Continuous time transfer method for compensating narrow lane ambiguity between satellites

Abstract

The invention discloses a continuous time transfer method for compensating narrow lane ambiguity between satellites, which is applied to the field of GNSS (Global Navigation Satellite System) time transfer and comprises the following steps: correcting an original observation equation to obtain a corrected observation equation; the ambiguity in the correction observation equation is fixed, and the receiver clock error of the base station and the reference station in multiple days is solved based on the correction observation equation with the fixed ambiguity; the ambiguity comprises narrow lane ambiguity and wide lane ambiguity; carrying out difference on receiver clock differences of the base station and the reference station in multiple days to obtain a time transmission result; calculating a cross-day jump amplitude according to a time transfer result, and converting the cross-day jump amplitude into a narrow lane perimeter; the inter-satellite narrow lane ambiguity is compensated in the narrow lane ambiguity fixing process through the narrow lane perimeter, the step of correcting the original observation equation is executed again, on the basis that the ambiguity is fixed and the time transfer stability is improved, the inherent cross-day jump phenomenon of a post-event carrier phase processing mode can be eliminated, and continuous time transfer is achieved.

Description

Technical Field

[0001] The present invention belongs to the field of GNSS (Global Navigation Satellite System) time transfer, and in particular relates to a continuous time transfer method for compensating for inter-satellite narrow lane ambiguity. Background Art

[0002] GNSS carrier phase time transfer boasts high measurement accuracy, low application cost, and wide coverage, making it the primary time transfer method used by international timekeeping laboratories. Ambiguity is a key parameter in carrier phase time transfer data processing. Due to the influence of satellite and receiver hardware biases, it is generally estimated as a floating-point solution.

[0003] In recent years, the routine distribution of GNSS absolute signal bias products has enabled the elimination of satellite hardware biases. Receiver hardware biases can also be eliminated during inter-satellite single-difference calculations, enabling integer ambiguity resolution and effectively improving the accuracy of GNSS carrier phase time transfer. However, due to limitations in daily processing strategies, inter-day time transfer results can experience jumps, impacting the medium- and long-term stability of time transfer. Existing solutions to inter-day jumps in the integer ambiguity resolution mode employ extrapolation, bridging, and overlapping methods to achieve continuous time transfer.

[0004] However, all three methods have limitations: the extrapolation method places high demands on the atomic clocks used for time transfer, the bridge method requires an independent means of time transfer, and the overlap method requires specific satellite clock error and orbit products. These existing methods are complex to implement and lack universal applicability.

[0005] Therefore, how to implement a simple continuous time transfer method that is compatible with existing satellite clock error orbit products has become an important issue. Summary of the Invention

[0006] In order to solve the above problems existing in the prior art, the present invention provides a continuous time transfer method for compensating inter-satellite narrow lane ambiguity.

[0007] The technical problem to be solved by the present invention is achieved through the following technical solutions: In a first aspect, the present invention provides a continuous time transfer method for compensating for inter-satellite narrow lane ambiguity, the continuous time transfer method comprising: Modify the original observation equation to obtain the modified observation equation; Fixing the ambiguity in the modified observation equation, and solving the receiver clock errors of the base station and the reference station for multiple days based on the modified observation equation after the ambiguity is fixed; the ambiguity includes narrow lane ambiguity and wide lane ambiguity; Differentiating the receiver clock differences of the base station and the reference station over multiple days to obtain a time transfer result; Calculating the inter-day jump amplitude according to the time transfer result, and converting the inter-day jump amplitude into the narrow lane perimeter; The narrow lane perimeter is used to compensate for inter-satellite narrow lane ambiguity during the narrow lane ambiguity fixation process, and the step of correcting the original observation equation is returned to implement continuous GNSS time transfer under ambiguity fixation.

[0008] Optionally, the original observation equation is modified to obtain a modified observation equation, including: Determine the original observation equation; Correcting the original observation equation using the pseudorange / phase signal deviation product to obtain an initial revised observation equation; A dual-frequency ionosphere-free model is used to eliminate the influence of the ionospheric first-order term in the initial corrected observation equation, thereby obtaining a corrected observation equation.

[0009] Optionally, fixing the ambiguity in the modified observation equation includes: The wide lane ambiguity is fixed for the modified observation equation using the MW combination, and the narrow lane ambiguity is fixed for the modified observation equation after the wide lane ambiguity is fixed using the least squares ambiguity reduction correlation adjustment method.

[0010] Optionally, the receiver clock biases of the base and reference stations are calculated over multiple days using the modified observation equations after fixing the ambiguities, including: The modified observation equation after fixing the ambiguity is linearized to obtain the parameters to be estimated; The receiver clock differences of the base station and the reference station over multiple days are calculated based on the parameters to be estimated.

[0011] Optionally, using the narrow lane perimeter to compensate for inter-satellite narrow lane ambiguity during narrow lane ambiguity fixation, and returning to execute the step of correcting the original observation equation to achieve continuous GNSS time transfer with ambiguity fixation, includes: Compensating the intersatellite narrow lane ambiguity by using the narrow lane perimeter during the narrow lane ambiguity fixation process, and returning to the step of correcting the original observation equation until the corrected parameters to be estimated are re-obtained; The corrected receiver clock differences of the base station and the reference station are determined based on the corrected parameters to be estimated, so as to achieve continuous GNSS time transfer with fixed ambiguity.

[0012] Optionally, the modified observation equation includes: ; in, Indicates receiver Observation satellite Corrected pseudorange observation value of ; Indicates the receiver and the satellite The geometric distance; represents the speed of light; Indicates the receiver clock difference; Indicates the satellite clock difference; Indicates the receiver Corresponding code hardware delay; represents the tropospheric delay; Indicates the receiver Observe the satellite The pseudorange observation noise of Indicates the receiver Observe the satellite The corrected carrier phase observation value of Indicates the receiver The corresponding phase hardware delay; Indicates the carrier wavelength; represents the whole-cycle ambiguity; Indicates the receiver Observe the satellite The phase observation noise.

[0013] Optionally, the narrow lane perimeter includes: ; in, Indicates the reference station Receiver clock error of the day; Indicates the reference station Receiver clock error of the day; Indicates the reference station Receiver clock error of the day; Indicates the reference station Receiver clock error of the day; represents the speed of light; represents the narrow-lane wavelength.

[0014] In a second aspect, the present invention provides a continuous time transfer device for compensating for inter-satellite narrow lane ambiguity, the continuous time transfer device comprising: A correction module is used to correct the original observation equation to obtain a corrected observation equation; A solution module, configured to fix the ambiguity in the modified observation equation and solve the receiver clock errors of the base station and the reference station for multiple days based on the modified observation equation after the ambiguity is fixed; the ambiguity includes narrow lane ambiguity and wide lane ambiguity; A differential module is used to differentiate the receiver clock differences of the base station and the reference station over multiple days to obtain a time transfer result; a conversion module, configured to calculate an inter-day jump amplitude according to the time transfer result, and convert the inter-day jump amplitude into a narrow lane perimeter; The compensation module is configured to compensate for the inter-satellite narrow lane ambiguity by using the narrow lane perimeter during the narrow lane ambiguity fixation process, and return to execute the step of correcting the original observation equation to achieve continuous GNSS time transfer under ambiguity fixation.

[0015] The present invention provides a continuous time transfer method for compensating for inter-satellite narrow-lane ambiguity. The method solves the receiver clock errors of a base station and a reference station over multiple days by fixing the ambiguity in the corrected observation equation, and performs differential calculations on the receiver clock errors of the base station and the reference station over multiple days to obtain a time transfer result. The cross-day jump amplitude is calculated based on the time transfer result, and the cross-day jump amplitude is converted into a narrow-lane perimeter. The narrow-lane perimeter is used to compensate for the inter-satellite narrow-lane ambiguity during the narrow-lane ambiguity fixation process to ensure the continuity of the receiver clock error. On the basis of improving the time transfer stability by fixing the ambiguity, the method can also eliminate the cross-day jump phenomenon inherent in the post-carrier phase processing mode, thereby realizing continuous time transfer.

[0016] The present invention will be further described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 1 is a flow chart of a continuous time transfer method for compensating inter-satellite narrow lane ambiguity provided by an embodiment of the present invention; Figure 2 1 is a flow chart of another continuous time transfer method for compensating inter-satellite narrow lane ambiguity provided by an embodiment of the present invention; Figure 3 This is a comparison diagram of the BRUX station and the SPT0 station before and after the first compensation; Figure 4 This is a comparison diagram of the RUX station and the SPT0 station before and after the second compensation; Figure 5 The present invention provides a continuous time transfer device for compensating for inter-satellite narrow lane ambiguity. DETAILED DESCRIPTION

[0018] The present invention will be further described in detail below with reference to specific examples, but the embodiments of the present invention are not limited thereto.

[0019] In order to solve the problems of existing continuous time transfer methods that are relatively complex to implement and not universal, the embodiment of the present invention provides a continuous time transfer method for compensating inter-satellite narrow lane ambiguity, see Figure 1 , Figure 1FIG. 5 is a flow chart of a continuous time transfer method for compensating for intersatellite narrow lane ambiguity provided by an embodiment of the present invention, which specifically includes the following steps: Step S101: Modify the original observation equation to obtain a modified observation equation.

[0020] In an embodiment of the present invention, the original observation equation is corrected to obtain a corrected observation equation, including: Determine the original observation equation; The original observation equation is corrected using the pseudorange / phase absolute signal deviation product to obtain the initial corrected observation equation; The dual-frequency ionosphere-free model is used to eliminate the influence of the first-order ionospheric term in the initial corrected observation equation and obtain the corrected observation equation.

[0021] First, determine the original observation equation of each satellite: ; in, Indicates receiver Observation satellite In frequency The original pseudorange observation value under ; Indicates receiver and satellite The geometric distance; represents the speed of light; Indicates receiver clock difference; Indicates satellite clock difference; Indicates receiver Corresponding frequency Source code hardware delay under; Indicates satellite Corresponding frequency The following code hardware delay; represents the original tropospheric delay; Indicates frequency ionospheric delay under the slant path; Indicates receiver Observation satellite In frequency The original pseudorange observation noise under ; Indicates receiver Observation satellite In frequency The original carrier phase observation value under ; Indicates receiver Corresponding frequency Phase hardware delay under; Indicates satellite Corresponding frequency The original phase hardware delay under; Indicates frequency The original carrier wavelength under ; represents the original integer ambiguity; Indicates receiver Observation satellite In frequency The original phase observation noise under .

[0022] In this embodiment of the present invention, the pseudorange / phase absolute signal deviation product is directly corrected to the original pseudorange observation value and the original carrier phase observation value in the original observation equation, which can eliminate the satellite pseudorange and phase hardware deviation in the original observation value, and obtain the initial corrected observation equation as follows: ; in, represents the initial corrected pseudorange observation value, that is, the pseudorange observation value after correcting the satellite pseudorange and phase hardware bias; Represents the initial corrected carrier phase observation value, that is, the carrier phase observation value after correcting the satellite pseudorange and phase hardware bias.

[0023] In an embodiment of the present invention, a dual-frequency ionosphere-free (IF) model is used to eliminate the influence of the ionospheric first-order term in the initial corrected observation equation, thereby obtaining the corrected observation equation: ; in, Indicates receiver Observation satellite Corrected pseudorange observation value of ; Indicates receiver and satellite The geometric distance; represents the speed of light; Indicates receiver clock difference; Indicates satellite clock difference; Indicates receiver Corresponding code hardware delay; represents the tropospheric delay; Indicates receiver Observation satellite The pseudorange observation noise of Indicates receiver Observation satellite The corrected carrier phase observation value of Indicates receiver The corresponding phase hardware delay; Indicates the carrier wavelength; represents the whole-cycle ambiguity; Indicates receiver Observation satellite The phase observation noise.

[0024] Step S102, fix the ambiguity in the modified observation equation, and solve the receiver clock errors of the base station and the reference station for multiple days based on the modified observation equation after fixing the ambiguity; the ambiguity includes narrow lane ambiguity and wide lane ambiguity.

[0025] In an embodiment of the present invention, fixing the ambiguity in the corrected observation equation includes: The MW combination is used to fix the wide-lane ambiguity of the modified observation equation, and the least squares ambiguity reduction correlation adjustment method is used to fix the narrow-lane ambiguity of the modified observation equation. Among them, the MW combination is a combined observation value algorithm that can be used to fix the wide-lane ambiguity.

[0026] In an embodiment of the present invention, wide-lane ambiguity fixation is performed on the modified observation equation using MW combination, including: ; in, 、 Indicates the frequency of observations at different frequency points of the same satellite; represents the wide-lane wavelength; Indicates satellite The corresponding wide-lane ambiguity; Indicates satellite Phase observation value of the first frequency point; Indicates satellite Phase observation value of the second frequency point; Indicates satellite Pseudorange observation value of the first frequency point; Indicates satellite Pseudorange observation value of the second frequency point.

[0027] Then, the inter-satellite single-difference wide-lane ambiguity is expressed as: ; in, Indicates satellite The corresponding wide-lane ambiguity; Indicates satellite The corresponding wide-lane ambiguity; and Indicates different satellites.

[0028] In an embodiment of the present invention, the narrowlane ambiguity is fixed using the least squares ambiguity reduction correlation adjustment method for the modified observation equation. To eliminate inter-day hops, constraint information is added when fixing the narrowlane ambiguity of the last epoch of each day. This ensures that the inter-satellite single-difference narrowlane ambiguity of the current epoch remains unchanged. The purpose is to absorb all hops into the receiver clock error. When both the widelane ambiguity and the narrowlane ambiguity are correctly fixed, the dual-frequency ionospheric-free ambiguity can be fixed. The expression is as follows: ; in, represents the inter-satellite single-difference narrow-lane ambiguity; represents the ionospheric-free intersatellite single-difference ambiguity.

[0029] After the above steps, the corrected observation equation after the ambiguity is fixed is obtained, and the corrected observation equation after the ambiguity is fixed includes: ; ; in, Indicates the receiver clock difference between the base station and the reference station over multiple days; Represents the ambiguity of the combination of receiver and satellite dual-frequency ionospheric-free hardware biases.

[0030] The modified observation equation after fixing the ambiguity is linearized to obtain the parameters to be estimated, where the estimated parameter vector It can be expressed as: ; in, is the coordinate of the measuring station; In the embodiment of the present invention, the tropospheric delay The dry component of the existing model is modified to The parameter estimation of the wet component can be done by solving The dry and wet components of .

[0031] Step S103: Differentiate the receiver clock differences of the base station and the reference station over multiple days to obtain a time transfer result.

[0032] In the embodiment of the present invention, the receiver clock error of the reference station over multiple days is recorded as , the receiver clock error of the reference station for multiple days is recorded as , corresponding to the aforementioned Then, the receiver clock difference of the base station and the reference station for multiple days is differentiated to obtain the Days of time transfer link results and days to deliver link results.

[0033] Step S104 , calculating the inter-day jump amplitude according to the time transfer result, and converting the inter-day jump amplitude into the narrow lane perimeter.

[0034] According to Days of time transfer link results and Calculate the jump amplitude of the time transfer link result across days and convert it into the narrow lane perimeter : ; in, Indicates the base station Receiver clock error of the day; Indicates the reference station Receiver clock error of the day; Indicates the base station Receiver clock error of the day; Indicates the reference station Receiver clock error of the day; represents the narrow-lane wavelength.

[0035] In step S105 , the narrow lane perimeter is used to compensate for the inter-satellite narrow lane ambiguity during the narrow lane ambiguity fixation process, and the process returns to the step of correcting the original observation equation to achieve continuous GNSS time transfer under ambiguity fixation.

[0036] In an embodiment of the present invention, the narrow lane perimeter is used to compensate for inter-satellite narrow lane ambiguity during the narrow lane ambiguity fixation process, and the step of correcting the original observation equation is returned to implement continuous GNSS time transfer with ambiguity fixation, including: The narrow lane perimeter is used to compensate for the intersatellite narrow lane ambiguity during the narrow lane ambiguity fixation process, and the step of correcting the original observation equation is returned to execute until the corrected parameters to be estimated are obtained again. The corrected receiver clock differences of the base station and the reference station are determined based on the corrected estimated parameters to achieve continuous GNSS time transfer with fixed ambiguities.

[0037] In an embodiment of the present invention, re-obtaining and correcting the parameters to be estimated includes: ; in, Indicates the corrected receiver clock difference between the base station and the reference station.

[0038] ; in, Indicates the result of time transfer; Indicates the base station day's corrected receiver clock error; Indicates the reference station days of corrected receiver clock error.

[0039] Thus, continuous GNSS time transfer with fixed ambiguity is achieved.

[0040] In an embodiment of the present invention, the receiver clock errors of the base station and the reference station over multiple days are solved by fixing the ambiguity in the corrected observation equation, and the receiver clock errors of the base station and the reference station over multiple days are differentiated to obtain a time transfer result. The inter-day jump amplitude is calculated based on the time transfer result, and the inter-day jump amplitude is converted into a narrow lane perimeter. The narrow lane perimeter is used to compensate for the inter-satellite narrow lane ambiguity during the narrow lane ambiguity fixation process to ensure the continuity of the receiver clock error. On the basis of improving the stability of time transfer by fixing the ambiguity, the inter-day jump phenomenon inherent in the post-carrier phase processing mode can also be eliminated, thereby achieving continuous time transfer.

[0041] See also Figure 2 , Figure 2 FIG. 5 is a flow chart of another continuous time transfer method for compensating intersatellite narrow lane ambiguity provided by an embodiment of the present invention, which specifically includes the following steps: Step 201: determine the original observation equation.

[0042] First, the original pseudorange observation value and the original carrier phase observation value are determined to determine the original observation equation.

[0043] Step 202: Determine the initial correction observation equation using the pseudorange / phase signal deviation product.

[0044] The original pseudorange observation value and the original carrier phase observation value are corrected by the pseudorange / phase signal deviation product to obtain the initial corrected pseudorange observation value and the initial corrected carrier phase observation value to determine the initial corrected observation equation.

[0045] Step 203: Process the initial corrected observation equation using a dual-frequency ionosphere-free model to obtain a corrected observation equation.

[0046] The dual-frequency ionosphere-free model is used to eliminate the influence of the first-order ionospheric term in the initial corrected observation equation and obtain the corrected observation equation.

[0047] In step 204, the narrow-lane ambiguity and the wide-lane ambiguity are fixed to obtain an integer solution for the ambiguity of the dual-frequency ionosphere-free model.

[0048] In the embodiment of the present invention, narrow-lane ambiguities and wide-lane ambiguities are fixed to obtain integer solutions of the ambiguities of the dual-frequency ionosphere-free model, so as to determine the corrected observation equation after the ambiguities are fixed.

[0049] Step 205: Determine the receiver clock differences of the base station and the reference station for multiple days with ambiguity fixed solutions.

[0050] In an embodiment of the present invention, the receiver clock errors of the base station and the reference station over multiple days are solved based on the modified observation equation after fixing the ambiguity.

[0051] Step 206: Differentiate the receiver clock differences of the base station and the reference station over multiple days to obtain a time transfer result.

[0052] The receiver clock differences of the base station and the reference station over multiple days are subtracted from each other to obtain the link differential result, that is, the time transfer result.

[0053] Step 207: Calculate the cross-day jump amplitude based on the time transfer result.

[0054] In an embodiment of the present invention, based on the time transfer result, the difference between the first epoch result of the next day and the last epoch result of the previous day is taken to calculate the cross-day jump amplitude.

[0055] Step 208: Convert the inter-day jump amplitude into the narrow lane perimeter.

[0056] The implementation process of steps 207 and 208 is as described above and will not be repeated here.

[0057] Step 209 : Compensate the narrow lane perimeter into the narrow lane ambiguity fixation process.

[0058] Specifically, after compensating the narrow lane circumference to the inter-satellite narrow lane ambiguity, the process returns to the step of correcting the original observation equation until the corrected parameters to be estimated are re-obtained; based on the corrected parameters to be estimated, the corrected receiver clock differences of the base station and the reference station are determined to achieve continuous GNSS time transfer with fixed ambiguity.

[0059] The simulation experiment of applying a continuous time transfer method for compensating intersatellite narrow lane ambiguity provided by an embodiment of the present invention is as follows. Figure 3 and Figure 4 , Figure 3 This is a comparison diagram of the BRUX station and the SPT0 station before and after the first compensation. Figure 4 This is a comparison diagram of the RUX station and the SPT0 station before and after the second compensation. Figure 3 and Figure 4 The horizontal axis represents the epoch, the vertical axis represents the time deviation, NORMAL represents before compensation, REPAIR represents after compensation, Figure 3 and Figure 4 It can be seen that this method is obviously effective.

[0060] Based on the same inventive concept, the embodiment of the present invention further provides a continuous time transfer device for compensating inter-satellite narrow lane ambiguity, see Figure 5 , Figure 5 A continuous time transfer device for compensating for inter-satellite narrow lane ambiguity provided by an embodiment of the present invention includes: A correction module 501 is used to correct the original observation equation to obtain a corrected observation equation; A solution module 502 is configured to fix ambiguities in the modified observation equation and solve the receiver clock errors of the base station and the reference station over multiple days based on the modified observation equation after fixing the ambiguities; the ambiguities include narrow lane ambiguities and wide lane ambiguities; The differential module 503 is used to perform differential calculations on the receiver clock differences of the base station and the reference station over multiple days to obtain a time transfer result; A conversion module 504 is configured to calculate the inter-day jump amplitude according to the time transfer result, and convert the inter-day jump amplitude into the narrow lane perimeter; The compensation module 505 is configured to compensate the inter-satellite narrow lane ambiguity using the narrow lane perimeter during the narrow lane ambiguity fixation process, and return to execute the step of correcting the original observation equation to achieve continuous GNSS time transfer under ambiguity fixation.

[0061] In an embodiment of the present invention, the receiver clock errors of the base station and the reference station over multiple days are solved by fixing the ambiguity in the corrected observation equation, and the receiver clock errors of the base station and the reference station over multiple days are differentiated to obtain a time transfer result. The inter-day jump amplitude is calculated based on the time transfer result, and the inter-day jump amplitude is converted into a narrow lane perimeter. The narrow lane perimeter is used to compensate for the inter-satellite narrow lane ambiguity during the narrow lane ambiguity fixation process to ensure the continuity of the receiver clock error. On the basis of improving the stability of time transfer by fixing the ambiguity, the inter-day jump phenomenon inherent in the post-carrier phase processing mode can also be eliminated, thereby achieving continuous time transfer.

[0062] Optionally, the correction module 501 is specifically configured to: Determine the original observation equation; use the pseudorange / phase signal deviation product to correct the original observation equation to obtain the initial revised observation equation; use the dual-frequency ionosphere-free model to eliminate the influence of the first-order ionospheric term in the initial revised observation equation to obtain the revised observation equation.

[0063] Optionally, the solution module 502 fixes the ambiguity in the observation equation, including: The MW combination is used to fix the wide lane ambiguity of the corrected observation equation, and the least squares ambiguity reduction correlation adjustment method is used to fix the narrow lane ambiguity of the corrected observation equation after the wide lane ambiguity is fixed.

[0064] Optionally, the solving module 502 solves the receiver clock errors of the base station and the reference station for multiple days based on the modified observation equation after fixing the ambiguity, including: The modified observation equation after fixing the ambiguity is linearized to obtain the parameters to be estimated; Calculate the receiver clock differences between the base station and the reference station over multiple days based on the parameters to be estimated.

[0065] Optionally, the compensation module 505 is specifically configured to: The narrow lane perimeter is used to compensate for the intersatellite narrow lane ambiguity during the narrow lane ambiguity fixation process, and the step of correcting the original observation equation is returned to execute until the corrected parameters to be estimated are obtained again. The corrected receiver clock differences of the base station and the reference station are determined based on the corrected estimated parameters to achieve continuous GNSS time transfer with fixed ambiguities.

[0066] Optionally, the modified observation equation includes: ; in, Indicates receiver Observation satellite Corrected pseudorange observation value of ; Indicates receiver and satellite The geometric distance; represents the speed of light; Indicates receiver clock difference; Indicates satellite clock difference; Indicates receiver Corresponding code hardware delay; represents the tropospheric delay; Indicates receiver Observation satellite The pseudorange observation noise of Indicates receiver Observation satellite The corrected carrier phase observation value of Indicates receiver The corresponding phase hardware delay; Indicates the carrier wavelength; represents the whole-cycle ambiguity; Indicates receiver Observation satellite The phase observation noise.

[0067] Optional, narrow lane perimeter includes: ; in, Indicates the base station Receiver clock error of the day; Indicates the reference station Receiver clock error of the day; Indicates the base station Receiver clock error of the day; Indicates the reference station Receiver clock error of the day; represents the speed of light; represents the narrow-lane wavelength.

[0068] It should be noted that the terms "first," "second," and the like are used to distinguish similar objects and are not necessarily used to describe a particular order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments of the present invention described herein can be implemented in sequences other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Instead, they are merely examples of devices and methods consistent with some aspects of the present invention.

[0069] In the description of this specification, the reference terms "one embodiment," "some embodiments," "example," "specific example," or "some examples" mean that the specific features or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features or characteristics described can be combined in any suitable manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification.

[0070] Although the present invention is described herein in conjunction with various embodiments, in the process of implementing the claimed invention, those skilled in the art can understand and implement other variations of the disclosed embodiments by viewing the drawings and the disclosed content. In the description of the present invention, the word "comprising" does not exclude other components or steps, "one" or "a" does not exclude multiple situations, and "multiple" means two or more, unless otherwise clearly and specifically defined. In addition, certain measures are recorded in different embodiments, but this does not mean that these measures cannot be combined to produce good results.

[0071] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0072] It should be noted that the device of the embodiment of the present invention is a device that applies the above-mentioned continuous time transfer method for compensating for inter-satellite narrow lane ambiguity. Therefore, all embodiments of the above-mentioned continuous time transfer method for compensating for inter-satellite narrow lane ambiguity are applicable to the device and can achieve the same or similar beneficial effects.

[0073] The above is a further detailed description of the present invention in conjunction with specific preferred embodiments, and the specific implementation of the present invention should not be considered to be limited to these descriptions. For those skilled in the art of the present invention, without departing from the concept of the present invention, several simple deductions or substitutions can be made, which should be considered to fall within the scope of protection of the present invention.

Claims

1. A continuous time transfer method for compensating intersatellite narrow lane ambiguity, characterized in that: The continuous time transfer method comprises: Modify the original observation equation to obtain the modified observation equation; Fixing the ambiguity in the modified observation equation, and solving the receiver clock errors of the base station and the reference station for multiple days based on the modified observation equation after the ambiguity is fixed; the ambiguity includes narrow lane ambiguity and wide lane ambiguity; Differentiating the receiver clock differences of the base station and the reference station over multiple days to obtain a time transfer result; Calculating the inter-day jump amplitude according to the time transfer result, and converting the inter-day jump amplitude into the narrow lane perimeter; The narrow lane perimeter is used to compensate for inter-satellite narrow lane ambiguity during the narrow lane ambiguity fixation process, and the step of correcting the original observation equation is returned to implement continuous GNSS time transfer under ambiguity fixation.

2. The continuous time transfer method according to claim 1, characterized in that The original observation equation is modified to obtain the modified observation equation, including: Determine the original observation equation; Correcting the original observation equation using the pseudorange / phase signal deviation product to obtain an initial revised observation equation; A dual-frequency ionosphere-free model is used to eliminate the influence of the ionospheric first-order term in the initial corrected observation equation, thereby obtaining a corrected observation equation.

3. The continuous time transfer method according to claim 1, characterized in that Fixing the ambiguity in the modified observation equation includes: The wide lane ambiguity is fixed for the modified observation equation using the MW combination, and the narrow lane ambiguity is fixed for the modified observation equation after the wide lane ambiguity is fixed using the least squares ambiguity reduction correlation adjustment method.

4. The continuous time transfer method according to claim 1, characterized in that: The receiver clock errors of the base station and reference station over multiple days are solved based on the modified observation equation after fixing the ambiguity, including: The modified observation equation after fixing the ambiguity is linearized to obtain the parameters to be estimated; The receiver clock differences of the base station and the reference station over multiple days are calculated based on the parameters to be estimated.

5. The continuous time transfer method according to claim 4, characterized in that: Compensating inter-satellite narrow lane ambiguity during narrow lane ambiguity fixation using the narrow lane perimeter, and returning to execute the step of correcting the original observation equation to achieve continuous GNSS time transfer under ambiguity fixation, including: Compensating the intersatellite narrow lane ambiguity by using the narrow lane perimeter in the narrow lane ambiguity fixation process, and returning to the step of correcting the original observation equation until the corrected parameters to be estimated are re-obtained; The corrected receiver clock differences of the base station and the reference station are determined based on the corrected parameters to be estimated, so as to achieve continuous GNSS time transfer with fixed ambiguity.

6. The continuous time transfer method according to claim 1, characterized in that: The modified observation equation includes: ； in, Indicates receiver Observation satellite Corrected pseudorange observation value of ; Indicates the receiver and the satellite The geometric distance; represents the speed of light; Indicates the receiver clock difference; Indicates the satellite clock difference; Indicates the receiver Corresponding code hardware delay; represents the tropospheric delay; Indicates the receiver Observe the satellite The pseudorange observation noise of Indicates the receiver Observe the satellite The corrected carrier phase observation value of Indicates the receiver The corresponding phase hardware delay; Indicates the carrier wavelength; represents the whole-cycle ambiguity; Indicates the receiver Observe the satellite The phase observation noise.

7. The continuous time transfer method according to claim 1, characterized in that: The narrow lane perimeter includes: ； in, Indicates the reference station Receiver clock error of the day; Indicates the reference station Receiver clock error of the day; Indicates the reference station Receiver clock error of the day; Indicates the reference station Receiver clock error of the day; represents the speed of light; represents the narrow-lane wavelength.

8. A continuous time transfer device for compensating intersatellite narrow lane ambiguity, characterized in that: The continuous time transfer device comprises: A correction module is used to correct the original observation equation to obtain a corrected observation equation; A solution module, configured to fix the ambiguity in the modified observation equation and solve the receiver clock errors of the base station and the reference station for multiple days based on the modified observation equation after the ambiguity is fixed; the ambiguity includes narrow lane ambiguity and wide lane ambiguity; A differential module is used to differentiate the receiver clock differences of the base station and the reference station over multiple days to obtain a time transfer result; a conversion module, configured to calculate an inter-day jump amplitude according to the time transfer result, and convert the inter-day jump amplitude into a narrow lane perimeter; The compensation module is configured to compensate for the inter-satellite narrow lane ambiguity by using the narrow lane perimeter during the narrow lane ambiguity fixation process, and return to execute the step of correcting the original observation equation to achieve continuous GNSS time transfer under ambiguity fixation.

9. The continuous time transfer device according to claim 8, characterized in that The correction module is specifically used to: An original observation equation is determined; the original observation equation is corrected using a pseudorange / phase signal deviation product to obtain an initial revised observation equation; and a dual-frequency ionosphere-free model is used to eliminate the influence of the ionospheric first-order term in the initial revised observation equation to obtain a revised observation equation.

10. The continuous time transfer device according to claim 8, characterized in that The solving module fixes the ambiguity in the modified observation equation, including: The wide lane ambiguity is fixed for the modified observation equation using the MW combination, and the narrow lane ambiguity is fixed for the modified observation equation after the wide lane ambiguity is fixed using the least squares ambiguity reduction correlation adjustment method.

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