Pseudo-range deviation processing method and device based on hybrid receiver, equipment, medium and product

Abstract

The invention discloses a pseudo-range deviation processing method, device and equipment based on a hybrid receiver, a medium and a product. The method comprises the following steps: acquiring zero baseline observation data of the hybrid receiver and preprocessing the zero baseline observation data; according to the preprocessed zero baseline observation data, a pseudo-range single-difference observation value between the hybrid receivers is calculated; constructing a pseudo-range single-difference observation equation set of a single epoch according to the pseudo-range single-difference observation value, and performing multi-epoch estimation by adopting Kalman filtering to obtain a pseudo-range deviation single-difference value of each satellite; according to the reference star corresponding to each epoch, converting the pseudo-range deviation single-difference value into a pseudo-range deviation double-difference value; and correcting the MW ambiguity according to the pseudo-range deviation double-difference value to obtain the corrected MW ambiguity. According to the method, the pseudo-range deviation single-difference value is estimated in an observation value single-difference combination mode, large-batch data resolving is effectively avoided, resolving efficiency is improved, the pseudo-range deviation single-difference value of the hybrid receiver can be accurately estimated, and high-precision resolving of the hybrid receiver in the field of ground-based navigation is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of satellite navigation and positioning, and in particular to a method, device, equipment, medium and product for processing pseudorange deviation based on a hybrid receiver. Background Art

[0002] With the continuous development of global navigation satellite systems, in order to meet the increasingly stringent positioning, navigation and timing requirements, GNSS high-precision data processing should fully consider all error sources including hardware deviations. Physical limitations of satellites and receiver hardware result in various forms of GNSS deviations, and among them, the pseudorange deviation between different types is a major error source. In ground-based augmentation systems, it often involves the network solution of different manufacturers' hybrid receivers. Due to the inconsistent pseudorange deviations of different satellites and different receiver types, the receiver pseudorange deviation cannot be compensated by clock difference parameters, which affects the wide-lane fixing in ground-based solutions and thus directly affects the precise ground-based augmentation solution.

[0003] Currently, the estimation method for pseudorange deviation needs to establish a virtual receiver reference and classify all receivers in the network. The amount of data is large and the solution is complex, so it has not been widely applied in the field of ground-based augmentation navigation. In the field of ground-based navigation, the double-difference combination form of observations is more commonly used. When estimating the pseudorange deviation, the double-difference form is often used for estimation. In this way, the obtained pseudorange deviation has been determined by the satellite pairs in the double-difference form, and it is impossible to flexibly form the pseudorange deviation of other satellite pairs. It is necessary to perform multiple conversions of reference stars to obtain the satellite pairs required in actual solutions, and the solution is cumbersome and complex. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a method, device, equipment, medium and product for processing pseudorange deviation based on a hybrid receiver, which uses the single-difference combination form of observations to estimate the single-difference value of the pseudorange deviation, effectively avoids the solution of a large amount of data, improves the solution efficiency, can accurately estimate the single-difference value of the pseudorange deviation of the hybrid receiver, and is applied to the field of ground-based navigation to eliminate the influence of the pseudorange deviation of receivers from different manufacturers on the ambiguity fixing, and realizes high-precision solution of the hybrid receiver in the field of ground-based navigation.

[0005] To achieve the above object, an embodiment of the present invention provides a method for processing pseudorange deviation based on a hybrid receiver, including:

[0006] Obtain zero-baseline observation data of the hybrid receiver and preprocess the zero-baseline observation data; wherein, the hybrid receiver includes at least two different types of receivers;

[0007] Calculate the pseudorange single-difference observation value between the hybrid receivers according to the preprocessed zero-baseline observation data;

[0008] Construct a single-epoch pseudorange single-difference observation equation set based on the said pseudorange single-difference observations, and use Kalman filtering for multi-epoch estimation to obtain the single-difference values of the pseudorange biases of each satellite;

[0009] Convert the single-difference values of the pseudorange biases into double-difference values of the pseudorange biases according to the reference satellite corresponding to each epoch;

[0010] Correct the MW ambiguity according to the double-difference values of the pseudorange biases to obtain the corrected MW ambiguity.

[0011] As an improvement to the above solution, the preprocessing of the zero-baseline observation data includes:

[0012] Perform quality control preprocessing on the zero-baseline observation data, and eliminate abnormal satellites according to the preset cut-off elevation angle and minimum signal-to-noise ratio.

[0013] As an improvement to the above solution, the calculation of the pseudorange single-difference observations between hybrid receivers according to the preprocessed zero-baseline observation data includes:

[0014] Substitute the preprocessed zero-baseline observation data into the accurate coordinates of the receivers to calculate the distance between the satellite and the receivers; wherein, the position of the satellite is calculated according to the navigation ephemeris;

[0015] For the same satellite, calculate the difference in the distances of two different types of receivers to obtain the pseudorange single-difference observations between different types of receivers; wherein, the calculation formula for the pseudorange single-difference observations is:

[0016]

[0017] In the formula, Δ represents the single-difference operator between receivers; represents the pseudorange single-difference observations; represents the distance between the b-th receiver and the j-th frequency point of the s-th satellite; represents the distance between the a-th receiver and the j-th frequency point of the s-th satellite.

[0018] As an improvement to the above solution, the construction of a single-epoch pseudorange single-difference observation equation set based on the said pseudorange single-difference observations and the use of Kalman filtering for multi-epoch estimation to obtain the single-difference values of the pseudorange biases of each satellite include:

[0019] Construct a single-epoch pseudorange single-difference observation equation set based on the said pseudorange single-difference observations; wherein, the pseudorange single-difference observation equation set includes the pseudorange single-difference observation equations corresponding to each satellite;

[0020] Based on the pseudorange single-difference observation equations, Kalman filtering is used to estimate the single-difference values of the pseudorange biases of each satellite over multiple epochs, and the filtering solution of the last epoch is selected as the single-difference value of the pseudorange bias for a single day;

[0021] For each satellite, the average value of the single-difference values of the pseudorange biases for several single days is obtained to get the single-difference value of the pseudorange bias of the satellite.

[0022] As an improvement to the above solution, the pseudorange single-difference observation equation is:

[0023]

[0024] In the formula, c represents the speed of light; represents the single-difference value of the corrected clock differences of different receivers, Δdt ab represents the single-difference value of the clock differences of different receivers, represents the average value of the single-difference values of the pseudorange biases between receivers of all satellites at frequency point 0; represents the corrected single-difference correction value of the pseudorange bias, represents the single-difference correction value of the pseudorange bias, represents the average value of the single-difference values of the pseudorange biases between receivers of all satellites at frequency point j, N represents the total number of satellites; represents the average value of the corrected single-difference values of the pseudorange biases, represents the single-difference combination of multipath errors.

[0025] As an improvement to the above solution, the corrected MW ambiguity is:

[0026]

[0027] In the formula, represents the double-difference operator, with superscripts s1 and s2 representing the two observed satellites, and subscripts r1 and r2 representing the two reference stations; represent the double-difference carrier observations of the first and second frequency points respectively; represent the double-difference pseudorange observations of the first and second frequency points respectively; f1 and f2 both represent satellite frequencies; λ1 and λ2 represent the wavelengths of different frequency points; λ w represents the MW combination wavelength; represent the double-difference pseudorange biases of the first and second frequency points respectively; represents the MW combination ambiguity; represents the double-difference correction amount of the pseudorange bias.

[0028] An embodiment of the present invention further provides a pseudorange deviation processing device based on a hybrid receiver, including:

[0029] A data acquisition module, configured to acquire zero-baseline observation data of the hybrid receiver and preprocess the zero-baseline observation data; wherein, the hybrid receiver includes at least two different types of receivers;

[0030] An observation value calculation module, configured to calculate a pseudorange single-difference observation value between the hybrid receivers according to the preprocessed zero-baseline observation data;

[0031] A pseudorange single-difference estimation module, configured to construct a pseudorange single-difference observation equation set for a single epoch according to the pseudorange single-difference observation value and perform multi-epoch estimation using Kalman filtering to obtain the pseudorange deviation single-difference values of each satellite;

[0032] A pseudorange deviation conversion module, configured to convert the pseudorange deviation single-difference values into pseudorange deviation double-difference values according to the reference star corresponding to each epoch;

[0033] An ambiguity correction module, configured to correct the MW ambiguity according to the pseudorange deviation double-difference values to obtain the corrected MW ambiguity.

[0034] An embodiment of the present invention further provides a terminal device, including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor. When the processor executes the computer program, the above-mentioned pseudorange deviation processing method based on a hybrid receiver is implemented.

[0035] An embodiment of the present invention further provides a computer-readable storage medium, which includes a stored computer program. When the computer program runs, it controls the device where the computer-readable storage medium is located to execute the above-mentioned pseudorange deviation processing method based on a hybrid receiver.

[0036] An embodiment of the present invention further provides a computer program product, which includes a computer program or computer instructions. When the computer program or the computer instructions are executed by a processor, the above-mentioned pseudorange deviation processing method based on a hybrid receiver is implemented.

[0037] Compared with the prior art, the beneficial effects of a pseudorange deviation processing method, device, equipment, medium and product based on a hybrid receiver provided by an embodiment of the present invention are as follows: By obtaining the zero-baseline observation data of the hybrid receiver and preprocessing the zero-baseline observation data; wherein, the hybrid receiver includes at least two different types of receivers; According to the preprocessed zero-baseline observation data, calculate the pseudorange single-difference observation value between the hybrid receivers; Construct a single-epoch pseudorange single-difference observation equation set according to the pseudorange single-difference observation value, and use Kalman filtering for multi-epoch estimation to obtain the pseudorange deviation single-difference value of each satellite; According to the reference star corresponding to each epoch, convert the pseudorange deviation single-difference value into a pseudorange deviation double-difference value; Correct the MW ambiguity according to the pseudorange deviation double-difference value to obtain the corrected MW ambiguity. The embodiment of the present invention uses the form of single-difference combination of observation values to estimate the pseudorange deviation single-difference value, effectively avoiding the solution of a large amount of data, improving the solution efficiency, being able to accurately estimate the pseudorange deviation single-difference value of the hybrid receiver, and applying it to the ground-based navigation field to eliminate the influence of the pseudorange deviation of receivers from different manufacturers on the ambiguity fixation, and realizing high-precision solution of the hybrid receiver in the ground-based navigation field. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 FIG. is a schematic flowchart of a preferred embodiment of a pseudorange deviation processing method based on a hybrid receiver provided by the present invention;

[0039] Figure 2 FIG. is a result graph of the number of satellites in a hybrid receiver network corrected by pseudorange deviation in a pseudorange deviation processing method provided by the present invention;

[0040] Figure 3 FIG. is a schematic structural diagram of a preferred embodiment of a pseudorange deviation processing device based on a hybrid receiver provided by the present invention;

[0041] Figure 4 FIG. is a schematic structural diagram of a preferred embodiment of a terminal device provided by the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0042] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0043] Please refer to Figure 1 and Figure 2 , Figure 1It is a schematic flowchart of a preferred embodiment of a pseudorange deviation processing method based on a hybrid receiver provided by the present invention. Figure 2 It is a result diagram of the number of satellites in a network formed by correcting pseudorange deviation of a hybrid receiver in a pseudorange deviation processing method based on a hybrid receiver provided by the present invention. The pseudorange deviation processing method based on a hybrid receiver includes:

[0044] S1. Obtain zero-baseline observation data of the hybrid receiver and preprocess the zero-baseline observation data; wherein, the hybrid receiver includes at least two different types of receivers.

[0045] S2. Calculate the pseudorange single-difference observation value between the hybrid receivers according to the preprocessed zero-baseline observation data.

[0046] S3. Construct a pseudorange single-difference observation equation set for a single epoch based on the pseudorange single-difference observation value and perform multi-epoch estimation using Kalman filtering to obtain the pseudorange deviation single-difference value of each satellite.

[0047] S4. Convert the pseudorange deviation single-difference value into a pseudorange deviation double-difference value according to the reference star corresponding to each epoch.

[0048] S5. Correct the MW ambiguity according to the pseudorange deviation double-difference value to obtain the corrected MW ambiguity.

[0049] Specifically, in the field of ground-based augmentation navigation, the embodiments of the present invention introduce a method for estimating the pseudorange deviation for ground network solution, and propose a deviation combination based on the single-difference pseudorange between receivers, to achieve the estimation and application of the pseudorange deviation in ground-based navigation. Preferably, first, a zero-baseline test environment of a hybrid receiver board is built in an open and empty scene, and the zero-baseline observation data of different types of hybrid receivers are continuously collected for one week, and the collected zero-baseline observation data is preprocessed. It should be noted that the hybrid receiver includes at least two receivers of different types. Since it is zero-baseline data, the positions of the two receivers are almost the same, and the navigation signals are almost completely affected by the same factors such as the ionosphere, troposphere, and multipath in the space atmosphere. Therefore, the single difference between receivers can be directly eliminated. This step creates favorable conditions for subsequent single differences based on the characteristics of zero-baseline data. Then, according to the preprocessed zero-baseline observation data, the single-day inter-station pseudorange deviation values of different receivers are calculated by Kalman filtering every day, and the mean value of the single-day inter-station pseudorange deviations for a continuous week is calculated according to the satellite cycle to obtain the single-difference value of the pseudorange deviation for each satellite. Finally, the single-difference value of the pseudorange deviation is applied to the ground-based calculation of the MW combination, and different pseudorange deviation double-difference values are flexibly combined for different satellite pairs and added to the MW smoothing value to assist in the smoothing and fixing of the MW combination ambiguity, so as to achieve the network solution of the hybrid receiver in the field of ground-based augmentation navigation. Exemplarily, in the ground-based navigation program, a baseline reference star of each satellite system is selected for each epoch, and all satellites need to be converted into a double-difference form. Different from the conventional double-difference form of pseudorange deviation, multiple switching operations of the reference star are required to obtain the target double-difference pseudorange deviation value. Since the embodiments of the present invention estimate the single-difference pseudorange deviation between receivers, the double-difference pseudorange deviation can be directly combined once according to the selected reference star, which is convenient and fast. The single-difference pseudorange deviation is imported into the ground-based system, and the double-difference satellite pairs between the satellites participating in the solution are formed in sequence according to the selected reference star in the ground-based system, so as to convert the single-difference pseudorange deviation into a double-difference pseudorange deviation. The double-difference pseudorange deviation is used in the MW ambiguity resolution module to obtain the MW ambiguity after pseudorange deviation correction, so as to achieve high-precision resolution of the hybrid receiver baseline.

[0050] The embodiments of the present invention are different from the conventional method for estimating pseudorange deviation based on the double-difference form. It does not rely on large-scale networking and a large amount of calculations. By directly estimating the single-difference pseudorange deviation between different receivers of the same satellite using zero-baseline data, the pseudorange deviation value of the hybrid receiver is effectively estimated and applied in the field of ground-based navigation to eliminate the influence of the pseudorange deviation of receivers from different manufacturers on the fixing of ambiguity, and achieve high-precision resolution of the hybrid receiver in the field of ground-based navigation. Moreover, the pseudorange deviations solved by the embodiments of the present invention are all in the single-difference form, and can be directly combined into the double-difference form arbitrarily according to the reference star according to the required scenario, saving the double-difference conversion step. Applying the pseudorange deviation value to the MW ambiguity resolution in the ground-based field does not change the original resolution logic of the MW method, and only corrects the ambiguity smoothing result at the final output, which is convenient and efficient.

[0051] In another preferred embodiment, the preprocessing of the zero-baseline observation data includes:

[0052] Performing quality control preprocessing on the zero-baseline observation data, and rejecting abnormal satellites according to a preset cut-off elevation angle and minimum signal-to-noise ratio.

[0053] Specifically, in the embodiment of the present invention, quality control preprocessing is performed on the zero-baseline observation data, the cut-off elevation angle and the minimum signal-to-noise ratio are set, and satellites with low elevation angles and signal-to-noise ratios are rejected to prevent a few abnormal satellites from affecting the overall filtering process and the overall solution effect, so as to ensure that the solution is not interfered by abnormal satellites.

[0054] In yet another preferred embodiment, S2, calculating the pseudorange single difference observation value between the hybrid receivers according to the preprocessed zero-baseline observation data, includes:

[0055] S201, substituting the preprocessed zero-baseline observation data into the precise coordinates of the receiver, and calculating the distance between the satellite and the receiver; wherein, the position of the satellite is calculated according to the navigation ephemeris;

[0056] S202, for the same satellite, calculating the difference between the distances of two different types of receivers to obtain the pseudorange single difference observation value between different types of receivers; wherein, the calculation formula of the pseudorange single difference observation value is:

[0057]

[0058] In the formula, Δ represents the single difference operator between receivers; represents the pseudorange single difference observation value; represents the distance between the b-th receiver and the s-th satellite at frequency point j; represents the distance between the a-th receiver and the s-th satellite at frequency point j.

[0059] Specifically, in the embodiment of the present invention, the preprocessed zero-baseline observation data is substituted into the precise coordinates of the receiver, and at the same time, the position of the satellite is calculated according to the navigation ephemeris. The zero-baseline observation values are combined in a pseudorange single difference between hybrid receivers according to the system and the satellite, and the distance between the satellite and the receiver is calculated. For the same satellite, the difference between the distances of two different types of receivers is calculated to obtain the pseudorange single difference observation value between different types of receivers.

[0060] Among them, the calculation formula of the pseudorange single difference observation value is:

[0061]

[0062] In the formula, Δ represents the single difference operator between receivers; represents the pseudorange single difference observation value; Denote the distance between the b-th receiver and the j-th frequency point of the s-th satellite; Denote the distance between the a-th receiver and the j-th frequency point of the s-th satellite.

[0063] In yet another preferred embodiment, in S3, a single-epoch pseudorange single-difference observation equation set is constructed according to the pseudorange single-difference observation values, and Kalman filtering is used for multi-epoch estimation to obtain the single-difference values of the pseudorange deviations of each satellite, including:

[0064] S301, construct a single-epoch pseudorange single-difference observation equation set according to the pseudorange single-difference observation values; wherein, the pseudorange single-difference observation equation set includes a pseudorange single-difference observation equation corresponding to each satellite;

[0065] S302, based on the pseudorange single-difference observation equation set, use Kalman filtering to perform multi-epoch estimation of the single-difference values of the pseudorange deviations of each satellite, and select the filtering solution of the last epoch as the single-difference value of the pseudorange deviation for a single day;

[0066] S303, for each satellite, calculate the average value of the single-difference values of the pseudorange deviations for several single days to obtain the single-difference value of the pseudorange deviation of the satellite.

[0067] In yet another preferred embodiment, the pseudorange single-difference observation equation is:

[0068]

[0069] In the formula, c represents the speed of light; Denote the single-difference value of the corrected clock difference between different receivers, Δdt ab Denote the single-difference value of the clock difference between different receivers, Denote the average value of the single-difference values of the pseudorange deviations between receivers of all satellites at frequency point 0; Denote the corrected single-difference correction value of the pseudorange deviation, Denote the single-difference correction value of the pseudorange deviation, Denote the average value of the single-difference values of the pseudorange deviations between receivers of all satellites at frequency point j, N represents the total number of satellites; Denote the average value of the corrected single-difference values of the pseudorange deviations, Denote the multi-path error single-difference combination.

[0070] Specifically, in the embodiment of the present invention, a single-epoch pseudorange single-difference observation equation set is constructed according to the pseudorange single-difference observation values. Among them, the pseudorange single-difference observation equation set includes a pseudorange single-difference observation equation corresponding to each satellite. It should be noted that,

[0071] In the single-difference combination, the satellite clock error related to the satellite side is eliminated. Since zero-baseline data is used, the ionospheric and tropospheric errors can also be eliminated because the atmosphere is completely consistent. Therefore, only the single-difference value Δdt of the receiver clock differences is retained. ab , the single-difference pseudorange deviation correction value and the single-difference combination of the observation value error and the multipath error

[0072] According to Equation (1), all satellites are solved epoch by epoch to obtain the pseudorange single-difference observation equation system. It can be found that the unknown parameter Δdt ab (t) and cannot be independently estimated, and the equation matrix is rank-deficient. Therefore, the embodiment of the present invention introduces an average value condition to make the equation full-rank, as shown in Equation (2) specifically. That is, the average value of the single-difference values of the pseudorange deviations between the receivers of all satellites of signal j is defined as the average deviation.

[0073]

[0074] In the above formula, N represents the total number of satellites. Combining with the definition of the average value of the single-difference pseudorange deviation correction, the single-difference correction value of the pseudorange deviation of each satellite This is the zero-mean condition to avoid the rank deficiency of the equation, separating the single-difference correction of the pseudorange deviation into an independent part related to the satellite and a common part

[0075] In addition, the corrected clock difference correction can be defined as:

[0076]

[0077] In addition, the average value of the single-difference pseudorange deviation correction value is defined as the difference between the average deviation of the jth frequency and the average deviation of the reference frequency point 0th frequency:

[0078]

[0079] Substituting Equations (2), (3), and (4) into Equation (1) gives the corrected observation equation:

[0080]

[0081] This equation contains the corrected estimated parameters and It can be clearly seen from Equation (5) that the common bias term of the pseudorange observation value for the reference frequency point is zero, which enables the estimation of the inter-receiver clock offset for each epoch. For other frequency points, the inter-receiver single-difference pseudorange deviation correction value is estimated as a constant term. The inter-receiver bias term dependent on the satellite is estimated as a constant parameter, one for each satellite, and is constrained by the zero-mean condition. Through this step, the problem of rank deficiency in the equation system estimation for each epoch is solved, and the single-difference value of the satellite pseudorange deviation is sequentially estimated for each epoch using the Kalman filtering method. The filtering solution of the last epoch is selected as the single-difference value of the pseudorange deviation for the final single day. Since data for one week is collected, each satellite will obtain the single-day solutions for 7 days. Considering the stability of the inter-station pseudorange deviation value, the single-day solutions for 7 days are averaged for each satellite pair to obtain the single-difference value of the pseudorange deviation for that satellite. The embodiment of the present invention improves the stability of the inter-receiver pseudorange deviation through the averaging method. Subsequently, for the single-difference value of the pseudorange deviation of each obtained satellite, the satellites can be written into a file or database in sequence for subsequent off-line (file) and real-time (database) calls by the ground-based program. Exemplarily, for the convenience of reading and using by the ground-based module, the data storage form is designed as follows: the first line of the file is the receiver board type; the first column of the file is sorted by satellite system and PRN number. The single-difference values of the satellite pseudorange deviation for different board combinations are written in sequence.

[0082] In the embodiment of the present invention, zero-baseline data is used to directly estimate the single-difference pseudorange deviation between different receivers of the same satellite, and the zero-mean condition is introduced to solve the problem of rank deficiency in the single-difference estimation, effectively estimating the pseudorange deviation value of the hybrid receiver and applying it to the ground-based navigation field to eliminate the influence of the pseudorange deviation of receivers from different manufacturers on the ambiguity fixation, and realizing high-precision solution of the hybrid receiver in the ground-based navigation field.

[0083] In yet another preferred embodiment, the corrected MW ambiguity is:

[0084]

[0085] where represents the double-difference operator, the superscripts s1 and s2 represent the two observed satellites, and the subscripts r1 and r2 represent the two reference stations; respectively represent the double-difference carrier observations of the first and second frequency points; respectively represent the double-difference pseudorange observations of the first and second frequency points; f1 and f2 both represent the satellite frequencies; λ1 and λ2 respectively represent the wavelengths of different frequency points; λ w represents the MW combination wavelength; respectively represent the double-difference pseudorange deviations of the first and second frequency points; represents the MW combination ambiguity; Indicates the correction amount of the double-difference pseudorange deviation applied to the MW combination.

[0086] Specifically, the embodiment of the present invention designs a method for resolving the ambiguity of the ground-based MW combination using the deviation pseudorange. As shown in the above formula, that is, maintaining the prototype of the MW resolution formula, without changing the input value, introducing the double-difference pseudorange deviation value at the result to achieve the purpose of correcting the pseudorange deviation, and obtaining the MW ambiguity after correcting the pseudorange deviation to realize the high-precision resolution of the hybrid receiver baseline.

[0087] The embodiment of the present invention introduces a method for estimating the pseudorange deviation for ground network resolution in the field of ground-based augmentation navigation and realizes the estimation and application of the pseudorange deviation for ground-based navigation. Applying the pseudorange deviation of each satellite to the ground-based calculation of the MW combination, directly flexibly combining different double-difference pseudorange deviations for different satellite pairs, without changing the original MW resolution process, only adding it to the final MW smoothed value to assist in the smoothing and fixing of the MW combination ambiguity, and realizing the network resolution of the hybrid receiver in the field of ground-based augmentation navigation.

[0088] Correspondingly, the present invention also provides a pseudorange deviation processing device based on a hybrid receiver, which can implement all the processes of the pseudorange deviation processing method based on the hybrid receiver in the above embodiment.

[0089] Please refer to Figure 3 , Figure 3 which is a schematic structural diagram of a preferred embodiment of a pseudorange deviation processing device based on a hybrid receiver provided by the present invention. The pseudorange deviation processing device based on the hybrid receiver includes:

[0090] A data acquisition module 301, configured to acquire zero-baseline observation data of the hybrid receiver and preprocess the zero-baseline observation data; wherein, the hybrid receiver includes at least two different types of receivers;

[0091] An observation value calculation module 302, configured to calculate the pseudorange single-difference observation value between the hybrid receivers according to the preprocessed zero-baseline observation data;

[0092] A pseudorange single-difference estimation module 303, configured to construct a single-epoch pseudorange single-difference observation equation set according to the pseudorange single-difference observation value and perform multi-epoch estimation using Kalman filtering to obtain the pseudorange deviation single-difference value of each satellite;

[0093] A pseudorange deviation conversion module 304, configured to convert the pseudorange deviation single-difference value into a pseudorange deviation double-difference value according to the reference star corresponding to each epoch;

[0094] An ambiguity correction module 305, configured to correct the MW ambiguity according to the pseudorange deviation double-difference value to obtain the corrected MW ambiguity.

[0095] Preferably, the preprocessing of the zero baseline observation data includes:

[0096] Perform quality control preprocessing on the zero baseline observation data, and eliminate abnormal satellites according to the preset cut-off elevation angle and minimum signal-to-noise ratio.

[0097] Preferably, the observation value calculation module 302 is specifically used for:

[0098] Substitute the preprocessed zero baseline observation data into the accurate coordinates of the receiver to calculate the distance between the satellite and the receiver; wherein, the position of the satellite is calculated according to the navigation ephemeris;

[0099] For the same satellite, calculate the difference in the distances of two different types of receivers to obtain the pseudorange single difference observation value between different types of receivers; wherein, the calculation formula of the pseudorange single difference observation value is:

[0100]

[0101] In the formula, Δ represents the single difference operator between receivers; represents the pseudorange single difference observation value; represents the distance between the bth receiver and the sth satellite at frequency point j; represents the distance between the ath receiver and the sth satellite at frequency point j.

[0102] Preferably, the pseudorange single difference estimation module 303 is specifically used for:

[0103] Construct a pseudorange single difference observation equation set for a single epoch; wherein, the pseudorange single difference observation equation set includes the pseudorange single difference observation equation corresponding to each satellite;

[0104] Based on the pseudorange single difference observation equation set, use Kalman filtering to estimate the pseudorange deviation single difference values of each satellite for multiple epochs, and select the filtering solution of the last epoch as the daily pseudorange deviation single difference value;

[0105] For each satellite, calculate the average value of the pseudorange deviation single difference values for several days to obtain the pseudorange deviation single difference value of the satellite.

[0106] Preferably, the pseudorange single difference observation equation is:

[0107]

[0108] In the formula, c represents the speed of light; represents the corrected single difference value of the clock differences between different receivers, Δdt ab represents the single difference value of the clock differences between different receivers, It represents the average of the single-difference values of the pseudorange deviations between the receivers of all satellites at frequency point 0; It represents the corrected single-difference correction value of the pseudorange deviation, It represents the single-difference correction value of the pseudorange deviation, It represents the average of the single-difference values of the pseudorange deviations between the receivers of all satellites at frequency point j, N represents the total number of satellites; It represents the average of the corrected single-difference values of the pseudorange deviation, It represents the single-difference combination of the multipath error.

[0109] Preferably, the corrected MW ambiguity is:

[0110]

[0111] In the formula, It represents the double-difference operator. The superscripts s1 and s2 represent the two observed satellites, and the subscripts r1 and r2 represent the two reference stations; They respectively represent the double-difference carrier observations of the first and second frequency points; They respectively represent the double-difference pseudorange observations of the first and second frequency points; f1 and f2 both represent the satellite frequencies; λ1 and λ2 respectively represent the wavelengths of different frequency points; λ w It represents the MW combination wavelength; They respectively represent the double-difference pseudorange deviations of the first and second frequency points; It represents the MW combination ambiguity; It represents the double-difference correction amount of the pseudorange deviation.

[0112] In specific implementation, the working principle, control process and achieved technical effects of the pseudorange deviation processing device based on the hybrid receiver provided in the embodiments of the present invention are correspondingly the same as those of the pseudorange deviation processing method based on the hybrid receiver in the above embodiments, and will not be elaborated here.

[0113] Please refer to Figure 4 , Figure 4 It is a schematic structural diagram of a preferred embodiment of a terminal device provided by the present invention. The terminal device includes a processor 401, a memory 402, and a computer program stored in the memory 402 and configured to be executed by the processor 401. When the processor 401 executes the computer program, it implements the pseudorange deviation processing method based on the hybrid receiver in any of the above embodiments.

[0114] Preferably, the computer program may be divided into one or more modules / units (such as computer program 1, computer program 2, ……), and the one or more modules / units are stored in the memory 402 and executed by the processor 401 to complete the present invention. The one or more modules / units may be a series of computer program instruction segments capable of performing specific functions, and these instruction segments are used to describe the execution process of the computer program in the terminal device.

[0115] The processor 401 may be a central processing unit (CPU), or may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor, or the processor 401 may also be any conventional processor. The processor 401 is the control center of the terminal device and connects various parts of the terminal device through various interfaces and lines.

[0116] The memory 402 mainly includes a program storage area and a data storage area. Among them, the program storage area can store an operating system, application programs required for at least one function, etc., and the data storage area can store relevant data, etc. In addition, the memory 402 may be a high-speed random access memory, or may also be a non-volatile memory, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc., or the memory 402 may also be other volatile solid-state storage devices.

[0117] It should be noted that the above terminal device may include, but is not limited to, a processor and a memory. Those skilled in the art can understand that Figure 4 the structural schematic diagram is only an example of the above terminal device and does not limit the above terminal device. It may include more or fewer components than shown, or combine some components, or different components.

[0118] An embodiment of the present invention further provides a computer-readable storage medium, which includes a stored computer program. When the computer program runs, it controls the device where the computer-readable storage medium is located to execute the pseudo-range deviation processing method based on a hybrid receiver described in any of the above embodiments.

[0119] An embodiment of the present invention further provides a computer program product, which includes a computer program or computer instructions. When the computer program or the computer instructions are executed by a processor, they implement the pseudo-range deviation processing method based on a hybrid receiver described in any of the above embodiments.

[0120] An embodiment of the present invention provides a pseudo-range deviation processing method, device, equipment, medium and product based on a hybrid receiver. By obtaining zero-baseline observation data of the hybrid receiver and preprocessing the zero-baseline observation data, where the hybrid receiver includes at least two different types of receivers; calculating the pseudo-range single-difference observation value between the hybrid receivers according to the preprocessed zero-baseline observation data; constructing a pseudo-range single-difference observation equation system for a single epoch based on the pseudo-range single-difference observation value and performing multi-epoch estimation using Kalman filtering to obtain the pseudo-range deviation single-difference value of each satellite; converting the pseudo-range deviation single-difference value into a pseudo-range deviation double-difference value according to the reference star corresponding to each epoch; and correcting the MW ambiguity according to the pseudo-range deviation double-difference value to obtain the corrected MW ambiguity. The embodiment of the present invention uses the form of single-difference combination of observation values to estimate the pseudo-range deviation single-difference value, effectively avoiding the solution of a large amount of data, improving the solution efficiency, being able to accurately estimate the pseudo-range deviation single-difference value of the hybrid receiver, and applying it to the ground-based navigation field to eliminate the influence of pseudo-range deviations of receivers from different manufacturers on the ambiguity fixing, and realizing high-precision solution of the hybrid receiver in the ground-based navigation field.

[0121] It should be noted that the system embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. In addition, in the attached drawings of the system embodiment provided by the present invention, the connection relationship between modules indicates that they have a communication connection, which can be specifically implemented as one or more communication buses or signal lines. Those of ordinary skill in the art can understand and implement it without creative efforts.

[0122] The above are the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements are also regarded as the protection scope of the present invention.

Claims

1. A method for processing pseudorange deviation based on a hybrid receiver, characterized in that including: Obtain the zero-baseline observation data of the hybrid receiver and preprocess the zero-baseline observation data; wherein, the hybrid receiver includes at least two different types of receivers; Calculate the pseudorange single-difference observation value between the hybrid receivers according to the preprocessed zero-baseline observation data; Construct a pseudorange single-difference observation equation set for a single epoch based on the pseudorange single-difference observation value, and perform multi-epoch estimation using Kalman filtering to obtain the pseudorange deviation single-difference value of each satellite; Convert the pseudorange deviation single-difference value into a pseudorange deviation double-difference value according to the reference star corresponding to each epoch; Correct the MW ambiguity according to the pseudorange deviation double-difference value to obtain the corrected MW ambiguity.

2. The method for processing pseudorange deviation based on a hybrid receiver according to claim 1, wherein The preprocessing of the zero-baseline observation data includes: Perform quality control preprocessing on the zero-baseline observation data, and eliminate abnormal satellites according to the preset cut-off elevation angle and minimum signal-to-noise ratio.

3. The method for processing pseudorange deviation based on a hybrid receiver according to claim 2, characterized in that, The calculating the pseudorange single-difference observation value between the hybrid receivers according to the preprocessed zero-baseline observation data includes: Substitute the preprocessed zero-baseline observation data into the precise coordinates of the receiver to calculate the distance between the satellite and the receiver; wherein, the position of the satellite is calculated according to the navigation ephemeris; For the same satellite, calculate the difference between the distances of two different types of receivers to obtain the pseudorange single-difference observation value between different types of receivers; wherein, the calculation formula of the pseudorange single-difference observation value is: In the formula, Δ represents the single-difference operator between receivers; represents the single-difference observation value of pseudorange; represents the distance between the b-th receiver and the frequency point j of the s-th satellite; represents the distance between the a-th receiver and the frequency point j of the s-th satellite.

4. The method for processing pseudorange deviation based on a hybrid receiver according to claim 3, wherein The constructing a pseudorange single-difference observation equation set for a single epoch based on the pseudorange single-difference observation value and performing multi-epoch estimation using Kalman filtering to obtain the pseudorange deviation single-difference value of each satellite includes: Construct a pseudorange single-difference observation equation set for a single epoch based on the pseudorange single-difference observation value; wherein, the pseudorange single-difference observation equation set includes the pseudorange single-difference observation equation corresponding to each satellite; Based on the pseudorange single-difference observation equation set, perform multi-epoch estimation of the pseudorange deviation single-difference value of each satellite using Kalman filtering, and select the filtering solution of the last epoch as the pseudorange deviation single-difference value of a single day; For each satellite, calculate the average value of the pseudorange deviation single-difference values of several single days to obtain the pseudorange deviation single-difference value of the satellite.

5. The method for processing pseudorange deviation based on a hybrid receiver according to claim 4, wherein The pseudorange single-difference observation equation is: where c represents the speed of light; represents the single difference value of the corrected receiver clock biases; represents the single difference value of the receiver clock biases; represents the average value of the single difference values of the pseudorange biases between receivers for all satellites at frequency point 0; represents the corrected single difference correction value of the pseudorange bias; represents the single difference correction value of the pseudorange bias; represents the average value of the single difference values of the pseudorange biases between receivers for all satellites at frequency point j; N represents the total number of satellites; represents the average value of the corrected single difference values of the pseudorange biases; represents the single difference combination of the multipath errors.

6. The method for processing pseudorange deviation based on a hybrid receiver according to claim 5, characterized in that The corrected MW ambiguity is: In the formula, represents the double-difference operator, where the superscripts s1 and s2 represent two observed satellites, and the subscripts r1 and r2 represent two reference stations; respectively represent the double-difference carrier observations of the first and second frequency points; respectively represent the double-difference pseudorange observations of the first and second frequency points; f1 and f2 both represent satellite frequencies; λ1 and λ2 respectively represent the wavelengths of different frequency points; λ w represents the MW combination wavelength; respectively represent the double-difference pseudorange biases of the first and second frequency points; represents the MW combination ambiguity; represents the double-difference correction amount of the pseudorange bias.

7. A pseudo-range deviation processing device based on a hybrid receiver, characterized in that, including: A data acquisition module, configured to obtain the zero-baseline observation data of the hybrid receiver and preprocess the zero-baseline observation data; wherein, the hybrid receiver includes at least two different types of receivers; An observation value calculation module, configured to calculate the pseudorange single-difference observation value between the hybrid receivers according to the preprocessed zero-baseline observation data; A pseudorange single-difference estimation module, configured to construct a pseudorange single-difference observation equation set for a single epoch based on the pseudorange single-difference observation value, and perform multi-epoch estimation using Kalman filtering to obtain the pseudorange deviation single-difference value of each satellite; A pseudorange deviation conversion module, configured to convert the pseudorange deviation single-difference value into a pseudorange deviation double-difference value according to the reference star corresponding to each epoch; An ambiguity correction module, configured to correct the MW ambiguity according to the pseudorange deviation double-difference value to obtain the corrected MW ambiguity.

8. A terminal device, characterized in that, It includes a processor and a memory, in which a computer program is stored, and the computer program is configured to be executed by the processor. When the processor executes the computer program, it implements the method for processing pseudorange deviation based on a hybrid receiver as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program. When the device where the computer-readable storage medium is located executes the computer program, it implements the method for processing pseudorange deviation based on a hybrid receiver as described in any one of claims 1 to 6.

10. A computer program product, characterized in that, The computer program product includes a computer program or computer instructions. When the computer program or the computer instructions are executed by a processor, they implement the method for processing pseudorange deviation based on a hybrid receiver as described in any one of claims 1 to 6.

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