Single-point positioning method and device based on Beidou satellite, equipment and storage medium

Abstract

The invention discloses a Beidou satellite-based single-point positioning method and device, equipment and a storage medium, and the method comprises the steps: obtaining global navigation satellite system data, carrying out the difference processing between satellites, obtaining an ionosphere-free ambiguity floating point solution, carrying out the processing of the ionosphere-free ambiguity floating point solution through employing a wide-lane ambiguity combination algorithm, obtaining the wide-lane ambiguity, and carrying out the calculation of the wide-lane ambiguity. The wide lane deviation influence of a receiver end and a satellite end is removed, the result is fixed, the ionosphere-free ambiguity floating point solution and the fixed wide lane ambiguity are calculated and processed, the narrow lane ambiguity is obtained and fixed, the ionosphere-free integer ambiguity is recovered by using the fixed wide lane and narrow lane ambiguity, and positioning analysis processing is carried out by taking the integer ambiguity as a constraint. And obtaining a positioning result. The method can remarkably improve the positioning precision by precisely resolving the ambiguity and optimizing the influence of the troposphere wet delay, eliminates the ionosphere delay by using the wide lane ambiguity, reduces the influence of the ionosphere error on the positioning precision by optimizing the narrow lane ambiguity, and provides a real-time and high-precision positioning result.

Description

Technical Field

[0001] The present application relates to the field of satellite positioning technology, and in particular to a single-point positioning method and device, equipment, and storage medium based on Beidou satellites. Background Art

[0002] As the Beidou satellite layout gradually improves, satellite-based positioning technology has become an important research direction. However, in the process of developing positioning technology, there will be problems with inaccurate satellite positioning. In order to solve this problem, it is necessary to eliminate the errors in the ionosphere and eliminate the impact of the long convergence time of satellite data.

[0003] Therefore, how to eliminate the errors in the ionosphere and the impact of the long convergence time of satellite data is an urgent problem to be solved. Summary of the invention

[0004] In view of this, the embodiment of the present application provides a Beidou satellite-based single-point positioning method and device, equipment, and storage medium, which can eliminate the errors existing in the ionosphere and eliminate the influence of the long satellite data convergence time, provide real-time and high-precision positioning results, and thus complete single-point positioning. The embodiment of the present application provides a Beidou satellite-based single-point positioning method and device, equipment, and storage medium, which are implemented as follows: The embodiment of the present application provides a single-point positioning method based on Beidou satellite, including: Access to global navigation satellite system data; Performing inter-satellite difference processing on the global navigation satellite system data to obtain an ionospheric ambiguity-free floating-point solution; Using a wide lane ambiguity combination algorithm to calculate and process the global navigation satellite system data to obtain wide lane ambiguity; Calculating and processing the ionospheric-free ambiguity float solution and the wide-lane ambiguity, and obtaining the narrow-lane ambiguity using formula (1); (1) In the above formula (1), is the narrow lane ambiguity, is the ionospheric ambiguity-free float solution, is the wide-lane ambiguity wavelength, is the wide lane ambiguity, is the narrow lane ambiguity wavelength, is the correction factor; An ionospheric-free integer ambiguity is calculated according to the wide lane ambiguity and the narrow lane ambiguity using formula (2); (2) In the above formula (2), is the ionospheric-free integer ambiguity, is the narrow lane ambiguity, is the narrow lane ambiguity wavelength, is the wide-lane ambiguity wavelength, is the wide lane ambiguity, is the correction factor; Perform positioning analysis processing on the ionospheric-free integer ambiguity to obtain a positioning result.

[0005] In some embodiments, performing inter-satellite difference processing on the global navigation satellite system data to obtain an ionospheric ambiguity-free floating-point solution includes: Performing inter-satellite difference processing on the global navigation satellite system data using formula (3) to obtain a floating-point solution without ionospheric ambiguity; (3) In the above formula (3), is the pseudorange of the navigation satellite relative to the receiver in the GNSS data, is the true distance of the navigation satellite relative to the receiver in the GNSS data, is the receiver clock deviation, and is the correction factor, It is the carrier phase of the navigation satellite sending data in the global navigation satellite system data. is a float solution without ionospheric ambiguity.

[0006] In some embodiments, the using a wide lane ambiguity combining algorithm to calculate and process the global navigation satellite system data to obtain wide lane ambiguity includes: Calculating and processing the global navigation satellite system data, and obtaining wide lane ambiguity using formulas (4) and (5); (4) According to formula (4), the formula is transformed to obtain formula (5); (5) Among them, in the above formulas (4) and (5), is the wide lane ambiguity, is the wide-lane ambiguity wavelength; is the widelane ambiguity bias of the receiver, is the wide-lane ambiguity bias of the navigation satellite in the GNSS data, is a constant term, is the initial value of the wide lane ambiguity, and are the frequencies at which different navigation sub-satellites of the navigation satellite in the global navigation satellite system send data, and They are the frequency bands in which different navigation sub-satellites of the navigation satellite in the global navigation satellite system send data. and The carrier signal values ​​for sending data for different navigation sub-satellites of the navigation satellite in the global navigation satellite system data.

[0007] In some embodiments, the wide lane ambiguity comprises a plurality of wide lane sub-ambiguities; After the wide lane ambiguity combination algorithm is used to calculate and process the global navigation satellite system data to obtain the wide lane ambiguity, the method further includes: Smoothing calculation is performed according to the multiple wide lane ambiguities, the smoothed values ​​of the multiple wide lane ambiguities, and the standard deviations corresponding to the multiple wide lane ambiguities to obtain optimized wide lane ambiguities.

[0008] In some embodiments, performing positioning resolution processing on the ionospheric-free integer ambiguity to obtain a positioning result includes: Obtaining a positioning result by analytically calculating according to formula (6) the ionospheric-free ambiguity floating-point solution, the covariance matrix corresponding to the ionospheric-free ambiguity floating-point solution, the ionospheric-free integer ambiguity, the covariance matrix corresponding to the ionospheric-free ambiguity, and the initial position result corresponding to the ionospheric-free ambiguity floating-point solution; (6) In the above formula (6), are the ionospheric-free ambiguity float solution and the ionospheric-free integer ambiguity, respectively. , are the covariance matrices corresponding to the ionospheric-free ambiguity float solution and the covariance matrices corresponding to the ionospheric-free integer ambiguity, respectively. is the initial position result corresponding to the floating point solution without ionospheric ambiguity, For positioning results.

[0009] In some embodiments, the narrow lane ambiguity includes a plurality of first narrow lane ambiguities, and after calculating and processing the ionospheric-free ambiguity floating point solution and the wide lane ambiguity to obtain the narrow lane ambiguity, the method further includes: determining whether the plurality of first narrow lane ambiguities pass a ratio test of ambiguity resolution, determining the number of the plurality of first narrow lane ambiguities if the plurality of first narrow lane ambiguities pass the ratio test of ambiguity resolution, and setting the narrow lane ambiguity to a preset real number if the number of the plurality of first narrow lane ambiguities is less than a preset number threshold.

[0010] In some embodiments, before performing inter-satellite difference processing on the global navigation satellite system data to obtain an ionospheric ambiguity-free floating-point solution, the method further includes: Preprocessing the data of the navigation satellites in the global navigation satellite system data, and deleting the data of the navigation satellites whose data types do not meet the preset data types; marking the data of the navigation satellite having cycle slips in the data of the navigation satellite, and deleting the data of the navigation satellite having cycle slip frequencies that do not meet the preset threshold when the cycle slip frequency of the data of the navigation satellite does not meet the preset threshold; The clock error corresponding to the satellite represented by the data of the navigation satellite is obtained, and when the clock error corresponding to the satellite represented by the data of the navigation satellite fails to be obtained, the data of the navigation satellite for which the clock error acquisition failed is deleted.

[0011] The embodiment of the present application provides a single-point positioning device based on Beidou satellite, including: An acquisition module, used for acquiring global navigation satellite system data; A processing module, used for performing inter-satellite difference processing on the global navigation satellite system data to obtain an ionospheric ambiguity-free floating-point solution; A calculation module, configured to calculate and process the global navigation satellite system data using a wide lane ambiguity combination algorithm to obtain wide lane ambiguity; The calculation module is further used to calculate and process the ionospheric-free ambiguity floating point solution and the wide lane ambiguity, and obtain the narrow lane ambiguity using formula (1); (1) In the above formula (1), is the narrow lane ambiguity, is the ionospheric ambiguity-free float solution, is the wide-lane ambiguity wavelength, is the wide lane ambiguity, is the narrow lane ambiguity wavelength, is the correction factor; The calculation module is further used to calculate the ionospheric-free integer ambiguity according to the wide lane ambiguity and the narrow lane ambiguity using formula (2); (2) In the above formula (2), is the ionospheric-free integer ambiguity, is the narrow lane ambiguity, is the narrow lane ambiguity wavelength, is the wide-lane ambiguity wavelength, is the wide lane ambiguity, is the correction factor; Perform positioning analysis processing on the ionospheric-free integer ambiguity to obtain a positioning result.

[0012] The computer device provided in the embodiment of the present application includes a memory and a processor, wherein the memory stores a computer program that can be run on the processor, and when the processor executes the program, the method described in the embodiment of the present application is implemented.

[0013] The computer-readable storage medium provided in the embodiment of the present application stores a computer program thereon, and when the computer program is executed by a processor, the method provided in the embodiment of the present application is implemented.

[0014] The embodiment of the present application provides a Beidou satellite-based single-point positioning method, device, computer equipment and computer-readable storage medium, which obtains global navigation satellite system data; processes the global navigation satellite system data to obtain an ionospheric-free ambiguity floating-point solution and wide-lane ambiguity; processes the ionospheric-free ambiguity floating-point solution and wide-lane ambiguity according to a preset algorithm to obtain narrow-lane ambiguity, and the preset algorithm is a narrow-lane combination algorithm; obtains a positioning result based on the wide-lane ambiguity and the narrow-lane ambiguity. In this way, the positioning accuracy can be significantly improved by accurately solving the ambiguity and optimizing the ionospheric influence, and the wide-lane ambiguity ionospheric delay is used to further optimize the narrow-lane ambiguity to reduce the influence of the ionospheric error on the positioning accuracy, thereby solving the technical problems raised in the background technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0016] Figure 1 A schematic diagram of an implementation flow of a Beidou satellite-based single-point positioning method provided in an embodiment of the present application; Figure 2 A schematic diagram of the implementation flow of another Beidou satellite-based single-point positioning method provided in an embodiment of the present application; Figure 3 It is a structural schematic diagram of a single-point positioning device based on Beidou satellite disclosed in an embodiment of the present application; Figure 4 It is a structural schematic diagram of an electronic device disclosed in an embodiment of the present application. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the specific technical solution of the present application will be further described in detail below in conjunction with the drawings in the embodiments of the present application. The following embodiments are used to illustrate the present application, but are not used to limit the scope of the present application.

[0018] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0019] In the following description, reference is made to “some embodiments”, which describe a subset of all possible embodiments, but it will be understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0020] It should be pointed out that the terms "first\second\third" involved in the embodiments of the present application are used to distinguish similar or different objects, and do not represent a specific ordering of the objects. It can be understood that "first\second\third" can be interchanged in a specific order or sequence where permitted, so that the embodiments of the present application described here can be implemented in an order other than that illustrated or described here.

[0021] In view of this, an embodiment of the present application provides a single-point positioning method based on Beidou satellites, which is applied to intelligent electronic devices. Figure 1 The following is a schematic diagram of the implementation process of a Beidou satellite-based single-point positioning method provided in the embodiment of the present application. Figure 1 As shown, the method may include the following steps 101 to 106: Step 101, obtaining global navigation satellite system data.

[0022] In the embodiment of the present application, a multi-frequency GNSS (Global Navigation Satellite System) receiver (such as a receiver supporting C1, P1, P2, L1, L2 and other frequency bands) is used to receive signals from multiple navigation satellites. The received signal contains information such as pseudorange, carrier phase, inter-satellite difference, true, frequency distance and carrier signal value of the navigation satellite.

[0023] Step 102, performing inter-satellite difference processing on the global navigation satellite system data to obtain an ionospheric ambiguity-free floating-point solution.

[0024] In an embodiment of the present application, relevant correction parameters of the navigation satellite clock error are extracted from the navigation message of the navigation satellite, and the initial deviation of the navigation satellite clock is corrected.

[0025] According to the extracted correction parameters, make a preliminary correction to the navigation satellite clock error to minimize the impact of the navigation satellite clock error on subsequent calculations. Use appropriate differential techniques, such as single difference, double difference and other methods. Single difference can be a difference between different receivers for the same navigation satellite signal, while double difference is a further difference between different navigation satellites. Through these differential operations, try or significantly reduce the impact of the receiver clock error and the navigation satellite clock error. The present application realizes the acquisition of an ionospheric ambiguity-free floating-point solution through the double difference method. The present application does not limit the method of acquiring an ionospheric ambiguity-free floating-point solution.

[0026] The data after inter-satellite difference processing is combined with the geometric position information of the navigation satellite and other relevant observation conditions to construct the corresponding set of equations, which contains the floating-point solution of the ionospheric-free ambiguity to be sought.

[0027] Use a suitable estimation method, such as the least squares method or other suitable optimization algorithms, to solve the constructed set of equations, extract the value of the ionospheric-free ambiguity floating-point solution from the solution results, and complete the calculation process from the original GNSS data to the ionospheric-free ambiguity floating-point solution.

[0028] Step 103, using a wide lane ambiguity combination algorithm to calculate and process the global navigation satellite system data to obtain wide lane ambiguity.

[0029] In the embodiment of the present application, the combination coefficients corresponding to the carrier signal values ​​of different frequencies are determined according to the relevant requirements and objectives of the wide lane combination (such as the expected wavelength lengthening after the combination, etc.). For example, in common situations, appropriate coefficients are selected according to certain rules so that the carrier signal values ​​of different frequencies can be linearly combined in a set manner, which is convenient for the subsequent ambiguity resolution.

[0030] Based on the carrier signal values ​​of different frequencies, combined with the wide lane ambiguity wavelength, the wide lane ambiguity deviation of the receiver, the wide lane ambiguity deviation of the navigation satellite, the frequency and frequency band of the navigation satellite sending data and other necessary information, the wide lane ambiguity is solved through reasonable calculation logic.

[0031] Step 104, calculating and processing the ionospheric-free ambiguity float solution and the wide-lane ambiguity to obtain the narrow-lane ambiguity.

[0032] In the embodiment of the present application, firstly, the ionospheric-free ambiguity floating point solution and the wide-lane ambiguity are obtained by the relevant GNSS data processing method. The ionospheric-free ambiguity floating point solution is usually an ambiguity estimation value obtained when the integer ambiguity is not fixed, and the wide-lane ambiguity is obtained by performing wide-lane combination calculation on the carrier signal values ​​of different frequencies.

[0033] Determine the wide lane ambiguity wavelength, narrow lane ambiguity wavelength and correction coefficient. It is determined by the frequency characteristics of the GNSS system and the combination algorithm used.

[0034] After substituting the ionospheric-free ambiguity float solution, wide lane ambiguity, wide lane ambiguity wavelength, narrow lane ambiguity wavelength and correction coefficient into formula (1), the narrow lane ambiguity is obtained.

[0035] (1).

[0036] In the above formula (1), is the narrow lane ambiguity, is the ionospheric ambiguity-free float solution, is the wide-lane ambiguity wavelength, is the wide lane ambiguity, is the narrow lane ambiguity wavelength, is the correction factor.

[0037] Step 105, obtaining the ionospheric-free integer ambiguity according to the wide lane ambiguity and the narrow lane ambiguity.

[0038] In the embodiment of the present application, it is ensured that the values ​​of the wide lane ambiguity and the narrow lane ambiguity have been accurately acquired.

[0039] Clarify the parameter values ​​in the formula, including the narrow lane ambiguity wavelength, wide lane ambiguity wavelength and correction coefficient.

[0040] Substituting the values ​​of wide lane ambiguity, narrow lane ambiguity, narrow lane ambiguity wavelength, wide lane ambiguity wavelength and correction coefficient into formula (2), the ionospheric-free integer ambiguity is obtained.

[0041] (2).

[0042] In the above formula (2), is the ionospheric-free integer ambiguity, is the narrow lane ambiguity, is the narrow lane ambiguity wavelength, is the wide-lane ambiguity wavelength, is the wide lane ambiguity, is the correction factor.

[0043] Step 106, performing positioning analysis processing on the ionospheric-free integer ambiguity to obtain a positioning result.

[0044] In an embodiment of the present application, a positioning equation is established through ionospheric-free integer ambiguity, and the equation is solved to obtain a positioning result.

[0045] The embodiments of the present application combine the ionospheric-free ambiguity floating-point solution, wide-lane ambiguity and narrow-lane ambiguity, and use a narrow-lane combination algorithm for processing, which can significantly improve positioning accuracy, reduce the impact of ionospheric errors, simplify the calculation process, and enhance the robustness of the positioning system in complex environments.

[0046] As an example, the GNSS data is inter-satellite inter-differenced to obtain an ionospheric ambiguity-free floating point solution, including: The GNSS data are processed by inter-satellite difference to obtain a floating-point solution free of ionospheric ambiguity.

[0047] Specifically, the Global Navigation Satellite System (GNSS) data is obtained, including the pseudorange of the navigation satellite relative to the receiver, the true distance of the navigation satellite relative to the receiver, the clock bias of the receiver, and the correction coefficient and carrier phase of the navigation satellite sending data.

[0048] Use formula (3) for processing. The formula is as follows: (3).

[0049] In the above formula (3), is the pseudorange of the navigation satellite relative to the receiver in the GNSS data, is the true distance of the navigation satellite relative to the receiver in the GNSS data, is the receiver clock deviation, and is the correction factor, It is the carrier phase of the navigation satellite sending data in the global navigation satellite system data. is a float solution without ionospheric ambiguity.

[0050] In this formula, the quantities include pseudorange, inter-satellite error and correction coefficient, and the quantities include true distance, inter-satellite error, carrier phase and ionospheric-free ambiguity floating-point solution and correction coefficient.

[0051] The receiver clock bias can be eliminated by processing these two equations. This is done by subtracting the two equations from each other to obtain an equation that is only related to the ionospheric-free ambiguity float solution.

[0052] After the above-mentioned inter-satellite difference processing, the obtained equation can be used to solve the ionospheric-free ambiguity floating-point solution.

[0053] This application example obtains an ionospheric ambiguity-free floating-point solution by performing satellite inter-interference processing on the Global Navigation Satellite System (GNSS) data, which can effectively reduce the impact of satellite inter-interference on the positioning results and improve the accuracy of subsequent positioning.

[0054] As an example, the wide lane ambiguity combination algorithm is used to calculate and process the global navigation satellite system data to obtain the wide lane ambiguity, including: The GNSS data are processed computationally to obtain wide-lane ambiguities.

[0055] Specifically, the Global Navigation Satellite System (GNSS) data is obtained, including the frequency of data sent by different navigation satellites, the frequency bands of data sent by different navigation satellites, the carrier signal values ​​of data sent by different navigation satellites, the wide lane ambiguity deviation of the receiver and the wide lane ambiguity deviation of the navigation satellite and other related parameters.

[0056] Use formula (4) for processing. The formula is as follows: (4).

[0057] First calculate the sum of the numerators on the left side of the formula. Then divide them by the denominators. Finally, subtract the two parts to get the value.

[0058] By shifting the terms in formula (4) and rearranging them, we can obtain formula (5).

[0059] Use formula (5) for processing. The formula is as follows: (5).

[0060] Among them, in the above formulas (4) and (5), is the wide lane ambiguity, is the wide-lane ambiguity wavelength; is the widelane ambiguity bias of the receiver, is the wide-lane ambiguity bias of the navigation satellite in the GNSS data, is a constant term, is the initial value of the wide lane ambiguity, and are the frequencies at which different navigation sub-satellites of the navigation satellite in the global navigation satellite system send data, and They are the frequency bands in which different navigation sub-satellites of the navigation satellite in the global navigation satellite system send data. and The carrier signal values ​​for sending data for different navigation sub-satellites of the navigation satellite in the global navigation satellite system data.

[0061] This application example uses a wide lane ambiguity combination algorithm to process global navigation satellite system (GNSS) data to obtain wide lane ambiguity, which can take advantage of the long wavelength of wide lane combination. The longer wavelength means that the integer characteristics of the ambiguity are easier to maintain, and the ambiguity solution errors caused by measurement errors can be reduced during the solution process, thereby improving the accuracy of ambiguity solution.

[0062] As an example, the ionospheric-free integer ambiguity is subjected to positioning resolution processing to obtain a positioning result, including: The positioning result is obtained by analytical calculation based on the ionospheric-free ambiguity floating-point solution, the covariance matrix corresponding to the ionospheric-free ambiguity floating-point solution, the ionospheric-free integer ambiguity, the covariance matrix corresponding to the ionospheric-free ambiguity and the initial position result corresponding to the ionospheric-free ambiguity floating-point solution.

[0063] Specifically, the ionospheric-free ambiguity floating-point solution, the covariance matrix corresponding to the ionospheric-free ambiguity floating-point solution, the ionospheric-free integer ambiguity, the covariance corresponding to the ionospheric-free integer ambiguity, and the initial position result corresponding to the ionospheric-free ambiguity floating-point solution are obtained.

[0064] Calculate according to formula (6); (6).

[0065] In the above formula (6), are the ionospheric-free ambiguity float solution and the ionospheric-free integer ambiguity, respectively. , are the covariance matrices corresponding to the ionospheric-free ambiguity float solution and the covariance matrices corresponding to the ionospheric-free integer ambiguity, respectively. is the initial position result corresponding to the floating point solution without ionospheric ambiguity, For positioning results.

[0066] This application example comprehensively considers the ionospheric-free ambiguity floating point solution, its corresponding covariance matrix, the ionospheric-free integer ambiguity, its corresponding covariance matrix, and the initial position result corresponding to the ionospheric-free ambiguity floating point solution, and performs analytical calculations according to formula (6), which can make full use of information from all aspects to optimize the positioning results. The covariance matrix reflects the error of each ambiguity. Including it in the calculation can more reasonably weigh the impact of different factors on positioning, thereby effectively reducing errors and improving the final positioning accuracy.

[0067] As an example, the wide lane ambiguity includes multiple wide lane sub-ambiguities; after calculating and processing the global navigation satellite system data using the wide lane ambiguity combination algorithm to obtain the wide lane ambiguity, it also includes: performing smoothing calculation based on the multiple wide lane sub-ambiguities, the smoothed values ​​of the multiple wide lane ambiguities, and the standard deviations corresponding to the multiple wide lane ambiguities to obtain the optimized wide lane ambiguity.

[0068] Specifically, to correctly fix the wide lane ambiguity, it is necessary to remove the influence of the wide lane bias at the receiver and navigation satellite ends. Multi-epoch smoothing of the wide lane ambiguity can be used. The smoothing formula is as follows: (7).

[0069] (8).

[0070] represents the wide lane ambiguity smoothing value, k and k-1 represent the current GNSS data collection period and the previous GNSS data collection period, Represents the standard deviation of the widelane ambiguity smoothing.

[0071] The optimized wide lane ambiguity can be expressed as: (9).

[0072] in, and are the wide lane ambiguities of different navigation satellites in the GNSS data, is the optimized wide lane ambiguity.

[0073] This application example can effectively reduce the impact of measurement noise on wide lane ambiguity by smoothing multiple wide lane ambiguities and their smoothed values ​​and corresponding standard deviations. In global navigation satellite system (GNSS) measurements, due to the existence of various interference factors, the measured wide lane ambiguity will have certain errors. Smoothing calculation can make the wide lane ambiguity closer to the true value, thereby improving its accuracy.

[0074] As an example, the narrow lane ambiguity includes a plurality of first narrow lane ambiguities, and after calculating and processing the ionospheric-free ambiguity floating point solution and the wide lane ambiguity to obtain the narrow lane ambiguity, the method further includes: determining whether the plurality of first narrow lane ambiguities pass a ratio test of ambiguity resolution, determining the number of the plurality of first narrow lane ambiguities if the plurality of first narrow lane ambiguities pass the ratio test of ambiguity resolution, and setting the narrow lane ambiguity to a preset real number if the number of the plurality of first narrow lane ambiguities is less than a preset number threshold.

[0075] Specifically, first, the ionospheric-free ambiguity float solution and the wide lane ambiguity are calculated and processed according to the above method to obtain multiple first narrow lane ambiguities. The ratio test of ambiguity resolution is performed on the obtained multiple first narrow lane ambiguities. The steps of the ratio test are as follows: 1. Find the optimal narrow lane ambiguity solution and the suboptimal narrow lane ambiguity solution.

[0076] 2. Calculate the ratio of their corresponding residual sums of squares (or other relevant measures).

[0077] 3. Set a ratio threshold (for example, 2.5-3.0). If the calculated ratio is greater than or equal to this threshold, it is considered to have passed the ratio test.

[0078] If a plurality of first narrow lane ambiguities pass the ratio test, then the number of these first narrow lane ambiguities is determined.

[0079] The number is compared with a preset number threshold, which is a value pre-set according to specific application scenarios and accuracy requirements.

[0080] If the number of the plurality of first narrow lane ambiguities is less than a preset number threshold, the narrow lane ambiguity is set to a preset real number, which is also a value predetermined according to system design or experience.

[0081] The example of the present application evaluates multiple first narrow lane ambiguities through a ratio test, and is capable of screening out ambiguity solutions with higher quality.

[0082] In the above Figure 1 On the basis of, this application also provides a schematic diagram of the implementation process of a single-point positioning method based on Beidou satellite. Figure 2 As shown, the steps include steps 201 to 203: Step 201 , pre-processing the data of navigation satellites in the global navigation satellite system data, and deleting the data of navigation satellites whose data types do not meet the preset data types.

[0083] Specifically, after receiving GNSS data, the signal quality of each navigation satellite needs to be evaluated to eliminate data that does not meet the quality requirements. First, the system receives signals from multiple navigation satellites, each of which contains the pseudorange, signal strength, data type, etc. of the navigation satellite.

[0084] Set a set of standards, such as the received data types need to include (C1, P1, P2, L1, L2), etc. When the data type does not include the above types, these data will be removed from the valid data set Step 202, marking the data of the satellites with cycle slips in the data of the navigation satellites, and in the case that the cycle slip frequency of the satellite data does not meet the preset threshold, deleting the data of the navigation satellites with the cycle slip frequency not meeting the preset threshold.

[0085] Cycle slip refers to abnormal jumps in the pseudo-range signal of the navigation satellite, which is usually caused by factors such as signal interruption, reflection or multipath effect. This will cause a sudden drop in positioning accuracy, so this data needs to be detected and processed.

[0086] By monitoring the changes in the pseudorange of navigation satellites in real time, the system will identify data with large pseudorange changes, especially sudden large jumps. If the pseudorange of a navigation satellite fluctuates greatly in a short period of time (for example, exceeding a reasonable range), the system determines that the navigation satellite data has a cycle slip.

[0087] The frequency of cycle slips for each navigation satellite is further evaluated. If cycle slips are frequent, it may indicate that the overall quality of the navigation satellite signal is poor, or there is a problem with the path between the navigation satellite and the receiver (such as occlusion). At this time, the positioning data of the navigation satellite will be marked as invalid and deleted from the subsequent processing.

[0088] Assuming that the pseudorange signal received by the receiver from a navigation satellite experiences a sudden and significant fluctuation, after the system detects this fluctuation, it will automatically mark the navigation satellite data as a "cycle slip" and discard the data of the navigation satellite to ensure that subsequent positioning results are not affected.

[0089] Step 203, obtaining the clock error corresponding to the satellite represented by the data of the navigation satellite, and in the case where the clock error corresponding to the satellite represented by the data of the navigation satellite fails to be obtained, deleting the data of the navigation satellite for which the clock error failed to be obtained.

[0090] Specifically, clock error refers to the difference between the clocks of the navigation satellite and the receiver. Under normal circumstances, the clock of the navigation satellite should be synchronized with the clock of the receiver, but due to reasons such as signal propagation delay or navigation satellite clock failure, it may be impossible to accurately obtain clock error information. The failure of clock error will directly affect the positioning accuracy, so the navigation satellite data with failed clock error acquisition needs to be excluded.

[0091] When the receiver tries to extract clock information from the navigation satellite signal, the system checks whether the clock information is valid. If the receiver cannot obtain accurate clock data due to poor signal quality or other factors, the navigation satellite data will be marked as "invalid".

[0092] Once it is found that the clock error cannot be obtained, the system will immediately delete all data of the navigation satellite from the current data set to prevent these invalid data from affecting subsequent positioning calculations.

[0093] Assuming that the receiver fails to successfully extract valid clock error information from the signal received from a certain navigation satellite, the system marks the navigation satellite as "clock error failure" and eliminates its influence on the positioning result.

[0094] The embodiment of the present application effectively filters and corrects unqualified navigation satellite data through a series of refined preprocessing steps, including navigation satellites with unsatisfactory data types, navigation satellites with cycle slips, and navigation satellites with failed clock error acquisition, thereby ensuring the high quality of the remaining data and providing more accurate and reliable data support for subsequent positioning and navigation calculations.

[0095] It should be understood that, although the steps in the above-mentioned flowcharts are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a part of the steps in the above-mentioned flowcharts may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these sub-steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the sub-steps or stages of other steps.

[0096] In addition, the further description of some process steps in the embodiments of the present application is only to facilitate the better implementation of the best embodiment provided by the present application, and does not mean that the step can only be implemented through the best embodiment. As long as the implementation method described in each step of the present application is met, it should not be regarded as a specific limitation on the scheme of the present application.

[0097] Based on the foregoing embodiments, the embodiments of the present application provide a single-point positioning device based on Beidou satellites, which includes the modules included and the units included in the modules, which can be implemented by a processor; of course, it can also be implemented by a specific logic circuit; in the implementation process, the processor can be a central processing unit (CPU), a microprocessor (MPU), a digital signal processor (DSP) or a field programmable gate array (FPGA), etc.

[0098] Figure 3 A schematic diagram of the structure of the positioning device provided in the embodiment of the present application is shown in FIG. Figure 3 As shown, the apparatus 300 includes an acquisition module 301, a processing module 302 and a calculation module 303, wherein: An acquisition module 301 is used to acquire global navigation satellite system data; The processing module 302 is used to perform inter-satellite difference processing on the global navigation satellite system data to obtain an ionospheric ambiguity-free floating point solution; A calculation module 303 is used to calculate and process the global navigation satellite system data using a wide lane ambiguity combination algorithm to obtain wide lane ambiguity; The calculation module 303 is further used to calculate and process the ionospheric-free ambiguity floating point solution and the wide lane ambiguity, and obtain the narrow lane ambiguity using formula (1); (1) In the above formula (1), is the narrow lane ambiguity, is the ionospheric ambiguity-free float solution, is the wide-lane ambiguity wavelength, is the wide lane ambiguity, is the narrow lane ambiguity wavelength, is the correction factor; The calculation module 303 is further used to calculate the ionospheric-free integer ambiguity according to the wide lane ambiguity and the narrow lane ambiguity using formula (2); (2) In the above formula (2), is the ionospheric-free integer ambiguity, is the narrow lane ambiguity, is the narrow lane ambiguity wavelength, is the wide-lane ambiguity wavelength, is the wide lane ambiguity, is the correction factor; The processing module 302 is also used to perform positioning analysis processing on the ionospheric-free integer ambiguity to obtain a positioning result.

[0099] In some embodiments, the processing module 302 is further used to perform inter-satellite difference processing on the global navigation satellite system data using formula (3) to obtain an ionospheric ambiguity-free floating-point solution; (3) In the above formula (3), is the pseudorange of the navigation satellite relative to the receiver in the GNSS data, is the true distance of the navigation satellite relative to the receiver in the GNSS data, is the receiver clock deviation, and is the correction factor, It is the carrier phase of the navigation satellite sending data in the global navigation satellite system data. is a float solution without ionospheric ambiguity.

[0100] In some embodiments, the calculation module 302 is further used to calculate and process the global navigation satellite system data, and obtain the wide lane ambiguity using formulas (4) and (5); (4) According to formula (4), the formula is transformed to obtain formula (5); (5) Among them, in the above formulas (4) and (5), is the wide lane ambiguity, is the wide-lane ambiguity wavelength; is the widelane ambiguity bias of the receiver, is the wide-lane ambiguity bias of the navigation satellite in the GNSS data, is a constant term, is the initial value of the wide lane ambiguity, and are the frequencies at which different navigation sub-satellites of the navigation satellite in the global navigation satellite system send data, and They are the frequency bands in which different navigation sub-satellites of the navigation satellite in the global navigation satellite system send data. and The carrier signal values ​​for sending data for different navigation sub-satellites of the navigation satellite in the global navigation satellite system data.

[0101] In some embodiments, the calculation module 303 further includes performing smoothing calculation according to the plurality of wide lane ambiguities, the smoothed values ​​of the plurality of wide lane ambiguities, and the standard deviations corresponding to the plurality of wide lane ambiguities to obtain optimized wide lane ambiguities.

[0102] In some embodiments, the processing module 302 is further used to obtain a positioning result by performing analytical calculation according to formula (6) based on the ionospheric-free ambiguity floating point solution, the covariance matrix corresponding to the ionospheric-free ambiguity floating point solution, the ionospheric-free integer ambiguity, the covariance matrix corresponding to the ionospheric-free ambiguity, and the initial position result corresponding to the ionospheric-free ambiguity floating point solution; (6) In the above formula (6), are the ionospheric-free ambiguity float solution and the ionospheric-free integer ambiguity, respectively. , are the covariance matrices corresponding to the ionospheric-free ambiguity float solution and the covariance matrices corresponding to the ionospheric-free integer ambiguity, respectively. is the initial position result corresponding to the floating point solution without ionospheric ambiguity, For positioning results.

[0103] In some embodiments, the processing module 302 is further configured to determine whether the plurality of first narrow lane ambiguities pass a ratio test of ambiguity resolution, determine the number of the plurality of first narrow lane ambiguities if the plurality of first narrow lane ambiguities pass the ratio test of ambiguity resolution, and set the narrow lane ambiguity to a preset real number if the number of the plurality of first narrow lane ambiguities is less than a preset number threshold.

[0104] In some embodiments, the processing module 302 is further used to pre-process the data of the navigation satellites in the global navigation satellite system data, and delete the data of the navigation satellites whose data types do not meet the preset data types; The processing module 302 is further used to mark the data of the navigation satellite having cycle slips in the data of the navigation satellite, and when the cycle slip frequency of the data of the navigation satellite does not meet the preset threshold, delete the data of the navigation satellite whose cycle slip frequency does not meet the preset threshold; The processing module 302 is further used to obtain the clock error corresponding to the satellite represented by the data of the navigation satellite, and in the case that the clock error corresponding to the satellite represented by the data of the navigation satellite fails to be obtained, delete the data of the navigation satellite for which the clock error acquisition fails.

[0105] The description of the above device embodiment is similar to the description of the above method embodiment, and has similar beneficial effects as the method embodiment. For technical details not disclosed in the device embodiment of the present application, please refer to the description of the method embodiment of the present application for understanding.

[0106] It should be noted that in the embodiments of this application Figure 3 The division of modules in the single-point positioning device based on Beidou satellite shown is schematic, which is only a logical function division. There may be other division methods in actual implementation. In addition, each functional unit in each embodiment of the present application can be integrated in a processing unit, or it can exist physically alone, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. It can also be implemented in the form of a combination of software and hardware.

[0107] It should be noted that in the embodiments of the present application, if the above method is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application can be essentially or partly reflected in the form of a software product, which is stored in a storage medium and includes several instructions for enabling an electronic device to execute all or part of the methods of each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a magnetic disk or an optical disk. In this way, the embodiments of the present application are not limited to any specific combination of hardware and software.

[0108] The embodiment of the present application provides a computer device, which may be a server, and its internal structure diagram may be as follows: Figure 4As shown. The computer device includes a processor, a memory and a network interface connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store data. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, the above method is implemented.

[0109] An embodiment of the present application provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps in the method provided in the above embodiment are implemented.

[0110] An embodiment of the present application provides a computer program product including instructions, which, when executed on a computer, enables the computer to execute the steps of the method provided in the above method embodiment.

[0111] Those skilled in the art will understand that Figure 4 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0112] In one embodiment, the single-point positioning device based on Beidou satellite provided by the present application can be implemented in the form of a computer program. The computer program can be used in Figure 4 The computer device shown in the figure is run. The memory of the computer device can store various program modules constituting the above-mentioned device. The computer program composed of various program modules enables the processor to execute the steps in the method of each embodiment of the present application described in this specification.

[0113] It should be noted here that the description of the above storage medium and device embodiments is similar to the description of the above method embodiments, and has similar beneficial effects as the method embodiments. For technical details not disclosed in the storage medium, storage medium and device embodiments of this application, please refer to the description of the method embodiments of this application for understanding.

[0114] It should be understood that "one embodiment" or "an embodiment" or "some embodiments" mentioned throughout the specification means that specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, "in one embodiment" or "in one embodiment" or "in some embodiments" appearing throughout the specification may not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It should be understood that in various embodiments of the present application, the size of the sequence number of the above-mentioned processes does not mean the order of execution, and the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present application. The above-mentioned sequence numbers of the embodiments of the present application are only for description and do not represent the advantages and disadvantages of the embodiments. The above description of each embodiment tends to emphasize the differences between the various embodiments, and the same or similar aspects can be referenced to each other. For the sake of brevity, this article will not repeat them.

[0115] The term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there may be three relationships. For example, object A and / or object B can represent three situations: object A exists alone, object A and object B exist at the same time, and object B exists alone.

[0116] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0117] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The embodiments described above are only schematic. For example, the division of modules is only a logical function division. There may be other division methods in actual implementation, such as: multiple modules or components can be combined, or can be integrated into another system, or some features can be ignored, or not executed. In addition, the coupling, direct coupling, or communication connection between the components shown or discussed can be through some interfaces, and the indirect coupling or communication connection of devices or modules can be electrical, mechanical or other forms.

[0118] The modules described above as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical modules; they may be located in one place or distributed on multiple network units; some or all of the modules may be selected according to actual needs to achieve the purpose of the present embodiment.

[0119] In addition, all functional modules in the embodiments of the present application may be integrated into one processing unit, or each module may be a separate unit, or two or more modules may be integrated into one unit; the above-mentioned integrated modules may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0120] A person skilled in the art can understand that: all or part of the steps of implementing the above method embodiment can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above method embodiment; and the aforementioned storage medium includes: various media that can store program codes, such as mobile storage devices, read-only memories (ROM), magnetic disks or optical disks.

[0121] Alternatively, if the above-mentioned integrated unit of the present application is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application can essentially or in other words, the part that contributes to the relevant technology can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for an electronic device to execute all or part of the methods of each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as mobile storage devices, ROMs, magnetic disks or optical disks.

[0122] The methods disclosed in several method embodiments provided in this application can be arbitrarily combined without conflict to obtain new method embodiments.

[0123] The features disclosed in several product embodiments provided in this application can be arbitrarily combined without conflict to obtain new product embodiments.

[0124] The features disclosed in several method or device embodiments provided in this application can be arbitrarily combined without conflict to obtain new method embodiments or device embodiments.

[0125] The above are only implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A single-point positioning method based on Beidou satellite, characterized in that: The method comprises: Access to global navigation satellite system data; Performing inter-satellite difference processing on the global navigation satellite system data to obtain an ionospheric ambiguity-free floating-point solution; Using a wide lane ambiguity combination algorithm to calculate and process the global navigation satellite system data to obtain wide lane ambiguity; Calculating and processing the ionospheric-free ambiguity float solution and the wide lane ambiguity, and obtaining the narrow lane ambiguity using formula (1); （1） In the above formula (1), is the narrow lane ambiguity, is the ionospheric ambiguity-free float solution, is the wide-lane ambiguity wavelength, is the wide lane ambiguity, is the narrow lane ambiguity wavelength, is the correction factor; An ionospheric-free integer ambiguity is calculated according to the wide lane ambiguity and the narrow lane ambiguity using formula (2); （2） In the above formula (2), is the ionospheric-free integer ambiguity, is the narrow lane ambiguity, is the narrow lane ambiguity wavelength, is the wide-lane ambiguity wavelength, is the wide lane ambiguity, is the correction factor; Perform positioning analysis processing on the ionospheric-free integer ambiguity to obtain a positioning result.

2. The method according to claim 1, characterized in that: The performing inter-satellite difference processing on the global navigation satellite system data to obtain an ionospheric ambiguity-free floating-point solution comprises: Performing inter-satellite difference processing on the global navigation satellite system data using formula (3) to obtain a floating-point solution without ionospheric ambiguity; （3） In the above formula (3), is the pseudorange of the navigation satellite relative to the receiver in the GNSS data, is the true distance of the navigation satellite relative to the receiver in the GNSS data, is the receiver clock deviation, and is the correction factor, It is the carrier phase of the navigation satellite sending data in the global navigation satellite system data. is a float solution without ionospheric ambiguity.

3. The method according to claim 1, characterized in that: The using a wide lane ambiguity combination algorithm to calculate and process the global navigation satellite system data to obtain wide lane ambiguity includes: Calculating and processing the global navigation satellite system data, and obtaining wide lane ambiguity using formulas (4) and (5); （4） According to formula (4), the formula is transformed to obtain formula (5); （5） Among them, in the above formulas (4) and (5), is the wide lane ambiguity, is the wide-lane ambiguity wavelength; is the widelane ambiguity bias of the receiver, is the wide-lane ambiguity bias of the navigation satellite in the GNSS data, is a constant term, is the initial value of the wide lane ambiguity, and are the frequencies at which different navigation sub-satellites of the navigation satellite in the global navigation satellite system send data, and They are the frequency bands in which different navigation sub-satellites of the navigation satellite in the global navigation satellite system send data. and The carrier signal values ​​for sending data for different navigation sub-satellites of the navigation satellite in the global navigation satellite system data.

4. The method according to claim 3, characterized in that The wide lane ambiguity includes a plurality of wide lane sub-ambiguities; After the wide lane ambiguity combination algorithm is used to calculate and process the global navigation satellite system data to obtain the wide lane ambiguity, the method further includes: Smoothing calculation is performed according to the multiple wide lane ambiguities, the smoothed values ​​of the multiple wide lane ambiguities, and the standard deviations corresponding to the multiple wide lane ambiguities to obtain optimized wide lane ambiguities.

5. The method according to claim 1, characterized in that The performing positioning analysis processing on the ionospheric-free integer ambiguity to obtain a positioning result includes: Obtaining a positioning result by analytically calculating according to formula (6) the ionospheric-free ambiguity floating-point solution, the covariance matrix corresponding to the ionospheric-free ambiguity floating-point solution, the ionospheric-free integer ambiguity, the covariance matrix corresponding to the ionospheric-free ambiguity, and the initial position result corresponding to the ionospheric-free ambiguity floating-point solution; （6） In the above formula (6), are the ionospheric-free ambiguity float solution and the ionospheric-free integer ambiguity, respectively. , are the covariance matrices corresponding to the ionospheric-free ambiguity float solution and the covariance matrices corresponding to the ionospheric-free integer ambiguity, respectively. is the initial position result corresponding to the floating point solution without ionospheric ambiguity, For positioning results.

6. The method according to claim 1, characterized in that The narrow lane ambiguity includes a plurality of first narrow lane ambiguities. After calculating and processing the ionospheric-free ambiguity floating point solution and the wide lane ambiguity to obtain the narrow lane ambiguity, the method further includes: determining whether the plurality of first narrow lane ambiguities pass a ratio test of ambiguity resolution, determining the number of the plurality of first narrow lane ambiguities if the plurality of first narrow lane ambiguities pass the ratio test of ambiguity resolution, and setting the narrow lane ambiguity to a preset real number if the number of the plurality of first narrow lane ambiguities is less than a preset number threshold.

7. The method according to claim 1, characterized in that Before performing inter-satellite difference processing on the global navigation satellite system data to obtain an ionospheric ambiguity-free floating-point solution, the method further includes: Preprocessing the data of the navigation satellites in the global navigation satellite system data, and deleting the data of the navigation satellites whose data types do not meet the preset data types; marking the data of the navigation satellite having cycle slips in the data of the navigation satellite, and deleting the data of the navigation satellite having cycle slip frequencies that do not meet the preset threshold when the cycle slip frequency of the data of the navigation satellite does not meet the preset threshold; The clock error corresponding to the satellite represented by the data of the navigation satellite is obtained, and when the clock error corresponding to the satellite represented by the data of the navigation satellite fails to be obtained, the data of the navigation satellite for which the clock error acquisition failed is deleted.

8. A single-point positioning device based on Beidou satellite, characterized in that: include: An acquisition module, used for acquiring global navigation satellite system data; A processing module, used for performing inter-satellite difference processing on the global navigation satellite system data to obtain an ionospheric ambiguity-free floating-point solution; A calculation module, configured to calculate and process the global navigation satellite system data using a wide lane ambiguity combination algorithm to obtain wide lane ambiguity; The calculation module is further used to calculate and process the ionospheric-free ambiguity floating point solution and the wide lane ambiguity, and obtain the narrow lane ambiguity using formula (1); （1） In the above formula (1), is the narrow lane ambiguity, is the ionospheric ambiguity-free float solution, is the wide-lane ambiguity wavelength, is the wide lane ambiguity, is the narrow lane ambiguity wavelength, is the correction factor; The calculation module is further used to calculate the ionospheric-free integer ambiguity according to the wide lane ambiguity and the narrow lane ambiguity using formula (2); （2） In the above formula (2), is the ionospheric-free integer ambiguity, is the narrow lane ambiguity, is the narrow lane ambiguity wavelength, is the wide-lane ambiguity wavelength, is the wide lane ambiguity, is the correction factor; Perform positioning analysis processing on the ionospheric-free integer ambiguity to obtain a positioning result.

9. A device for performing a positioning method, characterized in that: include: processor; a memory for storing processor-executable instructions; When the processor executes the executable instructions, the method according to any one of claims 1 to 7 is implemented.

10. A non-volatile computer-readable storage medium, characterized in that: The device comprises a computer program or an instruction for storing the computer program or the instruction, which, when executed, enables the method according to any one of claims 1 to 7 to be implemented.

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