is the inter-station single-difference receiver clock error after parameter re-adjustment, absorbing the pseudo-range hardware delay at the pseudo-range end L1 and L2 frequencies and γ i ，g is the ionospheric amplification factor at the i-th frequency point, and its value is (f1 / f i ) 2 , f i is the frequency value of the ith frequency point; T r and T b are the tropospheric parameters of the mobile station and the base station, and T r and T b The corresponding projection function; is the floating point blur, is the corresponding wavelength; is the residual term of the pseudorange deviation at the receiver end at the i-th frequency point. Since the ionospheric error of long-distance RTK cannot be ignored, it is necessary to set the ionospheric parameters Used to absorb the residual ionosphere between stations.

[0144] Although there is an obvious pseudorange deviation between the first satellite BDS-2 and the second satellite BDS-3 at the receiver end, there is no systematic error in the phase observation value. Therefore, when processing data, the first satellite BDS-2 and the second satellite BDS-3 are still regarded as the same navigation system, but an additional pseudorange deviation parameter needs to be added to the BDS-3 pseudorange equation. Used to absorb systematic errors. If the single-difference observation equation is limited to only process Beidou navigation system observations, the double-difference pseudorange observation equation can be expanded as follows:

[0145]

[0146] In the formula, E{·} represents the expectation, is the a priori pseudorange residual of the pseudorange observation value of the first satellite at the i-th frequency point minus the model prior value, is the pseudorange observation value of the second satellite at the i-th frequency point minus the observed value of the model prior value, is the phase observation of the first satellite at the i-th frequency minus the observed value of the model prior value, is the phase observation value of the second satellite at the i-th frequency point minus the observed value of the model prior value, is the GNSS receiver clock error, γ i ，g is the ionospheric amplification factor at the ith frequency point, is the ionospheric error in the observations of the first satellite, is the ionospheric error in the observations from the second satellite, is the projection coefficient of the first satellite troposphere, is the projection coefficient of the second satellite troposphere, is the pseudorange hardware delay error between the satellite and receiver in the first satellite observation, is the pseudorange hardware delay error between the satellite and receiver in the second satellite observation, is the ambiguity parameter of the first satellite, is the ambiguity parameter of the second satellite, T r and T b are the tropospheric parameters of the mobile station r and the reference station b, respectively, and is the tropospheric parameter T of the mobile station r and the reference station b r and T b Corresponding projection function, C2 represents the first satellite, C3 represents the second satellite; is the difference in pseudorange deviation between the first satellite and the second satellite.

[0147] In the case of zero baseline, the double difference ionospheric delay and tropospheric delay are both zero. The observation equations of the first satellite BDS-2 and the second satellite BDS-3 are directly subtracted to obtain The value of .

[0148] However, in the case of long baselines, the atmospheric residual error cannot be ignored. To obtain the accurate value of , it is necessary to obtain the accurate ionospheric and tropospheric residual errors.

[0149] Among them, the double-difference pseudorange observation equation can give the pseudorange deviation of the i-th frequency point Floating point estimate of

[0150] According to the pseudorange deviation determination method of the satellite system provided in the embodiment of the present application, by fixing the ambiguity of the first double-difference wide lane ambiguity, the second double-difference wide lane ambiguity, the first double-difference narrow lane ambiguity and the second double-difference narrow lane ambiguity, considering the atmospheric delay, improving the positioning accuracy, searching for the third double-difference wide lane ambiguity and the third double-difference narrow lane ambiguity, achieving ambiguity fixation with a higher accuracy, it is possible to realize the pseudorange deviation of the first satellite and the second satellite observed by a long-distance estimation receiver, and has a wider scope of application.

[0151] Under normal unobstructed observation conditions, BDS-3 and BDS-2 satellites are usually evenly distributed over the entire sky above the receiver. And within the regional range, the correlation of the ionosphere is usually strong. Based on the above information, it is believed that when BDS-2 or the satellite with the highest BDS-3 altitude angle is used as the reference star, the mean of the double difference ionospheric delay of all satellites in the BDS-2 system and the BDS-3 system should be consistent. Considering that BDS-3 has more MEO satellites, BDS-3 is used as the main system to select the reference star. First, the double difference ionospheric delay extracted in the BDS-3 system is used as a sample to extract the corresponding mean. and standard deviation Then, the same reference satellite of BDS-3 is selected to extract the double-difference ionospheric delay of all BDS-2 satellites and calculate their mean

[0152] Construct the following test hypothesis:

[0153]

[0154] Among them, H0 is the hypothesis, is the mean of the double difference ionospheric delay of the first reference star q2, is the mean of the double difference ionospheric delay of the second reference star q3, and H1 is the alternative hypothesis.

[0155] The null hypothesis is that the double-difference ionospheric means of BDS-2 / BDS-3 are the same, and the alternative hypothesis is that the double-difference ionospheric means of BDS-2 / BDS-3 are different. Assuming that the double-difference ionospheric delay of the BDS-3 sample population satisfies the normal distribution, the t-test method is used to test the above hypothesis:

[0156]

[0157] in, and is the mean of the two groups of samples, s1 and s2 are the standard deviations of the two groups of samples, and n1 and n2 are the sizes of the two groups of samples. The degrees of freedom v of this test is:

[0158]

[0159] According to the calculated t-test quantity and the degree of freedom v value, the t-distribution can be used to find the p-value. If the p-value ≤ α (usually α is 0.05), the null hypothesis is rejected, and it is believed that the means of the two groups of data are significantly different. If the p-value> α, the null hypothesis is not rejected, and it is believed that the means of the two groups of data are not significantly different. Considering that the propagation path of the path with a lower altitude angle is longer and the noise is larger, the cutoff altitude angle of the double-difference ionosphere group can be increased to ensure the validity of the data. Since the ionospheric error is strongly correlated with the signal propagation path, the ionospheric errors passing through two adjacent paths are usually close. Therefore, further confirmation can be made based on the double-difference ionospheric delay of adjacent paths. But in fact, when designing the constellation, the same constellation will avoid having two satellites that always remain in the same line, so this method can only be used as a further confirmation solution.

[0160] In some embodiments, the target atmospheric delay includes a target double-difference ionospheric delay and a target tropospheric delay, and substituting the target atmospheric delay into a double-difference pseudorange observation equation to obtain a target pseudorange deviation of the satellite system includes:

[0161] Substituting the target double-difference ionospheric delay and the target tropospheric delay into the double-difference pseudorange observation equation to obtain pseudorange bias estimates of the first satellite and the second satellite;

[0162] Multi-epoch smoothing is performed on the pseudorange deviation estimate to obtain the target pseudorange deviation.

[0163] It can be understood that the target double difference ionospheric delay between the first satellite BDS-2 and the second satellite BDS-3 is obtained accurately. and target tropospheric delay Then, substituting into the double-difference pseudorange observation equation, the pseudorange deviation can be obtained The pseudorange bias estimator

[0164] In this embodiment, affected by the pseudorange noise, it is necessary to estimate the pseudorange deviation Only by performing multi-epoch smoothing can a more accurate estimate be obtained, which is the target pseudorange deviation.

[0165] The pseudorange deviation determination method for a satellite system provided in an embodiment of the present application may be performed by a pseudorange deviation determination device for a satellite system. In the embodiment of the present application, the pseudorange deviation determination method for a satellite system performed by a pseudorange deviation determination device for a satellite system is taken as an example to illustrate the pseudorange deviation determination device for a satellite system provided in an embodiment of the present application.

[0166] An embodiment of the present application also provides a pseudorange deviation determination device for a satellite system.

[0167] like Figure 3As shown, the pseudorange deviation determination device of the satellite system includes: an acquisition module 310 , a first processing module 320 , a second processing module 330 , a third processing module 340 and a fourth processing module 350 .

[0168] an acquisition module 310, configured to acquire an observation signal of the receiver, and determine, according to the observation signal, a first double-difference wide lane ambiguity between the first satellite and the first reference star, a second double-difference wide lane ambiguity between the second satellite and the second reference star, a first double-difference narrow lane ambiguity between the first satellite and the first reference star, and a second double-difference narrow lane ambiguity between the first reference star and the second reference star;

[0169] A first processing module 320 is configured to perform ambiguity fixation on the first double-difference wide lane ambiguity, the second double-difference wide lane ambiguity, the first double-difference narrow lane ambiguity, and the second double-difference narrow lane ambiguity, determine the atmospheric delay of the satellite system, and a third double-difference wide lane ambiguity and a third double-difference narrow lane ambiguity between the first reference satellite and the second reference satellite;

[0170] A second processing module 330 is configured to search the third double-difference wide lane ambiguity based on the atmospheric delay to determine a wide lane ambiguity value between the first satellite and the second satellite, and search the third double-difference narrow lane ambiguity to determine a narrow lane ambiguity value between the first satellite and the second satellite;

[0171] A third processing module 340 is configured to obtain a target atmospheric delay between the first satellite and the second satellite based on the wide lane ambiguity value and the narrow lane ambiguity value;

[0172] The fourth processing module 350 is used to substitute the target atmospheric delay into the double-difference pseudorange observation equation to obtain the target pseudorange deviation of the satellite system.

[0173] According to the pseudorange deviation determination device of the satellite system provided in the embodiment of the present application, by fixing the ambiguity of the first double-difference wide lane ambiguity, the second double-difference wide lane ambiguity, the first double-difference narrow lane ambiguity and the second double-difference narrow lane ambiguity, considering the atmospheric delay, improving the positioning accuracy, searching for the third double-difference wide lane ambiguity and the third double-difference narrow lane ambiguity, achieving ambiguity fixation with a higher accuracy, it is possible to achieve long-spacing estimation of the pseudorange deviation of the first satellite and the second satellite observed by the receiver, and has a wider range of applications.

[0174] The pseudo-range deviation determination device of the satellite system in the embodiment of the present application can be an electronic device, or a component in the electronic device, such as an integrated circuit or a chip. The electronic device can be a terminal, or it can be other devices other than the terminal. Exemplarily, the electronic device can be a mobile phone, a tablet computer, a laptop computer, a PDA, a vehicle-mounted electronic device, a mobile Internet device (Mobile Internet Device, MID), an augmented reality (Augmented Reality, AR) / virtual reality (Virtual Reality, VR) device, a robot, a wearable device, a super mobile personal computer (Ultra-Mobile Personal Computer, UMPC), a netbook or a personal digital assistant (Personal Digital Assistant, PDA), etc., and can also be a server, a network attached storage (Network Attached Storage, NAS), a personal computer (Personal Computer, PC), a television (Television, TV), a teller machine or a self-service machine, etc., which is not specifically limited in the embodiment of the present application.

[0175] The pseudorange deviation determination device of the satellite system in the embodiment of the present application may be a device having an operating system. The operating system may be an Android operating system, an iOS operating system, or other possible operating systems, which are not specifically limited in the embodiment of the present application.

[0176] The pseudorange deviation determination device for a satellite system provided in the embodiment of the present application can achieve Figure 1 to Figure 2 To avoid repetition, the various processes implemented in the embodiment of the pseudorange deviation determination method for a satellite system are not described again here.

[0177] In some embodiments, Figure 4 As shown, an embodiment of the present application further provides an electronic device 400, including a processor 401, a memory 402, and a computer program stored in the memory 402 and executable on the processor 401. When the program is executed by the processor 401, each process of the pseudorange deviation determination method of the above-mentioned satellite system is implemented, and the same technical effect can be achieved. To avoid repetition, it will not be described here.

[0178] It should be noted that the electronic devices in the embodiments of the present application include the mobile electronic devices and non-mobile electronic devices mentioned above.

[0179] An embodiment of the present application also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, each process of the pseudorange deviation determination method embodiment of the above-mentioned satellite system is implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0180] The processor is the processor in the electronic device in the above embodiment. The readable storage medium includes a computer readable storage medium, such as a computer read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0181] An embodiment of the present application also provides a computer program product, including a computer program, which, when executed by a processor, implements the pseudorange deviation determination method of the above-mentioned satellite system.

[0182] The processor is the processor in the electronic device in the above embodiment. The readable storage medium includes a computer readable storage medium, such as a computer read-only memory ROM, a random access memory RAM, a magnetic disk or an optical disk.

[0183] An embodiment of the present application further provides a chip, which includes a processor and a communication interface, the communication interface and the processor are coupled, and the processor is used to run programs or instructions to implement the various processes of the pseudorange deviation determination method embodiment of the above-mentioned satellite system, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0184] It should be understood that the chip mentioned in the embodiments of the present application can also be called a system-level chip, a system chip, a chip system or a system-on-chip chip, etc.

[0185] It should be noted that, in this article, the terms "comprise", "include" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise one..." do not exclude the presence of other identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved, for example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0186] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment method can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a computer software product, which is stored in a storage medium (such as ROM / RAM, disk, CD), including a number of instructions for a terminal (which can be a mobile phone, computer, server, or network device, etc.) to execute the pseudorange deviation determination method of the satellite system of each embodiment of the present application.

[0187] In the description of this application, "first feature" or "second feature" may include one or more of the features.

[0188] In the description of the present application, “plurality” means two or more.

[0189] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

[0190] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0191] Although the embodiments of the present application have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present application, and that the scope of the present application is defined by the claims and their equivalents.

Claims

1. A method for determining pseudorange deviation of a satellite system, characterized in that: The satellite system includes a first satellite, a first reference star of the first satellite, a second satellite, and a second reference star of the second satellite, and a reference station and a mobile station for observing the first satellite, the second satellite, the first reference star, and the second reference star, wherein the reference station and the mobile station are provided with receivers, and the method includes: Acquire an observation signal of the receiver to determine, based on the observation signal, a first double-difference wide lane ambiguity between the first satellite and the first reference star, a second double-difference wide lane ambiguity between the second satellite and the second reference star, a first double-difference narrow lane ambiguity between the first satellite and the first reference star, and a second double-difference narrow lane ambiguity between the first reference star and the second reference star; performing ambiguity fixing on the first double-difference wide lane ambiguity, the second double-difference wide lane ambiguity, the first double-difference narrow lane ambiguity, and the second double-difference narrow lane ambiguity, determining an atmospheric delay of the satellite system, and a third double-difference wide lane ambiguity and a third double-difference narrow lane ambiguity between the first reference satellite and the second reference satellite; Based on the atmospheric delay, searching the third double-difference wide lane ambiguity to determine a wide lane ambiguity value between the first satellite and the second satellite, and searching the third double-difference narrow lane ambiguity to determine a narrow lane ambiguity value between the first satellite and the second satellite; obtaining a target atmospheric delay between the first satellite and the second satellite based on the wide lane ambiguity value and the narrow lane ambiguity value; Substituting the target atmospheric delay into the double-difference pseudorange observation equation, the target pseudorange deviation of the satellite system is obtained.

2. The method for determining pseudorange deviation of a satellite system according to claim 1, characterized in that: The step of searching the third double-difference wide lane ambiguity based on the atmospheric delay to determine a wide lane ambiguity value between the first satellite and the second satellite comprises: determining a widelane search range and candidate widelane integer ambiguities of the third double-difference widelane ambiguities based on a float solution of a third double-difference widelane ambiguity between the first reference star and the second reference star; Based on the wide lane search range, determining to search the candidate wide lane integer ambiguity and determining a degree of deviation of the candidate wide lane integer ambiguity; Based on the atmospheric delay, an atmospheric delay difference corresponding to the deviation degree is calculated, and the wide lane ambiguity value is determined from the candidate wide lane integer ambiguities.

3. The method for determining pseudorange deviation of a satellite system according to claim 2, characterized in that: The wide lane search range is: Where floor(·) and ceil(·) are rounding down and rounding up respectively, WL(·) represents the wide lane combination of the pseudorange part, is the third double-difference widelane ambiguity; is the pseudorange deviation between the first satellite and the second satellite at the first frequency point, is the pseudorange deviation between the first satellite and the second satellite at the second frequency point, λ wl is the widelane wavelength of the satellite system.

4. The method for determining pseudorange deviation of a satellite system according to claim 1, characterized in that: The third double-difference wide lane ambiguity and the third double-difference narrow lane ambiguity are obtained based on the following steps: Differentiating the first double-difference wide lane ambiguity and the second double-difference wide lane ambiguity to obtain the third double-difference wide lane ambiguity; The first double-difference narrow lane ambiguity and the second double-difference narrow lane ambiguity are differentiated to obtain the third double-difference narrow lane ambiguity.

5. The method for determining pseudorange deviation of a satellite system according to claim 4, characterized in that: The double-difference pseudorange observation equation is: In the formula, E{·} represents the expectation, is the a priori pseudorange residual of the pseudorange observation value of the first satellite at the i-th frequency point minus the model prior value, is the pseudorange observation value of the second satellite at the i-th frequency point minus the observed value of the model prior value, is the phase observation of the first satellite at the i-th frequency minus the observed value of the model prior value, is the phase observation value of the second satellite at the i-th frequency point minus the observed value of the model prior value, is the GNSS receiver clock error, is the ionospheric amplification factor at the ith frequency point, is the ionospheric error in the observations of the first satellite, is the ionospheric error in the observations from the second satellite, is the projection coefficient of the first satellite troposphere, is the projection coefficient of the second satellite troposphere, is the pseudorange hardware delay error between the satellite and receiver in the first satellite observation, is the pseudorange hardware delay error between the satellite and receiver in the second satellite observation, is the ambiguity parameter of the first satellite, is the ambiguity parameter of the second satellite, T r and T b are the tropospheric parameters of the mobile station r and the reference station b, respectively, and is the tropospheric parameter T of the mobile station r and the reference station b r and T b Corresponding projection function, C2 represents the first satellite, C3 represents the second satellite; is the difference in pseudorange deviation between the first satellite and the second satellite.

6. The method for determining pseudorange deviation of a satellite system according to claim 1, characterized in that: In the case where the observation signal includes the wide lane wavelength of the satellite system, the double difference phase and pseudorange observations of the first satellite and the first reference star, and the frequency value, the calculation formula of the first double difference wide lane ambiguity is as follows: Where s is the satellite identifier, is the first double-difference wide-lane ambiguity between the first satellite BDS-2 and the first reference satellite q2 calculated based on the mobile station r and the reference station b, λ wl The first double difference wide lane ambiguity The corresponding wide lane wavelength; is the double difference phase of the i-th frequency point of the first satellite BDS-2 and the first reference satellite q2 based on the mobile station r and the base station b, is the pseudo-range observation value of the i-th frequency point of the first satellite BDS-2 and the first reference satellite q2 based on the mobile station r and the base station b, i (i=1,2,3) is the frequency number of the frequency point, f i is the frequency value of the i-th (i=1, 2, 3) frequency point.

7. The method for determining pseudorange deviation of a satellite system according to claim 1, characterized in that: The target atmospheric delay includes a target double-difference ionospheric delay and a target tropospheric delay, and substituting the target atmospheric delay into a double-difference pseudorange observation equation to obtain a target pseudorange deviation of the satellite system includes: Substituting the target double-difference ionospheric delay and the target tropospheric delay into the double-difference pseudorange observation equation to obtain pseudorange bias estimates of the first satellite and the second satellite; Multi-epoch smoothing is performed on the pseudorange deviation estimate to obtain the target pseudorange deviation.

8. A pseudorange deviation determination device for a satellite system, characterized in that: The satellite system includes a first satellite, a first reference star of the first satellite, a second satellite, and a second reference star of the second satellite, and a reference station and a mobile station for observing the first satellite, the second satellite, the first reference star, and the second reference star, wherein the reference station and the mobile station are provided with receivers, and the device includes: an acquisition module, configured to acquire an observation signal of the receiver, so as to determine, according to the observation signal, a first double-difference wide lane ambiguity between the first satellite and the first reference star, a second double-difference wide lane ambiguity between the second satellite and the second reference star, a first double-difference narrow lane ambiguity between the first satellite and the first reference star, and a second double-difference narrow lane ambiguity between the first reference star and the second reference star; a first processing module, configured to perform ambiguity fixation on the first double-difference wide lane ambiguity, the second double-difference wide lane ambiguity, the first double-difference narrow lane ambiguity, and the second double-difference narrow lane ambiguity, determine the atmospheric delay of the satellite system, and a third double-difference wide lane ambiguity and a third double-difference narrow lane ambiguity between the first reference satellite and the second reference satellite; a second processing module, configured to search the third double-difference wide lane ambiguity based on the atmospheric delay to determine a wide lane ambiguity value between the first satellite and the second satellite, and search the third double-difference narrow lane ambiguity to determine a narrow lane ambiguity value between the first satellite and the second satellite; A third processing module, configured to obtain a target atmospheric delay between the first satellite and the second satellite based on the wide lane ambiguity value and the narrow lane ambiguity value; The fourth processing module is used to substitute the target atmospheric delay into the double-difference pseudo-range observation equation to obtain the target pseudo-range deviation of the satellite system.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the pseudorange deviation determination method for the satellite system according to any one of claims 1 to 7 is implemented.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method for determining pseudorange deviation of a satellite system according to any one of claims 1 to 7 is implemented.

Images