Ambiguity optimization method and device based on PPP-B2b

Abstract

The invention relates to the technical field of satellite navigation and positioning, and discloses a PPP-B2b-based ambiguity optimization method and device, and the method comprises the steps: obtaining PPP-B2b satellite data in real time, and respectively calculating a plurality of single-difference wide-lane ambiguity floating solutions and a plurality of single-difference IF ambiguity floating solutions; obtaining a wide lane FCB estimated value based on a plurality of single-difference wide lane ambiguity floating point solutions; performing floating point solution correction according to the wide-lane FCB estimation value to obtain a plurality of single-difference wide-lane ambiguity fixed solutions; calculating a plurality of single-difference narrow-lane ambiguity floating point solutions based on the relationship between the ambiguity; obtaining a narrow lane FCB estimated value based on a plurality of single-difference narrow lane ambiguity floating point solutions; performing floating point solution correction according to the narrow lane FCB estimation value to obtain a plurality of single-difference narrow lane ambiguity fixed solutions; a plurality of single-difference IF ambiguity fixed solutions are obtained through calculation according to the ambiguity relation; according to the invention, the accuracy of the ambiguity is improved, and the optimization of the ambiguity is realized.

Description

Technical Field

[0001] The present invention relates to the field of satellite navigation and positioning technology, and in particular to a PPP-B2b-based ambiguity optimization method and device. Background Art

[0002] Since a single receiver cannot eliminate the influence of uncalibrated phase delays (UPD) through double differences between observations, the integer characteristics of ambiguity in precise point positioning (PPP) are destroyed, so it is usually expressed as a real number, and the result of PPP solution is a floating point solution. In satellite navigation and positioning technology, PPP, as a high-precision positioning method, has attracted much attention because it can achieve single-point high-precision positioning without the assistance of ground base stations. However, the traditional PPP method faces a key problem in practical applications: the influence of uncalibrated phase delays (UPD). UPD is mainly caused by the internal hardware and phase-locked loop of the receiver or satellite, which causes an unknown, non-integer delay in the observed phase data. This delay destroys the integer characteristics of ambiguity, making the PPP solution result usually a floating point solution rather than an ideal integer solution. Although the floating point solution can meet the positioning requirements to a certain extent, it still needs to be improved in terms of accuracy and reliability. At present, researchers have begun to explore the use of reference website data to estimate and eliminate the influence of UPD. Since UPD has a certain stability, through long-term observation or data accumulation of reference station network, we can estimate the UPD value of satellite and receiver more accurately. However, it should be noted that the integer part of UPD is coupled with the whole cycle ambiguity and cannot be directly separated. Therefore, in actual operation, usually only the fractional part of UPD, that is, the fractional cycle bias (FCB), is estimated.

[0003] At present, researchers have proposed the use of PPP Ambiguity Resolution (PPP-AR) technology to correct the real ambiguity by using the FCB estimated by the reference site, thereby restoring its integer characteristics. However, in the current precise point positioning technology, the estimation of FCB usually relies on the support of post-precision ephemeris and precise clock errors. This data dependence has the disadvantage of insufficient real-time performance. Moreover, the release of post-precision ephemeris and precise clock errors often has a certain time delay, which limits the real-time performance of FCB estimation and reduces the accuracy of FCB estimation, thereby affecting the accuracy of ambiguity. Summary of the invention

[0004] The present invention provides a fuzziness optimization method and device based on PPP-B2b, which can improve the accuracy of fuzziness and realize the optimization of fuzziness.

[0005] In order to solve the above technical problems, the present invention provides a PPP-B2b-based fuzziness optimization method, comprising:

[0006] Get PPP-B2b satellite data in real time;

[0007] Based on the PPP-B2b satellite data, a plurality of single-difference wide-lane ambiguity floating-point solutions and a plurality of single-difference IF ambiguity floating-point solutions are obtained respectively;

[0008] Perform wide lane FCB estimation based on a plurality of single-difference wide lane ambiguity floating point solutions to obtain a wide lane FCB estimation value;

[0009] Correcting a plurality of the single-difference wide-lane ambiguity floating-point solutions according to the wide-lane FCB estimation value to obtain a plurality of single-difference wide-lane ambiguity fixed solutions;

[0010] Based on the relationship between ambiguities, a plurality of single-difference narrow-lane ambiguity floating-point solutions are obtained according to the plurality of single-difference wide-lane ambiguity fixed solutions and the plurality of single-difference IF ambiguity floating-point solutions;

[0011] Perform narrow lane FCB estimation based on a plurality of single-difference narrow lane ambiguity floating point solutions to obtain a narrow lane FCB estimation value;

[0012] Correcting a plurality of single-difference narrow lane ambiguity floating point solutions according to the narrow lane FCB estimation value to obtain a plurality of single-difference narrow lane ambiguity fixed solutions;

[0013] Based on the relationship between ambiguities, several single-difference IF ambiguity floating-point solutions are optimized according to several single-difference wide-lane ambiguity fixed solutions and several single-difference narrow-lane ambiguity fixed solutions to obtain several single-difference IF ambiguity fixed solutions.

[0014] The present invention acquires PPP-B2b satellite data in real time, and respectively calculates a plurality of single-difference wide lane ambiguity floating-point solutions and a plurality of single-difference IF ambiguity floating-point solutions based on the PPP-B2b satellite data; performs subsequent FCB estimation using the single-difference data, thereby reducing the influence of hardware delay and observation noise, and improving the accuracy of data; performs wide lane FCB estimation based on the plurality of single-difference wide lane ambiguity floating-point solutions, obtains a wide lane FCB estimation value, and corrects each single-difference wide lane ambiguity floating-point solution according to the wide lane FCB estimation value, obtains a plurality of single-difference wide lane ambiguity fixed solutions, and corrects the single-difference wide lane ambiguity data in time after obtaining the wide lane FCB estimation value, and uses the corrected data as the data basis for subsequent narrow lane FCB estimation, thereby improving the accuracy of data; based on the relationship between ambiguities, according to the plurality of single-difference wide lane The ambiguity fixed solution and multiple single-difference IF ambiguity floating-point solutions are calculated to obtain multiple single-difference narrow lane ambiguity floating-point solutions; the narrow lane FCB estimation is performed based on the multiple single-difference narrow lane ambiguity floating-point solutions to obtain the narrow lane FCB estimation value, and the multiple single-difference narrow lane ambiguity floating-point solutions are corrected according to the narrow lane FCB estimation value to obtain multiple single-difference narrow lane ambiguity fixed solutions. After obtaining the narrow lane FCB estimation value, the single-difference narrow lane ambiguity data is corrected in time, which effectively improves the accuracy of the data; based on the relationship between ambiguities, according to multiple single-difference wide lane ambiguity fixed solutions and multiple single-difference narrow lane ambiguity fixed solutions, multiple single-difference IF ambiguity floating-point solutions are optimized to obtain multiple single-difference IF ambiguity fixed solutions, and the ambiguity is optimized from a floating-point solution to a fixed solution, thereby realizing the optimization of the ambiguity and effectively improving the accuracy of the ambiguity.

[0015] Further, based on the PPP-B2b satellite data, a plurality of single-difference widelane ambiguity floating point solutions and a plurality of single-difference IF ambiguity floating point solutions are obtained respectively, including:

[0016] Based on the satellite observation data in the PPP-B2b satellite data, the wide lane ambiguity floating point solutions of several satellites at several epochs are calculated;

[0017] Based on the altitude angle of each satellite at a plurality of epochs, respectively deriving the weight of each satellite at each epoch;

[0018] Based on the weight of each epoch, weighted calculation is performed on the wide lane ambiguity floating point solution of each satellite at each epoch to obtain the mean value of the wide lane ambiguity floating point solution of each satellite;

[0019] Single-difference processing is performed on the mean values ​​of the plurality of wide-lane ambiguity floating-point solutions to obtain a plurality of single-difference wide-lane ambiguity floating-point solutions.

[0020] The present invention calculates wide lane ambiguity floating point solutions of several satellites at several epochs based on satellite observation data in PPP-B2b satellite data; obtains the weight of each satellite at each epoch based on the altitude angle of each satellite at several epochs; performs weighted calculation on the wide lane ambiguity floating point solutions of each satellite at each epoch based on the weight of each epoch, and obtains the mean of the wide lane ambiguity floating point solutions of each satellite; performs single difference processing on the means of several wide lane ambiguity floating point solutions, and obtains several single difference wide lane ambiguity floating point solutions. The present invention uses the PPP-B2b satellite data acquired in real time as the data basis for FCB estimation, which can greatly reduce the data acquisition cost, uses the real-time acquired data for FCB estimation, improves the real-time performance of the data, and thus improves the accuracy of subsequent data processing; uses single difference data for subsequent FCB estimation, which can effectively reduce the influence of hardware delay and observation noise, and improve the accuracy of data.

[0021] Further, the wide lane ambiguity floating point solutions of several satellites at several epochs are calculated according to the satellite observation data in the PPP-B2b satellite data, specifically:

[0022] Acquire a first frequency and a second frequency of a dual-frequency signal band in satellite observation data;

[0023] Acquire pseudoranges of the first frequency, pseudoranges of the second frequency, carrier phases of the first frequency, and carrier phases of the second frequency for a plurality of satellites at a plurality of epochs;

[0024] calculating a wide lane wavelength based on the first frequency, the second frequency, and the speed of light;

[0025] Calculating MW combinations of the plurality of satellites at the plurality of epochs respectively based on the pseudoranges of the first frequency, the pseudoranges of the second frequency, the carrier phases of the first frequency, and the carrier phases of the second frequency of the plurality of satellites at the plurality of epochs;

[0026] Based on the MW combinations of the several satellites at the several epochs and the wide lane wavelengths, wide lane ambiguity floating point solutions of the several satellites at the several epochs are calculated.

[0027] Further, the single difference processing is performed on the mean values ​​of the plurality of wide lane ambiguity floating point solutions to obtain a plurality of single difference wide lane ambiguity floating point solutions, specifically:

[0028] Distinguishing a plurality of satellites into reference satellites and a plurality of first satellites;

[0029] Combining the reference satellite with a plurality of the first satellites respectively to form a plurality of satellite pairs;

[0030] The mean values ​​of the wide lane ambiguity floating point solutions of the satellite pairs are subjected to difference processing to obtain a plurality of single-difference wide lane ambiguity floating point solutions.

[0031] Further, based on the PPP-B2b satellite data, a plurality of single-difference widelane ambiguity floating point solutions and a plurality of single-difference IF ambiguity floating point solutions are obtained respectively, including:

[0032] High-precision satellite position and high-precision satellite clock error are calculated based on the PPP-B2b enhancement information and broadcast ephemeris in the PPP-B2b satellite data;

[0033] According to the satellite observation data in the PPP-B2b satellite data, the pseudo-range IF combination and the carrier phase IF combination of several satellites are calculated respectively;

[0034] Based on the high-precision satellite position, the high-precision satellite clock difference and the pseudo-range IF combination and carrier phase IF combination of each satellite, a single-difference IF ambiguity floating-point solution is estimated using a Kalman filter algorithm.

[0035] Further, the wide lane FCB estimation is performed based on the plurality of single-difference wide lane ambiguity floating point solutions to obtain a wide lane FCB estimation value, specifically:

[0036] Obtaining decimal parts of a plurality of single-difference wide-lane ambiguity floating-point solutions to obtain a plurality of wide-lane FCBs;

[0037] The average value of a plurality of the wide lane FCBs is calculated to obtain a wide lane FCB mean.

[0038] Further, based on the relationship between ambiguities, a plurality of single-difference wide lane ambiguity fixed solutions and a plurality of single-difference IF ambiguity floating-point solutions are obtained to obtain a plurality of single-difference narrow lane ambiguity floating-point solutions, specifically:

[0039] Obtain a first frequency and a second frequency;

[0040] Calculating a plurality of single-difference narrow-lane ambiguity floating-point solutions based on the first frequency, the second frequency, a plurality of the single-difference wide-lane ambiguity fixed solutions and a plurality of the single-difference IF ambiguity floating-point solutions;

[0041] The calculation formula of the single-difference narrow lane ambiguity floating point solution is:

[0042]

[0043] In the formula, is the floating point solution of the single-difference narrow lane ambiguity; is the single-difference IF ambiguity float solution; is the single-difference wide-lane ambiguity fixed solution; f1 is the first frequency; f2 is the second frequency.

[0044] Further, the narrow lane FCB estimation is performed based on the plurality of single-difference narrow lane ambiguity floating point solutions to obtain a narrow lane FCB estimation value, specifically:

[0045] Obtaining decimal parts of a plurality of single-difference narrow lane ambiguity floating point solutions to obtain a plurality of narrow lane FCBs;

[0046] The average values ​​of several narrow lane FCBs are calculated to obtain a narrow lane FCB mean value.

[0047] Further, based on the relationship between ambiguities, according to the plurality of single-difference wide lane ambiguity fixed solutions and the plurality of single-difference narrow lane ambiguity fixed solutions, a plurality of single-difference IF ambiguity floating point solutions are optimized to obtain a plurality of single-difference IF ambiguity fixed solutions, specifically:

[0048] calculating a narrow lane wavelength based on the first frequency, the second frequency, and the speed of light;

[0049] Calculating a plurality of single-difference IF ambiguity fixed solutions based on the first frequency, the second frequency, the IF combined wavelength, the wide lane wavelength, the narrow lane wavelength, a plurality of the single-difference wide lane ambiguity fixed solutions, and a plurality of the single-difference narrow lane ambiguity fixed solutions;

[0050] The calculation formula of the single-difference IF ambiguity fixed solution is:

[0051]

[0052] In the formula, λ IF is the IF combined wavelength; is the single-difference IF ambiguity fixed solution; NL is the narrow lane wavelength; is the fixed solution of the single-difference narrow lane ambiguity; WL is the wide-lane wavelength; is the single-difference wide-lane ambiguity fixed solution; f1 is the first frequency; f2 is the second frequency.

[0053] Accordingly, the present invention provides a PPP-B2b-based ambiguity optimization device, comprising: a data acquisition module, a preliminary calculation module, a wide lane FCB estimation module, a wide lane correction module, a narrow lane calculation module, a narrow lane FCB estimation module, a narrow lane correction module and an optimization module;

[0054] The data acquisition module is used to generate PPP-B2b satellite data according to the real-time acquired PPP-B2b enhancement information, broadcast ephemeris and satellite observation data;

[0055] The preliminary calculation module is used to obtain a plurality of single-difference wide lane ambiguity floating point solutions and a plurality of single-difference IF ambiguity floating point solutions based on the PPP-B2b satellite data;

[0056] The wide lane FCB estimation module is used to perform wide lane FCB estimation based on a plurality of single-difference wide lane ambiguity floating point solutions to obtain a wide lane FCB estimation value;

[0057] The wide lane correction module is used to correct a plurality of the single-difference wide lane ambiguity floating point solutions according to the wide lane FCB estimation value to obtain a plurality of single-difference wide lane ambiguity fixed solutions;

[0058] The narrow lane calculation module is used to obtain a plurality of single difference narrow lane ambiguity floating point solutions based on the relationship between ambiguities and according to a plurality of single difference wide lane ambiguity fixed solutions and a plurality of single difference IF ambiguity floating point solutions;

[0059] The narrow lane FCB estimation module is used to perform narrow lane FCB estimation based on a plurality of single-difference narrow lane ambiguity floating point solutions to obtain a narrow lane FCB estimation value;

[0060] The narrow lane correction module is used to correct a plurality of the single-difference narrow lane ambiguity floating point solutions according to the narrow lane FCB estimation value to obtain a plurality of single-difference narrow lane ambiguity fixed solutions;

[0061] The optimization module is used to optimize a plurality of single-difference IF ambiguity floating-point solutions based on the relationship between ambiguities and according to a plurality of single-difference wide-lane ambiguity fixed solutions and a plurality of single-difference narrow-lane ambiguity fixed solutions to obtain a plurality of single-difference IF ambiguity fixed solutions. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] Figure 1 A flow chart of an embodiment of the PPP-B2b-based fuzziness optimization method provided by the present invention;

[0063] Figure 2 A schematic diagram of the structure of an embodiment of the PPP-B2b-based fuzziness optimization system provided by the present invention;

[0064] Figure 3 A schematic structural diagram of an embodiment of a PPP-B2b-based ambiguity optimization device provided by the present invention. DETAILED DESCRIPTION

[0065] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0066] The flowcharts shown in the accompanying drawings are only examples and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may also be decomposed, combined or partially merged, so the actual execution order may change according to actual conditions.

[0067] Some embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0068] In the description of the present invention, it should be understood that the terms used in the present invention are as follows:

[0069] 1.PPP-B2b: The high-precision signal released by the BeiDou-3 system for the first time can provide real-time Precise Point Positioning (PPP) services.

[0070] 2.UPD: Uncalibrated Phase Delays, uncalibrated phase delay.

[0071] 3.FCB:Fractional Cycle Bias, fractional cycle deviation.

[0072] 4.IF: Ionospheric-Free, ionospheric-free combination.

[0073] 5.WL: Wide Lane.

[0074] 6.NL: Narrow Lane, narrow lane.

[0075] Example 1

[0076] like Figure 1 FIG. 1 is a flow chart of an embodiment of a PPP-B2b-based fuzziness optimization method provided by the present invention. The method includes steps 101 to 108, and each step is specifically as follows:

[0077] Step 101: Acquire PPP-B2b satellite data in real time.

[0078] Step 102: Based on the PPP-B2b satellite data, a plurality of single-difference widelane ambiguity floating-point solutions and a plurality of single-difference IF ambiguity floating-point solutions are obtained respectively.

[0079] Step 103: perform wide lane FCB estimation based on a plurality of single-difference wide lane ambiguity floating point solutions to obtain a wide lane FCB estimation value.

[0080] Step 104: Correct a plurality of the single-difference wide-lane ambiguity floating-point solutions according to the wide-lane FCB estimation value to obtain a plurality of single-difference wide-lane ambiguity fixed solutions.

[0081] Step 105: Based on the relationship between ambiguities, a plurality of single-difference narrow-lane ambiguity floating-point solutions are obtained according to a plurality of the single-difference wide-lane ambiguity fixed solutions and a plurality of the single-difference IF ambiguity floating-point solutions.

[0082] Step 106: Perform narrow lane FCB estimation based on a plurality of single-difference narrow lane ambiguity floating point solutions to obtain a narrow lane FCB estimation value.

[0083] Step 107: Correcting a plurality of single-difference narrow lane ambiguity floating point solutions according to the narrow lane FCB estimation value to obtain a plurality of single-difference narrow lane ambiguity fixed solutions.

[0084] Step 108: Based on the relationship between ambiguities, a plurality of single-difference IF ambiguity floating-point solutions are optimized according to a plurality of the single-difference wide-lane ambiguity fixed solutions and a plurality of the single-difference narrow-lane ambiguity fixed solutions to obtain a plurality of single-difference IF ambiguity fixed solutions.

[0085] In the embodiment of the present invention, the PPP-B2b satellite data is high-precision satellite data broadcast by PPP-B2b. The FCB estimation is performed using the PPP-B2b satellite data broadcast in real time. It no longer relies on the subsequent precise ephemeris and precise clock error, but uses the signal enhancement information broadcast in real time, which can greatly reduce the cost and complexity of data acquisition. The PPP-B2b satellite data broadcast in real time can realize real-time estimation of FCB, thereby improving the real-time performance of ambiguity data.

[0086] In an embodiment of the present invention, after acquiring PPP-B2b satellite data, a plurality of single-difference wide-lane ambiguity floating-point solutions and a plurality of single-difference IF ambiguity floating-point solutions are calculated based on the PPP-B2b satellite data, and the single-difference wide-lane ambiguity floating-point solutions and the single-difference IF ambiguity floating-point solutions are calculated using real-time PPP-B2b satellite data, which can effectively improve the real-time performance and accuracy of the ambiguity floating-point solutions.

[0087] In the embodiment of the present invention, wide lane FCB estimation is performed based on a plurality of single-difference wide lane ambiguity floating point solutions to obtain a wide lane FCB estimation value. Using a single-difference wide lane ambiguity floating point solution to perform wide lane FCB estimation can effectively reduce the influence of hardware delay and observation noise and improve the accuracy of wide lane FCB.

[0088] In the embodiment of the present invention, several single-difference wide-lane ambiguity floating-point solutions are corrected according to the wide-lane FCB estimation value to obtain several single-difference wide-lane ambiguity fixed solutions. After obtaining the wide-lane FCB estimation value, the single-difference wide-lane ambiguity data is corrected in time, and the corrected data is used as the data basis for subsequent narrow-lane FCB estimation, which effectively improves the accuracy of the data.

[0089] In the embodiment of the present invention, a plurality of single-difference wide lane ambiguity fixed solutions and a plurality of single-difference IF ambiguity floating-point solutions are calculated based on the relationship between ambiguities to obtain a plurality of single-difference narrow lane ambiguity floating-point solutions. The single-difference wide lane ambiguity fixed solution is used to calculate the single-difference narrow lane ambiguity floating-point solution, which can greatly improve the accuracy of the single-difference narrow lane ambiguity floating-point solution compared with the single-difference wide lane ambiguity floating-point solution.

[0090] In the embodiment of the present invention, narrow lane FCB estimation is performed based on a plurality of single-difference narrow lane ambiguity floating point solutions to obtain a narrow lane FCB estimation value. Using a single-difference narrow lane ambiguity floating point solution to perform narrow lane FCB estimation can effectively reduce the influence of hardware delay and observation noise, and improve the accuracy of narrow lane FCB.

[0091] In the embodiment of the present invention, a plurality of single-difference narrow lane ambiguity floating point solutions are corrected according to the narrow lane FCB estimation value to obtain a plurality of single-difference narrow lane ambiguity fixed solutions. After obtaining the narrow lane FCB estimation value, the single-difference narrow lane ambiguity data is corrected in time, which can improve the real-time performance and accuracy of the single-difference narrow lane ambiguity data.

[0092] In the embodiment of the present invention, according to a plurality of single-difference wide lane ambiguity fixed solutions and a plurality of the single-difference narrow lane ambiguity fixed solutions, based on the relationship between ambiguities, a single-difference IF ambiguity fixed solution can be calculated, and the single-difference IF ambiguity is optimized from a single-difference IF ambiguity floating-point solution to a single-difference IF ambiguity fixed solution, thereby achieving ambiguity optimization and effectively improving the accuracy of ambiguity.

[0093] In summary, the embodiment of the present invention provides an ambiguity optimization method based on PPP-B2b, which acquires PPP-B2b satellite data in real time, and calculates multiple single-difference wide lane ambiguity floating-point solutions and multiple single-difference IF ambiguity floating-point solutions based on the PPP-B2b satellite data; using the single-difference data for subsequent FCB estimation can reduce the influence of hardware delay and observation noise, and improve the accuracy of data; based on the multiple single-difference wide lane ambiguity floating-point solutions, the wide lane FCB estimation is performed to obtain the wide lane FCB estimation value, and each single-difference wide lane ambiguity floating-point solution is corrected according to the wide lane FCB estimation value to obtain multiple single-difference wide lane ambiguity fixed solutions, and after obtaining the wide lane FCB estimation value, the single-difference wide lane ambiguity data is corrected in time, and the corrected data is used as the data basis for subsequent narrow lane FCB estimation, thereby improving the accuracy of data; based on Based on the relationship between ambiguities, multiple single-difference wide lane ambiguity fixed solutions and multiple single-difference IF ambiguity floating-point solutions are calculated to obtain multiple single-difference narrow lane ambiguity floating-point solutions; based on the multiple single-difference narrow lane ambiguity floating-point solutions, narrow lane FCB estimation is performed to obtain narrow lane FCB estimation values, and the multiple single-difference narrow lane ambiguity floating-point solutions are corrected according to the narrow lane FCB estimation values ​​to obtain multiple single-difference narrow lane ambiguity fixed solutions. After obtaining the narrow lane FCB estimation values, the single-difference narrow lane ambiguity data is corrected in time, which effectively improves the accuracy of the data; based on the relationship between ambiguities, based on the multiple single-difference wide lane ambiguity fixed solutions and multiple single-difference narrow lane ambiguity fixed solutions, multiple single-difference IF ambiguity floating-point solutions are optimized to obtain multiple single-difference IF ambiguity fixed solutions, and the ambiguity is optimized from a floating-point solution to a fixed solution, thereby achieving ambiguity optimization and effectively improving the accuracy of the ambiguity.

[0094] Example 2

[0095] like Figure 1 FIG. 1 is a flow chart of an embodiment of a PPP-B2b-based fuzziness optimization method provided by the present invention. The method includes steps 101 to 108, and each step is specifically as follows:

[0096] Step 101: Acquire PPP-B2b satellite data in real time.

[0097] In the embodiment of the present invention, the PPP-B2b satellite data is high-precision satellite data broadcast by PPP-B2b, including PPP-B2b enhancement information, broadcast ephemeris and satellite observation data. Using the real-time broadcast PPP-B2b satellite data to estimate FCB no longer relies on the subsequent precise ephemeris and precise clock error, but uses the real-time broadcast signal enhancement information, which can greatly reduce the cost and complexity of data acquisition; using the real-time broadcast PPP-B2b satellite data, real-time estimation of FCB can be achieved, thereby improving the real-time performance of ambiguity data.

[0098] Step 102: Based on the PPP-B2b satellite data, a plurality of single-difference widelane ambiguity floating-point solutions and a plurality of single-difference IF ambiguity floating-point solutions are obtained respectively.

[0099] Further, in an embodiment of the present invention, based on the PPP-B2b satellite data, a plurality of single-difference widelane ambiguity floating-point solutions and a plurality of single-difference IF ambiguity floating-point solutions are obtained respectively, including:

[0100] High-precision satellite position and high-precision satellite clock error are calculated based on the PPP-B2b enhancement information and broadcast ephemeris in the PPP-B2b satellite data;

[0101] According to the satellite observation data in the PPP-B2b satellite data, the pseudo-range IF combination and the carrier phase IF combination of several satellites are calculated respectively;

[0102] Based on the high-precision satellite position, the high-precision satellite clock difference and the pseudo-range IF combination and carrier phase IF combination of each satellite, a single-difference IF ambiguity floating-point solution is estimated using a Kalman filter algorithm.

[0103] In an embodiment of the present invention, the single-difference IF ambiguity floating-point solution is estimated by a traditional Kalman filter algorithm based on an IF combination composed of dual frequencies. First, the PPP-B2b enhancement information, broadcast ephemeris, and satellite observation data in the PPP-B2b satellite data are obtained; high-precision satellite positions and satellite clock errors are calculated based on the PPP-B2b enhancement information and broadcast ephemeris in the PPP-B2b satellite data. According to the satellite observation data in the PPP-B2b satellite data, the pseudo-range IF combination and the carrier phase IF combination of multiple satellites are calculated respectively using the following formula:

[0104]

[0105] Where P IF is the pseudorange IF combination; L IF is the carrier phase IF combination; f1 is the first frequency; f2 is the second frequency; P1 is the pseudorange of frequency f1; P2 is the pseudorange of frequency f2; L1 is the carrier phase of frequency f1; L2 is the carrier phase of frequency f2.

[0106] Since the pseudorange IF combination and the carrier phase IF combination can be expressed as:

[0107]

[0108] In the formula, is the geometric distance between the satellite and the receiver; c is the speed of light; δt r and δt s are the clock errors of the receiver and the satellite respectively; represents the relativistic effect; is the tropospheric delay, including static delay and wet delay; and They represent the hardware delays of the pseudorange IF combination and the carrier phase IF combination respectively; and denote the noise of pseudorange and carrier phase IF combination respectively; IF Indicates the IF combination wavelength; is the floating point solution for the IF ambiguity.

[0109] The geometric distance between the satellite and the receiver is calculated using high-precision satellite positions and known receiver coordinates. The high-precision satellite clock error, the geometric distance between the satellite and the receiver, and the tropospheric static delay calculated by the model are deducted from the IF combination to obtain the observation residual equation. The residual equation is subjected to inter-satellite single difference, and the traditional Kalman filter algorithm is used to estimate the position residual, tropospheric wet delay residual, and single-difference IF floating-point ambiguity and other parameters. When the estimated receiver coordinates converge, high-precision IF floating-point ambiguity is obtained.

[0110] The present invention decodes the PPP-B2b enhanced information and generates high-precision satellite orbits and clock errors by combining broadcast ephemeris and satellite observation data. It is no longer dependent on post-precision ephemeris and precision clock errors, which can greatly reduce the cost and complexity of data acquisition and meet the needs of real-time high-precision positioning.

[0111] Further, in an embodiment of the present invention, based on the PPP-B2b satellite data, a plurality of single-difference widelane ambiguity floating-point solutions and a plurality of single-difference IF ambiguity floating-point solutions are obtained respectively, including:

[0112] Based on the satellite observation data in the PPP-B2b satellite data, the wide lane ambiguity floating point solutions of several satellites at several epochs are calculated;

[0113] Based on the altitude angle of each satellite at a plurality of epochs, respectively deriving the weight of each satellite at each epoch;

[0114] Based on the weight of each epoch, weighted calculation is performed on the wide lane ambiguity floating point solution of each satellite at each epoch to obtain the mean value of the wide lane ambiguity floating point solution of each satellite;

[0115] Single-difference processing is performed on the mean values ​​of the plurality of wide-lane ambiguity floating-point solutions to obtain a plurality of single-difference wide-lane ambiguity floating-point solutions.

[0116] Further, in the embodiment of the present invention, wide lane ambiguity floating point solutions of several satellites at several epochs are calculated according to the satellite observation data in the PPP-B2b satellite data, specifically:

[0117] Acquire a first frequency and a second frequency of a dual-frequency signal band in satellite observation data;

[0118] Acquire pseudoranges of the first frequency, pseudoranges of the second frequency, carrier phases of the first frequency, and carrier phases of the second frequency for a plurality of satellites at a plurality of epochs;

[0119] calculating a wide lane wavelength based on the first frequency, the second frequency, and the speed of light;

[0120] Calculating MW combinations of the plurality of satellites at the plurality of epochs respectively based on the pseudoranges of the first frequency, the pseudoranges of the second frequency, the carrier phases of the first frequency, and the carrier phases of the second frequency of the plurality of satellites at the plurality of epochs;

[0121] Based on the MW combinations of the several satellites at the several epochs and the wide lane wavelengths, wide lane ambiguity floating point solutions of the several satellites at the several epochs are calculated.

[0122] In the embodiment of the present invention, the wide lane ambiguity is calculated by MW combination, and the MW combination is calculated by pseudorange and phase in satellite observation data, as shown in the following formula:

[0123]

[0124] In the formula, is MW combination; L W is the wide-lane combination of carrier phase; P N is a narrow lane combination of pseudoranges; f1 is the first frequency; f2 is the second frequency; P1 is the pseudorange of frequency f1; P2 is the pseudorange of frequency f2; L1 is the carrier phase of frequency f1; L2 is the carrier phase of frequency f2.

[0125] In the embodiment of the present invention, the wide lane wavelength is calculated based on the first frequency, the second frequency and the speed of light, as shown in the following formula:

[0126]

[0127] In the formula, λ WL is the wide lane wavelength; c is the speed of light; f1 is the first frequency; f2 is the second frequency.

[0128] In the embodiment of the present invention, based on the MW combination and the wide lane wavelength, a wide lane ambiguity floating point solution can be calculated as follows:

[0129]

[0130] In the formula, is the floating point solution for wide lane ambiguity; WL is the wide-lane wavelength; It is a MW combination.

[0131] The wide lane ambiguity floating point solution can be expressed as:

[0132]

[0133] In the formula, is the float solution for the wide lane ambiguity; is the wide lane ambiguity fixed solution; b r,MW is the hardware delay of the receiver; The hardware delay of the satellite end; is the observation noise.

[0134] In the embodiment of the present invention, the noise can be eliminated by using a weighted average algorithm for the wide lane ambiguity floating point solution in the continuous arc segment without cycle slip. impact.

[0135] In an embodiment of the present invention, the weight of each epoch of each satellite is determined according to the altitude angle of the satellite, as follows:

[0136]

[0137] Where q(E) is the weight and E is the altitude angle.

[0138] In the embodiment of the present invention, after obtaining the weight of each epoch of each satellite, the wide lane ambiguity floating point solution of each epoch of each satellite is weightedly calculated to obtain the mean value of the wide lane ambiguity floating point solution of each satellite. The mean value of the wide lane ambiguity floating point solution can be expressed as:

[0139]

[0140] In the formula, is the mean of the wide lane ambiguity floating point solution; is the floating point solution of wide lane ambiguity; 〈·〉 represents the weighted average between epochs; is the wide lane ambiguity fixed solution; b r,MW is the hardware delay of the receiver; This is the hardware delay of the satellite.

[0141] In the embodiment of the present invention, since the wide lane FCB at the satellite end is relatively stable within a day, the wide lane ambiguity can be estimated as an average value using data from all epochs of a day.

[0142] Further, in the embodiment of the present invention, single difference processing is performed on the mean values ​​of the plurality of wide lane ambiguity floating point solutions to obtain a plurality of single difference wide lane ambiguity floating point solutions, specifically:

[0143] Distinguishing a plurality of satellites into reference satellites and a plurality of first satellites;

[0144] Combining the reference satellite with a plurality of the first satellites respectively to form a plurality of satellite pairs;

[0145] The mean values ​​of the wide lane ambiguity floating point solutions of the satellite pairs are subjected to difference processing to obtain a plurality of single-difference wide lane ambiguity floating point solutions.

[0146] In the embodiment of the present invention, the influence of the hardware delay of the receiver is eliminated by performing inter-satellite single difference based on the mean of several wide lane ambiguity floating point solutions, and several single difference wide lane ambiguity floating point solutions are obtained. First, the best common view satellite is selected as the reference satellite from the multiple satellites from which data is collected. r , other satellites as the first satellite s i . The reference satellite s r With the first satellite i The satellite pairs are formed respectively, and the mean values ​​of the wide lane ambiguity floating point solutions of each satellite pair are processed by difference to eliminate b r,MW Influence, multiple single-difference wide-lane ambiguity floating-point solutions are obtained as follows:

[0147]

[0148] in, for The integer part of for The decimal part of .

[0149] The present invention acquires PPP-B2b satellite data in real time, uses the real-time acquired PPP-B2b satellite data as the data basis for FCB estimation, greatly reduces the data acquisition cost, uses the real-time acquired data to perform FCB estimation, and improves the real-time performance of the data; based on the PPP-B2b satellite data, a plurality of single-difference wide-lane ambiguity floating-point solutions and a plurality of single-difference IF ambiguity floating-point solutions are respectively calculated, and the real-time PPP-B2b satellite data is used to calculate the single-difference wide-lane ambiguity floating-point solutions and the single-difference IF ambiguity floating-point solutions, which can effectively improve the real-time performance and accuracy of the ambiguity floating-point solutions.

[0150] Step 103: perform wide lane FCB estimation based on a plurality of single-difference wide lane ambiguity floating point solutions to obtain a wide lane FCB estimation value.

[0151] Further, in the embodiment of the present invention, wide lane FCB estimation is performed based on a plurality of single-difference wide lane ambiguity floating point solutions to obtain a wide lane FCB estimation value, specifically:

[0152] Obtaining decimal parts of a plurality of single-difference wide-lane ambiguity floating-point solutions to obtain a plurality of wide-lane FCBs;

[0153] The average value of a plurality of the wide lane FCBs is calculated to obtain a wide lane FCB mean.

[0154] In the embodiment of the present invention, the single-difference wide-lane ambiguity floating-point solution is the sum of the single-difference wide-lane ambiguity fixed solution and the wide-lane FCB, and the single-difference wide-lane ambiguity fixed solution is the integer part of the single-difference wide-lane ambiguity floating-point solution, and the wide-lane FCB is the decimal part of the single-difference wide-lane ambiguity floating-point solution. Therefore, by obtaining the decimal part of each single-difference wide-lane ambiguity floating-point solution, a plurality of wide-lane FCBs can be obtained. By averaging a plurality of wide-lane FCBs, a wide-lane FCB mean can be obtained.

[0155] The present invention estimates wide lane FCB based on several single-difference wide lane ambiguity floating point solutions to obtain wide lane FCB estimation values. Using single-difference wide lane ambiguity floating point solutions to estimate wide lane FCB can effectively reduce the influence of hardware delay and observation noise and improve the accuracy of wide lane FCB.

[0156] Step 104: Correct a plurality of the single-difference wide-lane ambiguity floating-point solutions according to the wide-lane FCB estimation value to obtain a plurality of single-difference wide-lane ambiguity fixed solutions.

[0157] In the embodiment of the present invention, after obtaining the wide lane FCB estimation value, the wide lane FCB estimation value is subtracted from each single-difference wide lane ambiguity floating point solution, so as to eliminate the influence of the wide lane FCB and obtain a plurality of single-difference wide lane ambiguity fixed solutions. The single-difference wide lane ambiguity is corrected from a floating point solution to a fixed solution, thereby realizing the optimization of ambiguity.

[0158] The present invention corrects several single-difference wide-lane ambiguity floating-point solutions according to the wide-lane FCB estimation value to obtain several single-difference wide-lane ambiguity fixed solutions. After obtaining the wide-lane FCB estimation value, the single-difference wide-lane ambiguity data is corrected in time, and the corrected data is used as the data basis for subsequent narrow-lane FCB estimation, which effectively improves the accuracy of the data.

[0159] Step 105: Based on the relationship between ambiguities, a plurality of single-difference narrow-lane ambiguity floating-point solutions are obtained according to a plurality of the single-difference wide-lane ambiguity fixed solutions and a plurality of the single-difference IF ambiguity floating-point solutions.

[0160] Further, in the embodiment of the present invention, based on the relationship between ambiguities, a plurality of single-difference wide lane ambiguity fixed solutions and a plurality of single-difference IF ambiguity floating-point solutions are obtained, specifically:

[0161] Obtain a first frequency and a second frequency;

[0162] Calculating a plurality of single-difference narrow-lane ambiguity floating-point solutions based on the first frequency, the second frequency, a plurality of the single-difference wide-lane ambiguity fixed solutions and a plurality of the single-difference IF ambiguity floating-point solutions;

[0163] The calculation formula of the single-difference narrow lane ambiguity floating point solution is:

[0164]

[0165] In the formula, is the floating point solution of the single-difference narrow lane ambiguity; is the single-difference IF ambiguity float solution; is the single-difference wide-lane ambiguity fixed solution; f1 is the first frequency; f2 is the second frequency.

[0166] In an embodiment of the present invention, based on the relationship between ambiguities, a plurality of single-difference narrow lane ambiguity floating-point solutions are obtained according to a plurality of the single-difference wide lane ambiguity fixed solutions and a plurality of the single-difference IF ambiguity floating-point solutions. The single-difference wide lane ambiguity floating-point solutions are used to calculate the single-difference narrow lane ambiguity floating-point solutions. Compared with the single-difference wide lane ambiguity floating-point solutions, the accuracy of the single-difference narrow lane ambiguity floating-point solutions can be greatly improved.

[0167] Step 106: Perform narrow lane FCB estimation based on a plurality of single-difference narrow lane ambiguity floating point solutions to obtain a narrow lane FCB estimation value.

[0168] Further, in the embodiment of the present invention, narrow lane FCB estimation is performed based on a plurality of single-difference narrow lane ambiguity floating point solutions to obtain a narrow lane FCB estimation value, specifically:

[0169] Obtaining decimal parts of a plurality of single-difference narrow lane ambiguity floating point solutions to obtain a plurality of narrow lane FCBs;

[0170] The average values ​​of several narrow lane FCBs are calculated to obtain a narrow lane FCB mean value.

[0171] In the embodiment of the present invention, the single-difference narrow lane ambiguity floating point solution can be expressed as:

[0172]

[0173] in, for The integer part of for The decimal part of .

[0174] In the embodiment of the present invention, since the single-difference narrow lane ambiguity floating point solution is the sum of the single-difference narrow lane ambiguity fixed solution and the narrow lane FCB, and the single-difference narrow lane ambiguity fixed solution is the integer part of the single-difference narrow lane ambiguity floating point solution, and the narrow lane FCB is the decimal part of the single-difference narrow lane ambiguity floating point solution, a plurality of narrow lane FCBs can be obtained by obtaining the decimal part of each single-difference narrow lane ambiguity floating point solution. The average value of the narrow lane FCBs can be obtained by averaging a plurality of narrow lane FCBs.

[0175] The present invention estimates narrow lane FCB based on several single-difference narrow lane ambiguity floating point solutions to obtain narrow lane FCB estimation values. Using single-difference narrow lane ambiguity floating point solutions to estimate wide lane FCB can effectively reduce the influence of hardware delay and observation noise and improve the accuracy of narrow lane FCB.

[0176] Step 107: Correcting a plurality of single-difference narrow lane ambiguity floating point solutions according to the narrow lane FCB estimation value to obtain a plurality of single-difference narrow lane ambiguity fixed solutions.

[0177] In the embodiment of the present invention, after obtaining the wide lane FCB estimation value, the narrow lane FCB estimation value is subtracted from each single difference narrow lane ambiguity floating point solution, so as to eliminate the influence of the narrow lane FCB, obtain a plurality of single difference narrow lane ambiguity fixed solutions, correct the single difference narrow lane ambiguity from the floating point solution to the fixed solution, and realize the optimization of ambiguity.

[0178] The present invention corrects a plurality of single-difference narrow lane ambiguity floating point solutions according to the narrow lane FCB estimation value to obtain a plurality of single-difference narrow lane ambiguity fixed solutions. After obtaining the narrow lane FCB estimation value, the single-difference narrow lane ambiguity data is corrected in time, which can improve the real-time performance and accuracy of the single-difference narrow lane ambiguity data.

[0179] Step 108: Based on the relationship between ambiguities, a plurality of single-difference IF ambiguity floating-point solutions are optimized according to a plurality of the single-difference wide-lane ambiguity fixed solutions and a plurality of the single-difference narrow-lane ambiguity fixed solutions to obtain a plurality of single-difference IF ambiguity fixed solutions.

[0180] Further, in the embodiment of the present invention, based on the relationship between ambiguities, according to the plurality of single-difference wide lane ambiguity fixed solutions and the plurality of single-difference narrow lane ambiguity fixed solutions, a plurality of single-difference IF ambiguity floating point solutions are optimized to obtain a plurality of single-difference IF ambiguity fixed solutions, specifically:

[0181] calculating a narrow lane wavelength based on the first frequency, the second frequency, and the speed of light;

[0182] Calculating a plurality of single-difference IF ambiguity fixed solutions based on the first frequency, the second frequency, the IF combined wavelength, the wide lane wavelength, the narrow lane wavelength, a plurality of the single-difference wide lane ambiguity fixed solutions, and a plurality of the single-difference narrow lane ambiguity fixed solutions;

[0183] The calculation formula of the single-difference IF ambiguity fixed solution is:

[0184]

[0185] In the formula, λ IF is the IF combined wavelength; is the single-difference IF ambiguity fixed solution; NLis the narrow lane wavelength; is the fixed solution of the single-difference narrow lane ambiguity; WL is the wide-lane wavelength; is the single-difference wide-lane ambiguity fixed solution; f1 is the first frequency; f2 is the second frequency.

[0186] In the embodiment of the present invention, according to a plurality of single-difference wide lane ambiguity fixed solutions and a plurality of the single-difference narrow lane ambiguity fixed solutions, based on the relationship between the ambiguities, the single-difference IF ambiguity fixed solution can be calculated according to the above formula, and the single-difference IF ambiguity is optimized from the single-difference IF ambiguity floating-point solution to the single-difference IF ambiguity fixed solution, thereby achieving ambiguity optimization and effectively improving the accuracy of the ambiguity.

[0187] As an example of an embodiment of the present invention, a PPP-B2b-based ambiguity optimization system can be used to implement a PPP-B2b-based ambiguity optimization method. Figure 2 , is a structural diagram of an embodiment of the ambiguity optimization system based on PPP-B2b provided by the present invention, and the system consists of two parts: a receiver end distributed in various places and a solution center end. The receiver end is divided into three modules, namely a receiving module, a processing module and a data transmission module. The receiving module is responsible for receiving GNSS observation data (satellite observation data and broadcast ephemeris) and PPP-B2b enhancement information. The processing module is responsible for processing the received data, including decoding the PPP-B2b signal and generating high-precision satellite orbits and clock errors in combination with broadcast ephemeris, solving IF ambiguities, and MW combination calculations and solving wide lane ambiguities. The solution of IF ambiguities is estimated by the traditional PPP positioning algorithm. The data transmission module is responsible for transmitting the solution results of IF ambiguities and wide lane ambiguities to the solution center through the network. The solution center end is divided into a solution module and a sending module. The solution module processes the IF ambiguities and wide lane ambiguities transmitted by all receiver ends, and estimates the wide lane FCB and narrow lane FCB of the satellite end. The sending module encodes the satellite end wide lane and narrow lane FCB solution results and sends them to the satellite end for broadcasting.

[0188] After receiving the real-time wide-lane FCB and narrow-lane FCB at the receiver, the PPP-B2b-based ambiguity optimization system receives the PPP-B2b enhancement information in real time to perform ambiguity resolution for precise point positioning. First, the MW combined observation value is calculated by pseudorange and carrier phase, and the noise influence is weakened by weighted average between epochs to obtain the wide-lane ambiguity floating-point solution. Then, the inter-satellite single-difference wide-lane ambiguity is corrected by the inter-satellite single-difference wide-lane FCB, so as to obtain a single-difference wide-lane ambiguity floating-point solution close to an integer. The single-difference wide-lane ambiguity floating-point solution is rounded and tested with Bootstrapping. If the test is passed, the single-difference wide-lane ambiguity floating-point solution is fixed as the single-difference wide-lane ambiguity fixed solution. If the test is not passed or the number of ambiguity fixes is less than 4, the fixation fails, and the wide-lane ambiguity fixation is tried again in the next epoch. When the wide-lane ambiguity is successfully fixed, the narrow-lane ambiguity floating-point solution can be obtained by referring to the correction method of the wide-lane FCB through the IF ambiguity floating-point solution and the wide-lane ambiguity fixed solution. After deducting the influence of narrow lane FCB in narrow lane ambiguity, a floating point solution of narrow lane ambiguity approximated to an integer is obtained. The LAMBDA algorithm is used to fix the narrow lane ambiguity and perform a ratio test. After passing the ratio test and the number of fixed narrow lane ambiguities is greater than 4, the fixed ambiguity constraint PPP solution can be used. After the wide lane ambiguity and narrow lane ambiguity are fixed respectively, the IF ambiguity of fixed solution accuracy can be obtained, which is substituted into the parameter estimation process as a constraint condition to obtain the coordinate waiting estimation parameters of fixed solution accuracy.

[0189] In summary, the embodiment of the present invention provides an ambiguity optimization method based on PPP-B2b, which acquires PPP-B2b satellite data in real time, and calculates multiple single-difference wide lane ambiguity floating-point solutions and multiple single-difference IF ambiguity floating-point solutions based on the PPP-B2b satellite data; using the single-difference data for subsequent FCB estimation can reduce the influence of hardware delay and observation noise, and improve the accuracy of data; based on the multiple single-difference wide lane ambiguity floating-point solutions, the wide lane FCB estimation is performed to obtain the wide lane FCB estimation value, and each single-difference wide lane ambiguity floating-point solution is corrected according to the wide lane FCB estimation value to obtain multiple single-difference wide lane ambiguity fixed solutions, and after obtaining the wide lane FCB estimation value, the single-difference wide lane ambiguity data is corrected in time, and the corrected data is used as the data basis for subsequent narrow lane FCB estimation, thereby improving the accuracy of data; based on Based on the relationship between ambiguities, multiple single-difference wide lane ambiguity fixed solutions and multiple single-difference IF ambiguity floating-point solutions are calculated to obtain multiple single-difference narrow lane ambiguity floating-point solutions; based on the multiple single-difference narrow lane ambiguity floating-point solutions, narrow lane FCB estimation is performed to obtain narrow lane FCB estimation values, and the multiple single-difference narrow lane ambiguity floating-point solutions are corrected according to the narrow lane FCB estimation values ​​to obtain multiple single-difference narrow lane ambiguity fixed solutions. After obtaining the narrow lane FCB estimation values, the single-difference narrow lane ambiguity data is corrected in time, which effectively improves the accuracy of the data; based on the relationship between ambiguities, based on the multiple single-difference wide lane ambiguity fixed solutions and multiple single-difference narrow lane ambiguity fixed solutions, multiple single-difference IF ambiguity floating-point solutions are optimized to obtain multiple single-difference IF ambiguity fixed solutions, and the ambiguity is optimized from a floating-point solution to a fixed solution, thereby achieving ambiguity optimization and effectively improving the accuracy of the ambiguity.

[0190] Example 3

[0191] See also Figure 3 , is a schematic diagram of the structure of an embodiment of the PPP-B2b-based ambiguity optimization device provided by the present invention, the device includes a data acquisition module 201, a preliminary calculation module 202, a wide lane FCB estimation module 203, a wide lane correction module 204, a narrow lane calculation module 205, a narrow lane FCB estimation module 206, a narrow lane correction module 207 and an optimization module 208;

[0192] The data acquisition module 201 is used to generate PPP-B2b satellite data according to the real-time acquired PPP-B2b enhancement information, broadcast ephemeris and satellite observation data;

[0193] The preliminary calculation module 202 is used to obtain a plurality of single-difference wide-lane ambiguity floating-point solutions and a plurality of single-difference IF ambiguity floating-point solutions based on the PPP-B2b satellite data;

[0194] The wide lane FCB estimation module 203 is used to perform wide lane FCB estimation based on a plurality of single-difference wide lane ambiguity floating point solutions to obtain a wide lane FCB estimation value;

[0195] The wide lane correction module 204 is used to correct a plurality of the single-difference wide lane ambiguity floating point solutions according to the wide lane FCB estimation value to obtain a plurality of single-difference wide lane ambiguity fixed solutions;

[0196] The narrow lane calculation module 205 is used to obtain a plurality of single-difference narrow lane ambiguity floating point solutions based on the relationship between ambiguities and according to a plurality of single-difference wide lane ambiguity fixed solutions and a plurality of single-difference IF ambiguity floating point solutions;

[0197] The narrow lane FCB estimation module 206 is used to perform narrow lane FCB estimation based on a plurality of single-difference narrow lane ambiguity floating point solutions to obtain a narrow lane FCB estimation value;

[0198] The narrow lane correction module 207 is used to correct a plurality of the single-difference narrow lane ambiguity floating point solutions according to the narrow lane FCB estimation value to obtain a plurality of single-difference narrow lane ambiguity fixed solutions;

[0199] The optimization module 208 is used to optimize a plurality of single-difference IF ambiguity floating point solutions based on the relationship between ambiguities and according to a plurality of the single-difference wide lane ambiguity fixed solutions and a plurality of the single-difference narrow lane ambiguity fixed solutions to obtain a plurality of single-difference IF ambiguity fixed solutions.

[0200] Further, in an embodiment of the present invention, based on the PPP-B2b satellite data, a plurality of single-difference widelane ambiguity floating-point solutions and a plurality of single-difference IF ambiguity floating-point solutions are obtained respectively, including:

[0201] Based on the satellite observation data in the PPP-B2b satellite data, the wide lane ambiguity floating point solutions of several satellites at several epochs are calculated;

[0202] Based on the altitude angle of each satellite at a plurality of epochs, respectively deriving the weight of each satellite at each epoch;

[0203] Based on the weight of each epoch, weighted calculation is performed on the wide lane ambiguity floating point solution of each satellite at each epoch to obtain the mean value of the wide lane ambiguity floating point solution of each satellite;

[0204] Single-difference processing is performed on the mean values ​​of the plurality of wide-lane ambiguity floating-point solutions to obtain a plurality of single-difference wide-lane ambiguity floating-point solutions.

[0205] Further, in the embodiment of the present invention, wide lane ambiguity floating point solutions of several satellites at several epochs are calculated according to the satellite observation data in the PPP-B2b satellite data, specifically:

[0206] Acquire a first frequency and a second frequency of a dual-frequency signal band in satellite observation data;

[0207] Acquire pseudoranges of the first frequency, pseudoranges of the second frequency, carrier phases of the first frequency, and carrier phases of the second frequency for a plurality of satellites at a plurality of epochs;

[0208] calculating a wide lane wavelength based on the first frequency, the second frequency, and the speed of light;

[0209] Calculating MW combinations of the plurality of satellites at the plurality of epochs respectively based on the pseudoranges of the first frequency, the pseudoranges of the second frequency, the carrier phases of the first frequency, and the carrier phases of the second frequency of the plurality of satellites at the plurality of epochs;

[0210] Based on the MW combinations of the several satellites at the several epochs and the wide lane wavelengths, wide lane ambiguity floating point solutions of the several satellites at the several epochs are calculated.

[0211] Further, in the embodiment of the present invention, single difference processing is performed on the mean values ​​of the plurality of wide lane ambiguity floating point solutions to obtain a plurality of single difference wide lane ambiguity floating point solutions, specifically:

[0212] Distinguishing a plurality of satellites into reference satellites and a plurality of first satellites;

[0213] Combining the reference satellite with a plurality of the first satellites respectively to form a plurality of satellite pairs;

[0214] The mean values ​​of the wide lane ambiguity floating point solutions of the satellite pairs are subjected to difference processing to obtain a plurality of single-difference wide lane ambiguity floating point solutions.

[0215] Further, in an embodiment of the present invention, based on the PPP-B2b satellite data, a plurality of single-difference widelane ambiguity floating-point solutions and a plurality of single-difference IF ambiguity floating-point solutions are obtained respectively, including:

[0216] High-precision satellite position and high-precision satellite clock error are calculated based on the PPP-B2b enhancement information and broadcast ephemeris in the PPP-B2b satellite data;

[0217] According to the satellite observation data in the PPP-B2b satellite data, the pseudo-range IF combination and the carrier phase IF combination of several satellites are calculated respectively;

[0218] Based on the high-precision satellite position, the high-precision satellite clock difference and the pseudo-range IF combination and carrier phase IF combination of each satellite, a single-difference IF ambiguity floating-point solution is estimated using a Kalman filter algorithm.

[0219] Further, in the embodiment of the present invention, wide lane FCB estimation is performed based on a plurality of single-difference wide lane ambiguity floating point solutions to obtain a wide lane FCB estimation value, specifically:

[0220] Obtaining decimal parts of a plurality of single-difference wide-lane ambiguity floating-point solutions to obtain a plurality of wide-lane FCBs;

[0221] The average value of a plurality of the wide lane FCBs is calculated to obtain a wide lane FCB mean.

[0222] Further, in the embodiment of the present invention, based on the relationship between ambiguities, a plurality of single-difference wide lane ambiguity fixed solutions and a plurality of single-difference IF ambiguity floating-point solutions are obtained, specifically:

[0223] Obtain a first frequency and a second frequency;

[0224] Calculating a plurality of single-difference narrow-lane ambiguity floating-point solutions based on the first frequency, the second frequency, a plurality of the single-difference wide-lane ambiguity fixed solutions and a plurality of the single-difference IF ambiguity floating-point solutions;

[0225] The calculation formula of the single-difference narrow lane ambiguity floating point solution is:

[0226]

[0227] In the formula, is the floating point solution of the single-difference narrow lane ambiguity; is the single-difference IF ambiguity float solution; is the single-difference wide-lane ambiguity fixed solution; f1 is the first frequency; f2 is the second frequency.

[0228] Further, in the embodiment of the present invention, narrow lane FCB estimation is performed based on a plurality of single-difference narrow lane ambiguity floating point solutions to obtain a narrow lane FCB estimation value, specifically:

[0229] Obtaining decimal parts of a plurality of single-difference narrow lane ambiguity floating point solutions to obtain a plurality of narrow lane FCBs;

[0230] The average values ​​of several narrow lane FCBs are calculated to obtain a narrow lane FCB mean value.

[0231] Further, in the embodiment of the present invention, based on the relationship between ambiguities, according to the plurality of single-difference wide lane ambiguity fixed solutions and the plurality of single-difference narrow lane ambiguity fixed solutions, a plurality of single-difference IF ambiguity floating point solutions are optimized to obtain a plurality of single-difference IF ambiguity fixed solutions, specifically:

[0232] calculating a narrow lane wavelength based on the first frequency, the second frequency, and the speed of light;

[0233] Calculating a plurality of single-difference IF ambiguity fixed solutions based on the first frequency, the second frequency, the IF combined wavelength, the wide lane wavelength, the narrow lane wavelength, a plurality of the single-difference wide lane ambiguity fixed solutions, and a plurality of the single-difference narrow lane ambiguity fixed solutions;

[0234] The calculation formula of the single-difference IF ambiguity fixed solution is:

[0235]

[0236] In the formula, is the IF combined wavelength; is the single-difference IF ambiguity fixed solution; NL is the narrow lane wavelength; is the fixed solution of the single-difference narrow lane ambiguity; WL is the wide-lane wavelength; is the single-difference wide-lane ambiguity fixed solution; f1 is the first frequency; f2 is the second frequency.

[0237] In summary, the embodiment of the present invention provides an ambiguity optimization device based on PPP-B2b. Based on the organic combination of modules, the embodiment of the present invention provides an ambiguity optimization method based on PPP-B2b, which obtains PPP-B2b satellite data in real time, and calculates multiple single-difference wide lane ambiguity floating-point solutions and multiple single-difference IF ambiguity floating-point solutions based on the PPP-B2b satellite data; using the single-difference data for subsequent FCB estimation can reduce the influence of hardware delay and observation noise and improve the accuracy of the data; based on the multiple single-difference wide lane ambiguity floating-point solutions, wide lane FCB estimation is performed to obtain a wide lane FCB estimation value, and each single-difference wide lane ambiguity floating-point solution is corrected according to the wide lane FCB estimation value to obtain multiple single-difference wide lane ambiguity fixed solutions. After obtaining the wide lane FCB estimation value, the single-difference wide lane ambiguity data is corrected in time, and the corrected data is used as the subsequent narrow lane FCB B estimated data basis, improves the accuracy of the data; based on the relationship between ambiguities, multiple single-difference wide lane ambiguity fixed solutions and multiple single-difference IF ambiguity floating-point solutions are calculated to obtain multiple single-difference narrow lane ambiguity floating-point solutions; narrow lane FCB estimation is performed based on multiple single-difference narrow lane ambiguity floating-point solutions to obtain narrow lane FCB estimation values, and multiple single-difference narrow lane ambiguity floating-point solutions are corrected according to the narrow lane FCB estimation values ​​to obtain multiple single-difference narrow lane ambiguity fixed solutions. After obtaining the narrow lane FCB estimation values, the single-difference narrow lane ambiguity data is corrected in time, which effectively improves the accuracy of the data; based on the relationship between ambiguities, multiple single-difference IF ambiguity floating-point solutions are optimized according to multiple single-difference wide lane ambiguity fixed solutions and multiple single-difference narrow lane ambiguity fixed solutions, and multiple single-difference IF ambiguity fixed solutions can be obtained, and the ambiguity is optimized from a floating-point solution to a fixed solution, thereby realizing the optimization of the ambiguity and effectively improving the accuracy of the ambiguity.

[0238] The specific embodiments described above further illustrate the purpose, technical solutions and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. It is particularly pointed out that for those skilled in the art, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of protection of the present invention.

Claims

1. A fuzziness optimization method based on PPP-B2b, characterized in that: include: Get PPP-B2b satellite data in real time; Based on the PPP-B2b satellite data, a plurality of single-difference wide-lane ambiguity floating-point solutions and a plurality of single-difference IF ambiguity floating-point solutions are obtained respectively; Perform wide lane FCB estimation based on a plurality of single-difference wide lane ambiguity floating point solutions to obtain a wide lane FCB estimation value; Correcting a plurality of the single-difference wide-lane ambiguity floating-point solutions according to the wide-lane FCB estimation value to obtain a plurality of single-difference wide-lane ambiguity fixed solutions; Based on the relationship between ambiguities, a plurality of single-difference narrow-lane ambiguity floating-point solutions are obtained according to the plurality of single-difference wide-lane ambiguity fixed solutions and the plurality of single-difference IF ambiguity floating-point solutions; Perform narrow lane FCB estimation based on a plurality of single-difference narrow lane ambiguity floating point solutions to obtain a narrow lane FCB estimation value; Correcting a plurality of single-difference narrow lane ambiguity floating point solutions according to the narrow lane FCB estimation value to obtain a plurality of single-difference narrow lane ambiguity fixed solutions; Based on the relationship between ambiguities, several single-difference IF ambiguity floating-point solutions are optimized according to several single-difference wide-lane ambiguity fixed solutions and several single-difference narrow-lane ambiguity fixed solutions to obtain several single-difference IF ambiguity fixed solutions.

2. The PPP-B2b-based fuzziness optimization method according to claim 1, characterized in that: Based on the PPP-B2b satellite data, a plurality of single-difference wide lane ambiguity floating point solutions and a plurality of single-difference IF ambiguity floating point solutions are obtained respectively, including: Based on the satellite observation data in the PPP-B2b satellite data, the wide lane ambiguity floating point solutions of several satellites at several epochs are calculated; Based on the altitude angle of each satellite at a plurality of epochs, respectively deriving the weight of each satellite at each epoch; Based on the weight of each epoch, weighted calculation is performed on the wide lane ambiguity floating point solution of each satellite at each epoch to obtain the mean value of the wide lane ambiguity floating point solution of each satellite; Single-difference processing is performed on the mean values ​​of the plurality of wide-lane ambiguity floating-point solutions to obtain a plurality of single-difference wide-lane ambiguity floating-point solutions.

3. The PPP-B2b-based fuzziness optimization method according to claim 2, characterized in that: The wide lane ambiguity floating point solutions of several satellites at several epochs are calculated according to the satellite observation data in the PPP-B2b satellite data, specifically: Acquire a first frequency and a second frequency of a dual-frequency signal band in satellite observation data; Acquire pseudoranges of the first frequency, pseudoranges of the second frequency, carrier phases of the first frequency, and carrier phases of the second frequency for a plurality of satellites at a plurality of epochs; calculating a wide lane wavelength based on the first frequency, the second frequency, and the speed of light; Calculating MW combinations of the plurality of satellites at the plurality of epochs respectively based on the pseudoranges of the first frequency, the pseudoranges of the second frequency, the carrier phases of the first frequency, and the carrier phases of the second frequency of the plurality of satellites at the plurality of epochs; Based on the MW combinations of the several satellites at the several epochs and the wide lane wavelengths, wide lane ambiguity floating point solutions of the several satellites at the several epochs are calculated.

4. The PPP-B2b-based fuzziness optimization method according to claim 3, characterized in that: The single difference processing is performed on the mean values ​​of the plurality of wide lane ambiguity floating point solutions to obtain a plurality of single difference wide lane ambiguity floating point solutions, specifically: Distinguishing a plurality of satellites into reference satellites and a plurality of first satellites; Combining the reference satellite with a plurality of the first satellites respectively to form a plurality of satellite pairs; The mean values ​​of the wide lane ambiguity floating point solutions of the satellite pairs are subjected to difference processing to obtain a plurality of single-difference wide lane ambiguity floating point solutions.

5. The PPP-B2b-based fuzziness optimization method according to claim 4, characterized in that: Based on the PPP-B2b satellite data, a plurality of single-difference wide lane ambiguity floating point solutions and a plurality of single-difference IF ambiguity floating point solutions are obtained respectively, including: High-precision satellite position and high-precision satellite clock error are calculated based on the PPP-B2b enhancement information and broadcast ephemeris in the PPP-B2b satellite data; According to the satellite observation data in the PPP-B2b satellite data, the pseudo-range IF combination and the carrier phase IF combination of several satellites are calculated respectively; Based on the high-precision satellite position, the high-precision satellite clock difference and the pseudo-range IF combination and carrier phase IF combination of each satellite, a single-difference IF ambiguity floating-point solution is estimated using a Kalman filter algorithm.

6. The PPP-B2b-based fuzziness optimization method according to claim 5, characterized in that: The wide lane FCB estimation is performed based on the plurality of single-difference wide lane ambiguity floating point solutions to obtain a wide lane FCB estimation value, specifically: Obtaining decimal parts of a plurality of single-difference wide-lane ambiguity floating-point solutions to obtain a plurality of wide-lane FCBs; The average value of a plurality of the wide lane FCBs is calculated to obtain a wide lane FCB mean.

7. The PPP-B2b-based fuzziness optimization method according to claim 6, characterized in that: Based on the relationship between ambiguities, a plurality of single-difference wide lane ambiguity fixed solutions and a plurality of single-difference IF ambiguity floating point solutions are obtained, specifically: Obtain a first frequency and a second frequency; Calculating a plurality of single-difference narrow-lane ambiguity floating-point solutions based on the first frequency, the second frequency, a plurality of the single-difference wide-lane ambiguity fixed solutions and a plurality of the single-difference IF ambiguity floating-point solutions; The calculation formula of the single-difference narrow lane ambiguity floating point solution is: In the formula, is the floating point solution of the single-difference narrow lane ambiguity; is the single-difference IF ambiguity float solution; is the single-difference wide-lane ambiguity fixed solution; f1 is the first frequency; f2 is the second frequency.

8. The PPP-B2b-based fuzziness optimization method according to claim 7, characterized in that: The narrow lane FCB estimation is performed based on the plurality of single-difference narrow lane ambiguity floating point solutions to obtain a narrow lane FCB estimation value, specifically: Obtaining decimal parts of a plurality of single-difference narrow lane ambiguity floating point solutions to obtain a plurality of narrow lane FCBs; The average values ​​of several narrow lane FCBs are calculated to obtain a narrow lane FCB mean value.

9. The PPP-B2b-based fuzziness optimization method according to claim 8, characterized in that: Based on the relationship between ambiguities, according to the plurality of single-difference wide lane ambiguity fixed solutions and the plurality of single-difference narrow lane ambiguity fixed solutions, a plurality of single-difference IF ambiguity floating point solutions are optimized to obtain a plurality of single-difference IF ambiguity fixed solutions, specifically: calculating a narrow lane wavelength based on the first frequency, the second frequency, and the speed of light; Calculating a plurality of single-difference IF ambiguity fixed solutions based on the first frequency, the second frequency, the IF combined wavelength, the wide lane wavelength, the narrow lane wavelength, a plurality of the single-difference wide lane ambiguity fixed solutions, and a plurality of the single-difference narrow lane ambiguity fixed solutions; The calculation formula of the single-difference IF ambiguity fixed solution is: In the formula, λ IF is the IF combined wavelength; is the single-difference IF ambiguity fixed solution; NL is the narrow lane wavelength; is the fixed solution of the single-difference narrow lane ambiguity; WL is the wide-lane wavelength; is the single-difference wide-lane ambiguity fixed solution; f1 is the first frequency; f2 is the second frequency.

10. A fuzziness optimization device based on PPP-B2b, characterized in that: include: Data acquisition module, preliminary calculation module, wide lane FCB estimation module, wide lane correction module, narrow lane calculation module, narrow lane FCB estimation module, narrow lane correction module and optimization module; The data acquisition module is used to acquire PPP-B2b satellite data in real time; The preliminary calculation module is used to obtain a plurality of single-difference wide lane ambiguity floating point solutions and a plurality of single-difference IF ambiguity floating point solutions based on the PPP-B2b satellite data; The wide lane FCB estimation module is used to perform wide lane FCB estimation based on a plurality of single-difference wide lane ambiguity floating point solutions to obtain a wide lane FCB estimation value; The wide lane correction module is used to correct a plurality of the single-difference wide lane ambiguity floating point solutions according to the wide lane FCB estimation value to obtain a plurality of single-difference wide lane ambiguity fixed solutions; The narrow lane calculation module is used to obtain a plurality of single difference narrow lane ambiguity floating point solutions based on the relationship between ambiguities and according to a plurality of single difference wide lane ambiguity fixed solutions and a plurality of single difference IF ambiguity floating point solutions; The narrow lane FCB estimation module is used to perform narrow lane FCB estimation based on a plurality of single-difference narrow lane ambiguity floating point solutions to obtain a narrow lane FCB estimation value; The narrow lane correction module is used to correct a plurality of the single-difference narrow lane ambiguity floating point solutions according to the narrow lane FCB estimation value to obtain a plurality of single-difference narrow lane ambiguity fixed solutions; The optimization module is used to optimize a plurality of single-difference IF ambiguity floating-point solutions based on the relationship between ambiguities and according to a plurality of single-difference wide-lane ambiguity fixed solutions and a plurality of single-difference narrow-lane ambiguity fixed solutions to obtain a plurality of single-difference IF ambiguity fixed solutions.

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