A method and device for ambiguity optimization based on PPP-B2b

Abstract

The application relates to the technical field of satellite navigation and positioning, and discloses a PPP-B2b-based ambiguity optimization method and device, which comprises the following steps: acquiring PPP-B2b satellite data in real time, calculating a plurality of single-difference wide-lane ambiguity float solutions and a plurality of single-difference IF ambiguity float solutions respectively; obtaining a wide-lane FCB estimation value based on the plurality of single-difference wide-lane ambiguity float solutions; correcting the float solutions 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 float solutions based on the relationship among the ambiguities; obtaining a narrow-lane FCB estimation value based on the plurality of single-difference narrow-lane ambiguity float solutions; correcting the float solutions according to the narrow-lane FCB estimation value to obtain a plurality of single-difference narrow-lane ambiguity fixed solutions; and calculating a plurality of single-difference IF ambiguity fixed solutions based on the relationship among the ambiguities. The application improves the accuracy of the ambiguities and realizes the optimization of the ambiguities.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of satellite navigation and positioning, and particularly relates to a PPP-B2b-based ambiguity optimization method and device. BACKGROUND

[0002] Since a single receiver cannot eliminate the influence of uncalibrated phase delays (UPD) through inter-observation double difference, the integer property of ambiguity in precise point positioning (PPP) is destroyed, and therefore the ambiguity is usually a real number, and the PPP solution is a floating-point solution. In the technical field of satellite navigation and positioning, PPP is a high-precision positioning method, and is concerned because it can realize single-point high-precision positioning without the assistance of ground-based stations. However, the traditional PPP method faces a key problem in practical application: the influence of uncalibrated phase delays (UPD). UPD is mainly caused by internal hardware and phase-locked loops on the receiver side or satellite side, and it causes an unknown, non-integer delay in the observed phase data. This delay destroys the integer property of ambiguity, so that the PPP solution is usually a floating-point solution, rather than an ideal integer solution. Although the floating-point solution can meet the positioning requirements to some extent, the precision and reliability still need to be improved. At present, researchers have begun to explore the use of reference station data to estimate and eliminate the influence of UPD. Since UPD has a certain stability, we can accurately estimate the UPD values of satellites and receivers through long-term observation or data accumulation of the reference station network. However, it should be noted that the integer part of UPD is coupled with the integer ambiguity, and cannot be directly separated. Therefore, in actual operation, only the decimal part of UPD, i.e. the fractional cycle bias (FCB), is usually estimated.

[0003] At present, researchers have proposed PPP ambiguity resolution (PPP-AR) technology, which corrects the real ambiguity by using the FCB estimated by the reference station, so as to restore its integer property. However, in the current precise point positioning technology, the estimation of FCB usually depends on the support of post-precise ephemeris and precise clock error. This data dependence has the disadvantage of insufficient real-time performance. Moreover, the publication of post-precise ephemeris and precise clock error 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

[0004] The application provides a PPP-B2b-based ambiguity optimization method and device, which can improve the accuracy of ambiguity and realize ambiguity optimization.

[0005] To solve the above technical problems, the application provides a PPP-B2b-based ambiguity optimization method, which comprises the following steps:

[0006] Real-time acquisition of PPP-B2b satellite data;

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

[0008] Wide-lane FCB estimation is performed based on the plurality of single-difference wide-lane ambiguity float solutions, and a wide-lane FCB estimation value is obtained;

[0009] The plurality of single-difference wide-lane ambiguity float solutions are corrected according to the wide-lane FCB estimation value, and a plurality of single-difference wide-lane ambiguity fixed solutions are obtained;

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

[0011] Narrow-lane FCB estimation is performed based on the plurality of single-difference narrow-lane ambiguity float solutions, and a narrow-lane FCB estimation value is obtained;

[0012] The plurality of single-difference narrow-lane ambiguity float solutions are corrected according to the narrow-lane FCB estimation value, and a plurality of single-difference narrow-lane ambiguity fixed solutions are obtained;

[0013] Based on the relationship between ambiguities, a plurality of single-difference IF ambiguity fixed solutions are obtained by optimizing the plurality of single-difference IF ambiguity float solutions according to the plurality of single-difference wide-lane ambiguity fixed solutions and the plurality of single-difference narrow-lane ambiguity fixed solutions.

[0014] The application acquires PPP-B2b satellite data in real time, calculates a plurality of single-difference wide-lane ambiguity float solutions and a plurality of single-difference IF ambiguity float solutions based on the PPP-B2b satellite data respectively, uses single-difference data for subsequent FCB estimation, reduces the influence of hardware delay and observation noise, and improves the accuracy of data; wide-lane FCB estimation is performed based on the plurality of single-difference wide-lane ambiguity float solutions, a wide-lane FCB estimation value is obtained, each single-difference wide-lane ambiguity float solution is corrected according to the wide-lane FCB estimation value, and a plurality of single-difference wide-lane ambiguity fixed solutions are obtained; after the wide-lane FCB estimation value is obtained, 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; a plurality of single-difference narrow-lane ambiguity float solutions are calculated based on the relationship between ambiguities, the plurality of single-difference wide-lane ambiguity fixed solutions and the plurality of single-difference IF ambiguity float solutions; narrow-lane FCB estimation is performed based on the plurality of single-difference narrow-lane ambiguity float solutions, a narrow-lane FCB estimation value is obtained, the plurality of single-difference narrow-lane ambiguity float solutions are corrected according to the narrow-lane FCB estimation value, and a plurality of single-difference narrow-lane ambiguity fixed solutions are obtained; after the narrow-lane FCB estimation value is obtained, the single-difference narrow-lane ambiguity data is corrected in time, and the accuracy of data is effectively improved; the plurality of single-difference IF ambiguity float solutions are optimized based on the relationship between ambiguities, 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 fixed solutions are obtained, the ambiguity is optimized from the float solution to the fixed solution, the optimization of ambiguity is realized, and the accuracy of ambiguity is effectively improved.

[0015] Further, the plurality of single-difference wide-lane ambiguity float solutions and the plurality of single-difference IF ambiguity float solutions are calculated based on the PPP-B2b satellite data, and the method comprises the following steps.

[0016] A plurality of satellite wide-lane ambiguity float solutions at a plurality of epochs are calculated based on satellite observation data in the PPP-B2b satellite data.

[0017] A weight of each satellite at each epoch is calculated based on the elevation angle of each satellite at the plurality of epochs.

[0018] The wide-lane ambiguity float solutions of each satellite at each epoch are weighted and calculated based on the weight of each epoch, and a mean value of the wide-lane ambiguity float solutions of each satellite is obtained.

[0019] The mean values of the plurality of wide-lane ambiguity float solutions are single-difference processed, and a plurality of single-difference wide-lane ambiguity float solutions are obtained.

[0020] The application calculates several satellite wide lane ambiguity float solutions in several ephemeris according to satellite observation data in PPP-B2b satellite data; the weight of each satellite in each ephemeris is obtained respectively based on the elevation angle of each satellite in several ephemeris; the wide lane ambiguity float solution mean value of each satellite is obtained by weighting calculation of the wide lane ambiguity float solution of each satellite in each ephemeris based on the weight of each ephemeris; the single difference wide lane ambiguity float solution is obtained by single difference processing of several wide lane ambiguity float solution mean values. The application uses the real-time acquired PPP-B2b satellite data as the data basis of FCB estimation, which greatly reduces the data acquisition cost, improves the real-time performance of the data by using the real-time acquired data for FCB estimation, and further improves the accuracy of subsequent data processing; the subsequent FCB estimation using single difference data can effectively reduce the influence of hardware delay and observation noise, and improve the accuracy of the data.

[0021] Further, the several satellite wide lane ambiguity float solutions in several ephemeris are calculated according to the satellite observation data in the PPP-B2b satellite data, specifically:

[0022] The first frequency and the second frequency of the dual-frequency signal band are obtained from the satellite observation data;

[0023] The pseudorange of the first frequency, the pseudorange of the second frequency, the carrier phase of the first frequency and the carrier phase of the second frequency of several satellites in several ephemeris are obtained;

[0024] The wide lane wavelength is calculated based on the first frequency, the second frequency and the speed of light;

[0025] The MW combination of several satellites in several ephemeris is calculated based on the pseudorange of the first frequency, the pseudorange of the second frequency, the carrier phase of the first frequency and the carrier phase of the second frequency of several satellites in several ephemeris;

[0026] The wide lane ambiguity float solution of several satellites in several ephemeris is calculated based on the MW combination of several satellites in several ephemeris and the wide lane wavelength.

[0027] Further, the single difference wide lane ambiguity float solution is obtained by single difference processing of the several wide lane ambiguity float solution mean values, specifically:

[0028] The several satellites are divided into a reference satellite and several first satellites;

[0029] The reference satellite is combined with the several first satellites respectively to form several satellite pairs;

[0030] Difference processing is performed on the mean values of the wide-lane ambiguity float solutions of each satellite pair to obtain a plurality of single-difference wide-lane ambiguity float solutions.

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

[0032] High-precision satellite positions and high-precision satellite clock errors are calculated according to the PPP-B2b augmentation information and broadcast ephemeris in the PPP-B2b satellite data;

[0033] Pseudo-range IF combinations and carrier phase IF combinations of a plurality of satellites are calculated respectively according to satellite observation data in the PPP-B2b satellite data;

[0034] Based on the high-precision satellite positions, the high-precision satellite clock errors, and the pseudo-range IF combinations and carrier phase IF combinations of each satellite, single-difference IF ambiguity float solutions are estimated using a Kalman filtering algorithm.

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

[0036] The decimal parts of a plurality of the single-difference wide-lane ambiguity float solutions are obtained to obtain a plurality of wide-lane FCBs;

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

[0038] Further, based on the inter-ambiguity relationship, a plurality of single-difference narrow-lane ambiguity float 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 float solutions, specifically:

[0039] A first frequency and a second frequency are obtained;

[0040] 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 float solutions, a plurality of single-difference narrow-lane ambiguity float solutions are calculated;

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

[0042]

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

[0044] Further, the narrow-lane FCB estimation is performed based on the single-difference narrow-lane ambiguity float solutions, and a narrow-lane FCB estimation value is obtained, specifically as follows:

[0045] The decimal part of the single-difference narrow-lane ambiguity float solution is obtained, and a narrow-lane FCB is obtained.

[0046] The average value of the narrow-lane FCBs is calculated, and a narrow-lane FCB average value is obtained.

[0047] Further, the single-difference IF ambiguity float solution is optimized based on the single-difference wide-lane ambiguity fixed solution and the single-difference narrow-lane ambiguity fixed solution, and a single-difference IF ambiguity fixed solution is obtained, specifically as follows:

[0048] The narrow-lane wavelength is calculated based on the first frequency, the second frequency and the speed of light;

[0049] The single-difference IF ambiguity fixed solution is calculated based on the first frequency, the second frequency, the IF combined wavelength, the wide-lane wavelength, the narrow-lane wavelength, the single-difference wide-lane ambiguity fixed solution and the single-difference narrow-lane ambiguity fixed solution;

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

[0051]

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

[0053] Correspondingly, the application provides a PPP-B2b-based ambiguity optimization device, which comprises 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 for generating PPP-B2b satellite data according to the real-time acquired PPP-B2b enhanced information, broadcast ephemeris and satellite observation data.

[0055] The preliminary calculation module is configured to obtain a plurality of single-difference wide-lane ambiguity float solutions and a plurality of single-difference IF ambiguity float solutions based on the PPP-B2b satellite data respectively.

[0056] The wide-lane FCB estimation module is configured to perform wide-lane FCB estimation based on the plurality of single-difference wide-lane ambiguity float solutions to obtain a wide-lane FCB estimation value.

[0057] The wide-lane correction module is configured to correct the plurality of single-difference wide-lane ambiguity float 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 configured to obtain a plurality of single-difference narrow-lane ambiguity float solutions based on the inter-ambiguity relationship according to the plurality of single-difference wide-lane ambiguity fixed solutions and the plurality of single-difference IF ambiguity float solutions.

[0059] The narrow-lane FCB estimation module is configured to perform narrow-lane FCB estimation based on the plurality of single-difference narrow-lane ambiguity float solutions to obtain a narrow-lane FCB estimation value.

[0060] The narrow-lane correction module is configured to correct the plurality of single-difference narrow-lane ambiguity float 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 configured to optimize the plurality of single-difference IF ambiguity float solutions based on the inter-ambiguity relationship according to the plurality of single-difference wide-lane ambiguity fixed solutions and the plurality of single-difference narrow-lane ambiguity fixed solutions to obtain a plurality of single-difference IF ambiguity fixed solutions. BRIEF DESCRIPTION OF DRAWINGS

[0062] Figure 1 A flowchart of an embodiment of the ambiguity optimization method based on PPP-B2b provided by the present application;

[0063] Figure 2 A structural diagram of an embodiment of the ambiguity optimization system based on PPP-B2b provided by the present application;

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

[0065] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0066] The flowcharts shown in the accompanying drawings are for illustrative purposes only and do not necessarily include all contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may be decomposed, combined, or partially merged, so the actual execution order may vary depending on the actual situation.

[0067] The following embodiments of the present invention are described in detail with reference to the accompanying drawings. In the absence of conflict, the following embodiments and features in the embodiments may be combined with each other.

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

[0069] 1. PPP-B2b: This high-precision signal, released for the first time by the BeiDou-3 system, provides 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 ambiguity optimization method provided by the present invention. The method includes steps 101 to 108, each of which 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 wide-lane ambiguity float solutions and a plurality of single-difference IF ambiguity float solutions are obtained respectively.

[0079] Step 103: wide-lane FCB estimation is performed based on the plurality of single-difference wide-lane ambiguity float solutions, and a wide-lane FCB estimated value is obtained.

[0080] Step 104: the plurality of single-difference wide-lane ambiguity float solutions are corrected according to the wide-lane FCB estimated value, and a plurality of single-difference wide-lane ambiguity fixed solutions are obtained.

[0081] Step 105: based on the inter-ambiguity relationship, the plurality of single-difference wide-lane ambiguity fixed solutions and the plurality of single-difference IF ambiguity float solutions are used to obtain a plurality of single-difference narrow-lane ambiguity float solutions.

[0082] Step 106: narrow-lane FCB estimation is performed based on the plurality of single-difference narrow-lane ambiguity float solutions, and a narrow-lane FCB estimated value is obtained.

[0083] Step 107: the plurality of single-difference narrow-lane ambiguity float solutions are corrected according to the narrow-lane FCB estimated value, and a plurality of single-difference narrow-lane ambiguity fixed solutions are obtained.

[0084] Step 108: based on the inter-ambiguity relationship, the plurality of single-difference wide-lane ambiguity fixed solutions and the plurality of single-difference narrow-lane ambiguity fixed solutions are used to optimize the plurality of single-difference IF ambiguity float solutions, and a plurality of single-difference IF ambiguity fixed solutions are obtained.

[0085] In the embodiment of the application, the PPP-B2b satellite data is high-precision satellite data broadcast by PPP-B2b, and the real-time broadcast PPP-B2b satellite data is used for FCB estimation, so that the data acquisition cost and complexity are greatly reduced, and the real-time broadcast signal enhancement information is used to realize real-time FCB estimation, thereby improving the real-time performance of ambiguity data.

[0086] In the embodiment of the application, after obtaining the PPP-B2b satellite data, a plurality of single-difference wide-lane ambiguity float solutions and a plurality of single-difference IF ambiguity float solutions are calculated based on the PPP-B2b satellite data, and the real-time PPP-B2b satellite data is used for single-difference wide-lane ambiguity float solution and single-difference IF ambiguity float solution calculation, so that the real-time performance and accuracy of ambiguity float solution are effectively improved.

[0087] In the embodiment of the present application, the wide-lane FCB estimation value is obtained based on the wide-lane ambiguity float solutions of several single-difference wide-lane ambiguities. The wide-lane FCB estimation based on the single-difference wide-lane ambiguity float solutions can effectively reduce the influence of hardware delay and observation noise and improve the accuracy of the wide-lane FCB.

[0088] In the embodiment of the present application, the single-difference wide-lane ambiguity fixed solutions are obtained by correcting the single-difference wide-lane ambiguity float solutions according to the wide-lane FCB estimation value. After the wide-lane FCB estimation value is obtained, 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 application, the single-difference narrow-lane ambiguity float solutions are calculated based on the relationship between ambiguities according to the single-difference wide-lane ambiguity fixed solutions and the single-difference IF ambiguity float solutions. Compared with the single-difference wide-lane ambiguity float solutions, the single-difference narrow-lane ambiguity float solutions calculated based on the single-difference wide-lane ambiguity fixed solutions can greatly improve the accuracy of the single-difference narrow-lane ambiguity float solutions.

[0090] In the embodiment of the present application, the narrow-lane FCB estimation value is obtained based on the single-difference narrow-lane ambiguity float solutions. The narrow-lane FCB estimation based on the single-difference narrow-lane ambiguity float solutions can effectively reduce the influence of hardware delay and observation noise and improve the accuracy of the narrow-lane FCB.

[0091] In the embodiment of the present application, the single-difference narrow-lane ambiguity fixed solutions are obtained by correcting the single-difference narrow-lane ambiguity float solutions according to the narrow-lane FCB estimation value. After the narrow-lane FCB estimation value is obtained, 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 application, the single-difference IF ambiguity fixed solution is calculated based on the relationship between ambiguities according to the single-difference wide-lane ambiguity fixed solutions and the single-difference narrow-lane ambiguity fixed solutions. The single-difference IF ambiguity is optimized from the single-difference IF ambiguity float solution to the single-difference IF ambiguity fixed solution, which realizes the optimization of the ambiguity and effectively improves the accuracy of the ambiguity.

[0093] In summary, the embodiment of the present application provides a PPP-B2b-based ambiguity optimization method, real-time acquisition of PPP-B2b satellite data, calculation of multiple single-difference wide-lane ambiguity float solutions and multiple single-difference IF ambiguity float solutions based on the PPP-B2b satellite data; subsequent FCB estimation using single-difference data can reduce the influence of hardware delay and observation noise and improve the accuracy of data; wide-lane FCB estimation based on the multiple single-difference wide-lane ambiguity float solutions, obtaining of a wide-lane FCB estimation value, correction of each single-difference wide-lane ambiguity float solution according to the wide-lane FCB estimation value, and obtaining of multiple single-difference wide-lane ambiguity fixed solutions; after the wide-lane FCB estimation value is obtained, 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; multiple single-difference narrow-lane ambiguity float solutions are calculated based on the relationship between ambiguities, the multiple single-difference wide-lane ambiguity fixed solutions, and the multiple single-difference IF ambiguity float solutions; narrow-lane FCB estimation based on the multiple single-difference narrow-lane ambiguity float solutions, obtaining of a narrow-lane FCB estimation value, correction of the multiple single-difference narrow-lane ambiguity float solutions according to the narrow-lane FCB estimation value, and obtaining of multiple single-difference narrow-lane ambiguity fixed solutions; after the narrow-lane FCB estimation value is obtained, the single-difference narrow-lane ambiguity data is corrected in time, thereby effectively improving the accuracy of data; the multiple single-difference IF ambiguity float solutions are optimized based on the relationship between ambiguities, the multiple single-difference wide-lane ambiguity fixed solutions, and the multiple single-difference narrow-lane ambiguity fixed solutions, multiple single-difference IF ambiguity fixed solutions are obtained, the ambiguity is optimized from a float solution to a fixed solution, the ambiguity is optimized, and the accuracy of the ambiguity is effectively improved.

[0094] Embodiment 2

[0095] As Figure 1 shown in FIG. 1, which is a flowchart of an embodiment of the PPP-B2b-based ambiguity optimization method provided by the present application, the method comprises steps 101 to 108, and each step is specifically as follows.

[0096] Step 101: Real-time acquisition of PPP-B2b satellite data.

[0097] In the embodiment of the present application, 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. The real-time broadcast of the PPP-B2b satellite data for FCB estimation no longer depends on post-precise ephemeris and precise clock bias, but uses real-time broadcast signal enhancement information, which greatly reduces the cost and complexity of data acquisition; the real-time broadcast of the PPP-B2b satellite data enables real-time FCB estimation, thereby improving the real-time performance of ambiguity data.

[0098] Step 102: based on the PPP-B2b satellite data, a plurality of single-difference wide-lane ambiguity float solutions and a plurality of single-difference IF ambiguity float solutions are obtained respectively.

[0099] Further, in the embodiment of the present application, based on the PPP-B2b satellite data, a plurality of single-difference wide-lane ambiguity float solutions and a plurality of single-difference IF ambiguity float solutions are obtained respectively, comprising:

[0100] According to the PPP-B2b enhancement information and broadcast ephemeris in the PPP-B2b satellite data, high-precision satellite positions and high-precision satellite clock errors are calculated;

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

[0102] Based on the high-precision satellite positions, the high-precision satellite clock errors, and the pseudo-range IF combinations and carrier phase IF combinations of each satellite, a single-difference IF ambiguity float solution is estimated by using a Kalman filtering algorithm.

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

[0104]

[0105] In the formula, P IF is a pseudo-range IF combination; L IF is a carrier phase IF combination; f1 is a first frequency; f2 is a second frequency; P1 is a pseudo-range at the frequency f1; P2 is a pseudo-range at the frequency f2; L1 is a carrier phase at the frequency f1; and L2 is a carrier phase at the frequency f2.

[0106] Since the pseudo-range IF combination and the carrier phase IF combination can also be expressed as:

[0107]

[0108] In the formula, P IF is a pseudo-range IF combination; L IF is a carrier phase IF combination; f1 is a first frequency; f2 is a second frequency; P1 is a pseudo-range at the frequency f1; P2 is a pseudo-range at the frequency f2; L1 is a carrier phase at the frequency f1; and L2 is a carrier phase at the frequency f2. is a geometric distance between a satellite and a receiver; c is the speed of light; δt r and δt s are clock errors of a receiver and a satellite respectively; represents a relativistic effect; for tropospheric delay, including hydrostatic delay and wet delay; respectively represent hardware delays of the pseudorange IF combination and the carrier phase IF combination; respectively represent noises of the pseudorange and the carrier phase IF combination; λ IF represents an IF combination wavelength; is an IF ambiguity float solution.

[0109] High-precision satellite positions and known receiver coordinates are used to calculate geometric distances of the satellites and the receiver, high-precision satellite clock errors, geometric distances of the satellites and the receiver, tropospheric hydrostatic delay calculated by a model, etc. are deducted from the IF combination to obtain an observation residual equation, the residual equation is inter-satellite single-differenced, a traditional Kalman filtering algorithm is used to estimate position residuals, tropospheric wet delay residuals and single-difference IF float ambiguities, etc. When the estimated receiver coordinates converge, high-precision IF float ambiguities are obtained.

[0110] The application can greatly reduce the cost and complexity of data acquisition by decoding the PPP-B2b enhanced information and generating high-precision satellite orbits and clock errors in combination with broadcast ephemeris and satellite observation data, and no longer depends on post-precise ephemeris and precise clock errors, thereby meeting the demand for real-time high-precision positioning.

[0111] Further, in the embodiments of the application, based on the PPP-B2b satellite data, a plurality of single-difference wide-lane ambiguity float solutions and a plurality of single-difference IF ambiguity float solutions are obtained, including:

[0112] According to satellite observation data in the PPP-B2b satellite data, a plurality of wide-lane ambiguity float solutions of a plurality of satellites at a plurality of epochs are calculated;

[0113] Based on the elevation angles of the satellites at the plurality of epochs, weights of the satellites at the plurality of epochs are respectively obtained;

[0114] Based on the weights of the plurality of epochs, the wide-lane ambiguity float solutions of the satellites at the plurality of epochs are respectively weighted and calculated to obtain wide-lane ambiguity float solution means of the satellites;

[0115] The wide-lane ambiguity float solution means are single-differenced to obtain a plurality of single-difference wide-lane ambiguity float solutions.

[0116] Further, in the embodiments of the application, according to satellite observation data in the PPP-B2b satellite data, a plurality of wide-lane ambiguity float solutions of a plurality of satellites at a plurality of epochs are calculated, specifically:

[0117] ​​Obtaining a first frequency and a second frequency of a dual-frequency signal band from satellite observation data;

[0118] Obtaining 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 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 plurality of satellites at the plurality of epochs and the wide lane wavelengths, wide lane ambiguity float solutions of the plurality of satellites at the plurality of epochs are calculated.

[0122] In an 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] Where, 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 an 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] Where 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 an 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] Where, 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] Where, 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 this embodiment of the present invention, after obtaining the weight of each satellite and each epoch, the widelane ambiguity float solution of each satellite and each epoch is weighted and calculated to obtain the mean of the widelane ambiguity float solution of each satellite. The mean of the widelane ambiguity float solution can be expressed as:

[0139]

[0140] Where, is the mean of the wide lane ambiguity floating point solution; is the floating point solution of the 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; 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] Furthermore, in an embodiment of the present invention, single-difference processing is performed on the means of several wide-lane ambiguity floating-point solutions to obtain several 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 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 receiver hardware delay 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 Form satellite pairs respectively, and perform difference processing on the mean of wide lane ambiguity floating point solution of each satellite pair 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 and uses the real-time acquired PPP-B2b satellite data as the data basis for FCB estimation, thereby greatly reducing data acquisition costs and improving the real-time performance of the data by using the real-time acquired data for FCB estimation. 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 respectively calculated and calculated. The real-time PPP-B2b satellite data is used to calculate the single-difference widelane ambiguity floating-point solutions and the single-difference IF ambiguity floating-point solutions, thereby effectively improving the real-time performance and accuracy of the ambiguity floating-point solutions.

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

[0151] Furthermore, 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 widelane ambiguity floating-point solutions to obtain a plurality of widelane FCBs;

[0153] An 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 application, since the single-difference wide-lane ambiguity float 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 float solution, and the wide-lane FCB is the decimal part of the single-difference wide-lane ambiguity float solution, therefore, the decimal part of each single-difference wide-lane ambiguity float solution is obtained, and a plurality of wide-lane FCBs are obtained. The average of the plurality of wide-lane FCBs is obtained.

[0155] The present application estimates the wide-lane FCB based on a plurality of single-difference wide-lane ambiguity float solutions, and obtains the wide-lane FCB estimation value. The wide-lane FCB is estimated by using the single-difference wide-lane ambiguity float solution, which can effectively reduce the influence of hardware delay and observation noise, and improve the accuracy of the wide-lane FCB.

[0156] Step 104: correcting a plurality of single-difference wide-lane ambiguity float solutions according to the wide-lane FCB estimation value, and obtaining a plurality of single-difference wide-lane ambiguity fixed solutions.

[0157] In the embodiment of the present application, after the wide-lane FCB estimation value is obtained, each single-difference wide-lane ambiguity float solution is subtracted by the wide-lane FCB estimation value, which can 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 the float solution to the fixed solution, which realizes the optimization of the ambiguity.

[0158] The present application corrects a plurality of single-difference wide-lane ambiguity float solutions according to the wide-lane FCB estimation value, and obtains a plurality of single-difference wide-lane ambiguity fixed solutions. After the wide-lane FCB estimation value is obtained, 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: obtaining a plurality of single-difference narrow-lane ambiguity float 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 float solutions.

[0160] Further, in the embodiment of the present application, a plurality of single-difference narrow-lane ambiguity float solutions are obtained 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 float solutions, which are specifically as follows:

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

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

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

[0164]

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

[0166] In the embodiment of the application, based on the relationship between ambiguities, a plurality of single-difference narrow-lane ambiguity float solutions are obtained according to a plurality of single-difference wide-lane ambiguity fixed solutions and a plurality of single-difference IF ambiguity float solutions, and the single-difference wide-lane ambiguity fixed solution is used to calculate the single-difference narrow-lane ambiguity float solution, so that the accuracy of the single-difference narrow-lane ambiguity float solution can be greatly improved compared with the single-difference wide-lane ambiguity float solution.

[0167] Step 106: Narrow-lane FCB estimation is performed based on the plurality of single-difference narrow-lane ambiguity float solutions, and a narrow-lane FCB estimation value is obtained.

[0168] Further, in the embodiment of the application, narrow-lane FCB estimation is performed based on the plurality of single-difference narrow-lane ambiguity float solutions, and a narrow-lane FCB estimation value is obtained, specifically as follows:

[0169] The decimal part of each single-difference narrow-lane ambiguity float solution is obtained, and a plurality of narrow-lane FCBs are obtained.

[0170] The average value of the plurality of narrow-lane FCBs is calculated, and a narrow-lane FCB average value is obtained.

[0171] In the embodiment of the application, the single-difference narrow-lane ambiguity float solution can be expressed as:

[0172]

[0173] In the formula, is an integer part of , and is a decimal part of .

[0174] In the embodiment of the application, since the single-difference narrow-lane ambiguity float solution is the sum of the single-difference narrow-lane ambiguity fixed solution and the narrow-lane FCB, the single-difference narrow-lane ambiguity fixed solution is the integer part of the single-difference narrow-lane ambiguity float solution, and the narrow-lane FCB is the decimal part of the single-difference narrow-lane ambiguity float solution. Therefore, the decimal part of each single-difference narrow-lane ambiguity float solution is obtained, and a plurality of narrow-lane FCBs are obtained. The average value of the plurality of narrow-lane FCBs is calculated, and a narrow-lane FCB average value is obtained.

[0175] The present application estimates narrow-lane FCB based on several single-difference narrow-lane ambiguity float solutions to obtain a narrow-lane FCB estimation value.

[0176] Step 107: Correcting the several single-difference narrow-lane ambiguity float solutions according to the narrow-lane FCB estimation value to obtain several single-difference narrow-lane ambiguity fixed solutions.

[0177] In the embodiment of the present application, after obtaining the wide-lane FCB estimation value, each single-difference narrow-lane ambiguity float solution is subtracted by the narrow-lane FCB estimation value to eliminate the influence of the narrow-lane FCB and obtain several single-difference narrow-lane ambiguity fixed solutions, which corrects the single-difference narrow-lane ambiguity from the float solution to the fixed solution and realizes the optimization of the ambiguity.

[0178] The present application corrects the several single-difference narrow-lane ambiguity float solutions according to the narrow-lane FCB estimation value to obtain several 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 to improve the real-time performance and accuracy of the single-difference narrow-lane ambiguity data.

[0179] Step 108: Optimizing the several single-difference IF ambiguity float solutions based on the relationship between ambiguities according to the several single-difference wide-lane ambiguity fixed solutions and the several single-difference narrow-lane ambiguity fixed solutions to obtain several single-difference IF ambiguity fixed solutions.

[0180] Further, in the embodiment of the present application, the several single-difference IF ambiguity float solutions are optimized based on the relationship between ambiguities according to the several single-difference wide-lane ambiguity fixed solutions and the several single-difference narrow-lane ambiguity fixed solutions to obtain several single-difference IF ambiguity fixed solutions, which specifically includes:

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

[0182] Calculating the several 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, the several single-difference wide-lane ambiguity fixed solutions and the several 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; λ NLfor narrow-lane wavelength; for single-difference narrow-lane ambiguity fixed solution; λ WL for wide-lane wavelength; for single-difference wide-lane ambiguity fixed solution; f1 is the first frequency; f2 is the second frequency.

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

[0187] As an example of the embodiment of the present application, the ambiguity optimization method based on PPP-B2b can be realized by using the ambiguity optimization system based on PPP-B2b. Referring to Figure 2 is a structural schematic diagram of an embodiment of the ambiguity optimization system based on PPP-B2b provided by the present application, which is composed of two parts of receiver ends and a solution center end distributed in various places. The receiver end is divided into three modules, which are 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, generating high-precision satellite orbits and clock errors in combination with the broadcast ephemeris, calculating the IF ambiguity, and calculating the MW combination and wide-lane ambiguity. The IF ambiguity is estimated by the traditional PPP positioning algorithm. The data transmission module is responsible for transmitting the calculation results of the IF ambiguity and the wide-lane ambiguity 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 ambiguity and the wide-lane ambiguity transmitted by all receiver ends to estimate the satellite end wide-lane FCB and the narrow-lane FCB. The sending module encodes and sends the solution results of the satellite end wide-lane and narrow-lane FCB to the satellite end for broadcast.

[0188] The ambiguity optimization system based on PPP-B2b receives real-time wide-lane FCB and narrow-lane FCB at the receiver end, and performs real-time ambiguity resolution for precise point positioning based on PPP-B2b enhanced information. First, MW combined observations are calculated through pseudo-range and carrier phase, and wide-lane ambiguity float solution is obtained by epoch-weighted average to weaken the influence of noise. Then, the inter-satellite single-difference wide-lane FCB is used to correct the inter-satellite single-difference wide-lane ambiguity, so as to obtain single-difference wide-lane ambiguity float solution close to integer. The single-difference wide-lane ambiguity float solution is subjected to rounding operation and Bootstrapping test. If the test is passed, the single-difference wide-lane ambiguity float solution is fixed as single-difference wide-lane ambiguity fixed solution. If the test is failed or the number of fixed ambiguities is less than 4, the fixing is failed, and the wide-lane ambiguity fixing is tried again in the next epoch. After the wide-lane ambiguity is successfully fixed, the narrow-lane ambiguity float solution is obtained through the IF ambiguity float solution and the wide-lane ambiguity fixed solution according to the correction method of reference wide-lane FCB. The narrow-lane FCB is deducted from the narrow-lane ambiguity, and the narrow-lane ambiguity float solution close to integer is obtained. The LAMBDA algorithm is used to fix the narrow-lane ambiguity and perform Ratio test. When the Ratio test is passed and the number of fixed narrow-lane ambiguities is greater than 4, the PPP solution is performed by using the fixed ambiguities as constraints. After the wide-lane ambiguity and the narrow-lane ambiguity are fixed respectively, the IF ambiguity of fixed solution precision is obtained, which is used as a constraint condition in the parameter estimation process, so as to obtain the coordinate and other parameters of fixed solution precision.

[0189] In summary, the embodiment of the present application provides a PPP-B2b-based ambiguity optimization method, real-time acquisition of PPP-B2b satellite data, calculation of a plurality of single-difference wide-lane ambiguity float solutions and a plurality of single-difference IF ambiguity float solutions based on the PPP-B2b satellite data respectively; subsequent FCB estimation is performed by using single-difference data, which can reduce the influence of hardware delay and observation noise and improve the accuracy of data; wide-lane FCB estimation is performed based on the plurality of single-difference wide-lane ambiguity float solutions, a wide-lane FCB estimation value is obtained, each single-difference wide-lane ambiguity float solution is corrected according to the wide-lane FCB estimation value, and a plurality of single-difference wide-lane ambiguity fixed solutions are obtained; after the wide-lane FCB estimation value is obtained, 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 improves the accuracy of data; a plurality of single-difference narrow-lane ambiguity float solutions are calculated based on the inter-ambiguity relationship, the plurality of single-difference wide-lane ambiguity fixed solutions and the plurality of single-difference IF ambiguity float solutions; narrow-lane FCB estimation is performed based on the plurality of single-difference narrow-lane ambiguity float solutions, a narrow-lane FCB estimation value is obtained, and the plurality of single-difference narrow-lane ambiguity float solutions are corrected according to the narrow-lane FCB estimation value, and a plurality of single-difference narrow-lane ambiguity fixed solutions are obtained; after the narrow-lane FCB estimation value is obtained, the single-difference narrow-lane ambiguity data is corrected in time, which effectively improves the accuracy of data; the plurality of single-difference IF ambiguity float solutions are optimized based on the inter-ambiguity relationship, 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 fixed solutions are obtained, the ambiguity is optimized from the float solution to the fixed solution, the ambiguity is optimized, and the accuracy of the ambiguity is effectively improved.

[0190] Embodiment 3

[0191] Reference Figure 3 , which is a structural schematic diagram of an embodiment of the ambiguity optimization device based on PPP-B2b provided by the present application, the device comprises 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 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 float solutions and a plurality of single-difference IF ambiguity float solutions based on the PPP-B2b satellite data respectively;

[0194] The wide-lane FCB estimation module 203 is configured to perform wide-lane FCB estimation based on the single-difference wide-lane ambiguity float solutions to obtain a wide-lane FCB estimation value;

[0195] The wide-lane correction module 204 is configured to correct the single-difference wide-lane ambiguity float solutions according to the wide-lane FCB estimation value to obtain single-difference wide-lane ambiguity fixed solutions;

[0196] The narrow-lane calculation module 205 is configured to obtain single-difference narrow-lane ambiguity float solutions based on the inter-ambiguity relationship, the single-difference wide-lane ambiguity fixed solutions and the single-difference IF ambiguity float solutions;

[0197] The narrow-lane FCB estimation module 206 is configured to perform narrow-lane FCB estimation based on the single-difference narrow-lane ambiguity float solutions to obtain a narrow-lane FCB estimation value;

[0198] The narrow-lane correction module 207 is configured to correct the single-difference narrow-lane ambiguity float solutions according to the narrow-lane FCB estimation value to obtain single-difference narrow-lane ambiguity fixed solutions;

[0199] The optimization module 208 is configured to optimize the single-difference IF ambiguity float solutions based on the inter-ambiguity relationship, the single-difference wide-lane ambiguity fixed solutions and the single-difference narrow-lane ambiguity fixed solutions to obtain single-difference IF ambiguity fixed solutions.

[0200] Further, in the embodiment of the present application, the single-difference wide-lane ambiguity float solutions and the single-difference IF ambiguity float solutions are obtained based on the PPP-B2b satellite data, which includes:

[0201] The wide-lane ambiguity float solutions of the satellites at the epochs are calculated based on the satellite observation data in the PPP-B2b satellite data;

[0202] The weights of the satellites at the epochs are obtained based on the elevation angles of the satellites at the epochs;

[0203] The wide-lane ambiguity float solutions of the satellites at the epochs are weighted calculated based on the weights of the epochs to obtain the mean wide-lane ambiguity float solutions of the satellites;

[0204] The single-difference wide-lane ambiguity float solutions are obtained by performing single-difference processing on the mean wide-lane ambiguity float solutions.

[0205] Further, in the embodiment of the present application, the wide-lane ambiguity float solutions of the satellites at the epochs are calculated based on the satellite observation data in the PPP-B2b satellite data, which specifically includes:

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

[0207] acquiring pseudoranges of the first frequency, pseudoranges of the second frequency, carrier phases of the first frequency and carrier phases of the second frequency of 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 a plurality of satellites at a plurality of epochs 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] calculating wide-lane ambiguity float solutions of a plurality of satellites at a plurality of epochs based on the MW combinations of the plurality of satellites at the plurality of epochs and the wide-lane wavelength.

[0211] Further, in the embodiment of the present application, the mean values of a plurality of the wide-lane ambiguity float solutions are subjected to single-difference processing to obtain a plurality of single-difference wide-lane ambiguity float solutions, specifically:

[0212] dividing a plurality of satellites into a reference satellite 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] subjecting the mean values of the wide-lane ambiguity float solutions of each of the satellite pairs to difference processing to obtain a plurality of single-difference wide-lane ambiguity float solutions.

[0215] Further, in the embodiment of the present application, based on the PPP-B2b satellite data, a plurality of single-difference wide-lane ambiguity float solutions and a plurality of single-difference IF ambiguity float solutions are obtained respectively, including:

[0216] calculating high-precision satellite positions and high-precision satellite clock errors according to PPP-B2b augmentation information and broadcast ephemeris in the PPP-B2b satellite data;

[0217] calculating pseudorange IF combinations and carrier phase IF combinations of a plurality of satellites according to satellite observation data in the PPP-B2b satellite data;

[0218] estimating single-difference IF ambiguity float solutions by using a Kalman filtering algorithm based on the high-precision satellite positions, the high-precision satellite clock errors and the pseudorange IF combinations and the carrier phase IF combinations of each of the satellites.

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

[0220] The decimal part of the single-difference wide-lane ambiguity float solutions is obtained to obtain a plurality of wide-lane FCBs.

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

[0222] Further, in the embodiment of the present application, based on the ambiguity inter-relationship, the single-difference narrow-lane ambiguity float solutions are obtained according to the single-difference wide-lane ambiguity fixed solutions and the single-difference IF ambiguity float solutions, specifically:

[0223] The first frequency and the second frequency are obtained.

[0224] Based on the first frequency, the second frequency, the single-difference wide-lane ambiguity fixed solutions and the single-difference IF ambiguity float solutions, the single-difference narrow-lane ambiguity float solutions are calculated.

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

[0226]

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

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

[0229] The decimal part of the single-difference narrow-lane ambiguity float solutions is obtained to obtain a plurality of narrow-lane FCBs.

[0230] The average of the plurality of narrow-lane FCBs is calculated to obtain a narrow-lane FCB average value.

[0231] Further, in the embodiment of the present application, based on the ambiguity inter-relationship, the single-difference IF ambiguity fixed solutions are obtained according to the single-difference wide-lane ambiguity fixed solutions and the single-difference narrow-lane ambiguity fixed solutions, specifically:

[0232] The narrow-lane wavelength is calculated based on the first frequency, the second frequency and the speed of light.

[0233] Based on the first frequency, the second frequency, the IF combined wavelength, the wide-lane wavelength, the narrow-lane wavelength, the single-difference wide-lane ambiguity fixed solution and the single-difference narrow-lane ambiguity fixed solution, a single-difference IF ambiguity fixed solution is calculated.

[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; λ NL is the narrow-lane wavelength; is the single-difference narrow-lane ambiguity fixed solution; λ WL is the wide-lane wavelength; is the single-difference wide-lane ambiguity fixed solution; f1 is the first frequency; and f2 is the second frequency.

[0237] In summary, the embodiment of the present application provides an ambiguity optimization device based on PPP-B2b, which is based on the organic combination between modules. The embodiment of the present application provides an ambiguity optimization method based on PPP-B2b. The PPP-B2b satellite data is acquired in real time. The multiple single-difference wide-lane ambiguity float solutions and the multiple single-difference IF ambiguity float solutions are calculated based on the PPP-B2b satellite data. The subsequent FCB estimation is performed by using the single-difference data, which can reduce the influence of hardware delay and observation noise and improve the accuracy of data. The wide-lane FCB estimation is performed based on the multiple single-difference wide-lane ambiguity float solutions, the wide-lane FCB estimation value is obtained, the single-difference wide-lane ambiguity float solutions are corrected according to the wide-lane FCB estimation value, and the multiple single-difference wide-lane ambiguity fixed solutions are obtained. After the wide-lane FCB estimation value is obtained, 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 improves the accuracy of data. The multiple single-difference narrow-lane ambiguity float solutions are calculated based on the relationship between ambiguities, the multiple single-difference wide-lane ambiguity fixed solutions and the multiple single-difference IF ambiguity float solutions. The narrow-lane FCB estimation is performed based on the multiple single-difference narrow-lane ambiguity float solutions, the narrow-lane FCB estimation value is obtained, the multiple single-difference narrow-lane ambiguity float solutions are corrected according to the narrow-lane FCB estimation value, and the multiple single-difference narrow-lane ambiguity fixed solutions are obtained. After the narrow-lane FCB estimation value is obtained, the single-difference narrow-lane ambiguity data is corrected in time, which effectively improves the accuracy of data. The multiple single-difference IF ambiguity float solutions are optimized based on the relationship between ambiguities, the multiple single-difference wide-lane ambiguity fixed solutions and the multiple single-difference narrow-lane ambiguity fixed solutions, the multiple single-difference IF ambiguity fixed solutions are obtained, the ambiguity is optimized from the float solution to the fixed solution, the ambiguity is optimized, and the accuracy of the ambiguity is effectively improved.

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

Claims

1. A fuzzy optimization method based on PPP-B2b, characterized in that: include: Real-time access to PPP-B2b satellite data; Based on the PPP-B2b satellite data, a plurality of single-difference widelane ambiguity float solutions and a plurality of single-difference IF ambiguity float solutions are obtained respectively; performing 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 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, deriving a plurality of single-difference narrowlane ambiguity floating-point solutions according to the plurality of single-difference widelane ambiguity fixed solutions and the plurality of single-difference IF ambiguity floating-point solutions; performing 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 widelane ambiguity floating-point solutions and a plurality of single-difference IF ambiguity floating-point solutions are obtained, including: Based on the satellite observation data in the PPP-B2b satellite data, calculate the wide-lane ambiguity float solutions of several satellites at several epochs; 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 widelane ambiguity floating point solution of each satellite at each epoch to obtain a mean value of the widelane ambiguity floating point solution of each satellite; Single-difference processing is performed on the mean values ​​of the plurality of wide-lane ambiguity float solutions to obtain a plurality of single-difference wide-lane ambiguity float 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 based on the satellite observation data in the PPP-B2b satellite data. Specifically, Obtaining a first frequency and a second frequency of a dual-frequency signal band from satellite observation data; Obtaining 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 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 plurality of satellites at the plurality of epochs and the wide lane wavelengths, wide lane ambiguity float solutions of the plurality of satellites at the plurality of 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 means 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 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 widelane ambiguity floating-point solutions and a plurality of single-difference IF ambiguity floating-point solutions are obtained, including: High-precision satellite position and high-precision satellite clock error are calculated based on the PPP-B2b augmentation 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 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 widelane ambiguity floating-point solutions to obtain a plurality of widelane FCBs; An 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: Obtaining a first frequency and a second frequency; Calculating a plurality of single-difference narrowlane ambiguity floating-point solutions based on the first frequency, the second frequency, the plurality of single-difference widelane ambiguity fixed solutions, and the plurality of single-difference IF ambiguity floating-point solutions; The calculation formula for the single-difference narrow lane ambiguity floating-point solution is: Where, is the floating point solution of the single-difference narrow lane ambiguity; is the floating point solution of the single-difference IF ambiguity; 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; An average value of a plurality of narrow lane FCBs is calculated to obtain a narrow lane FCB mean.

9. The PPP-B2b-based fuzziness optimization method according to claim 8, characterized in that: Based on the relationship between ambiguities, the plurality of single-difference widelane ambiguity fixed solutions and the plurality of single-difference narrowlane ambiguity fixed 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 widelane wavelength, the narrowlane wavelength, the plurality of single-difference widelane ambiguity fixed solutions, and the plurality of single-difference narrowlane ambiguity fixed solutions; The calculation formula of the single-difference IF ambiguity fixed solution is: Where λ IF is the IF combination wavelength; is the fixed solution of the single-difference IF ambiguity; 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 fuzzy 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 widelane 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 configured 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 the plurality of 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 configured to obtain a plurality of single-difference narrow lane ambiguity floating-point solutions based on a 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 configured 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 the 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; 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 the plurality of single-difference wide-lane ambiguity fixed solutions and the plurality of single-difference narrow-lane ambiguity fixed solutions to obtain a plurality of single-difference IF ambiguity fixed solutions.

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