A continuous time transfer method for compensating inter-satellite narrow-lane ambiguity

Abstract

The application discloses a continuous time transfer method for compensating inter-satellite narrow-lane ambiguity, and is applied to the field of GNSS time transfer, and comprises the following steps: modifying original observation equations to obtain modified observation equations; fixing ambiguities in the modified observation equations, and calculating receiver clock differences of reference stations and reference stations for multiple days based on the modified observation equations after fixing the ambiguities; the ambiguities comprise narrow-lane ambiguities and wide-lane ambiguities; differentiating the receiver clock differences of the reference stations and the reference stations for multiple days to obtain time transfer results; calculating cross-day jump amplitudes according to the time transfer results, and converting the cross-day jump amplitudes into narrow-lane perimeters; compensating inter-satellite narrow-lane ambiguities in the process of fixing the narrow-lane ambiguities by using the narrow-lane perimeters, and returning to perform the step of modifying the original observation equations; and on the basis of fixing the ambiguities and improving time transfer stability, the cross-day jump phenomenon inherent in a post-carrier phase processing mode can be eliminated, and continuous time transfer is realized.

Description

TECHNICAL FIELD

[0001] The application belongs to the field of GNSS (Global Navigation Satellite System) time transfer, and particularly relates to a continuous time transfer method for compensating inter-satellite narrow-lane ambiguity. BACKGROUND

[0002] GNSS carrier phase time transfer has the characteristics of high measurement accuracy, low application cost and wide coverage, and is the main time transfer means of international time keeping laboratories. Ambiguity is an important parameter in carrier phase time transfer data processing. Due to the influence of satellite hardware bias and receiver hardware bias, it is generally estimated as a floating point solution.

[0003] In recent years, with the routine broadcast of GNSS absolute signal bias products, satellite hardware bias can be eliminated, and receiver hardware bias can be eliminated in inter-satellite single difference. On this basis, integer ambiguity solution is realized, and the precision of GNSS carrier phase time transfer is effectively improved. However, due to the limitation of processing strategy, the cross-day time transfer result will appear jump phenomenon, which affects the long-term stability of time transfer. The existing solutions to the cross-day jump problem in the integer ambiguity solution mode can use extrapolation method, bridging method and overlapping method to realize continuous time transfer.

[0004] However, these three methods have certain deficiencies: the extrapolation method requires higher atomic clocks for time transfer, the bridging method needs an additional independent time transfer means, and the overlapping method needs specific satellite clock difference orbit products. These existing methods are relatively complex to implement and are not universal.

[0005] Therefore, how to realize a simple continuous time transfer method that adapts to existing satellite clock difference orbit products has become an important problem. SUMMARY

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

[0007] The technical problem to be solved by the application is solved by the following technical scheme:

[0008] In a first aspect, the application provides a continuous time transfer method for compensating inter-satellite narrow-lane ambiguity, which comprises:

[0009] The original observation equation is modified to obtain a modified observation equation;

[0010] fixing the ambiguities in the modified observation equation, and solving the receiver clock differences of the reference station and the reference station for multiple days based on the modified observation equation after fixing the ambiguities; the ambiguities include narrow-lane ambiguities and wide-lane ambiguities;

[0011] differencing the receiver clock differences of the reference station and the reference station for multiple days to obtain a time transfer result;

[0012] calculating a cross-day jump amplitude according to the time transfer result, and converting the cross-day jump amplitude into a narrow-lane perimeter;

[0013] compensating for inter-satellite narrow-lane ambiguities in the process of narrow-lane ambiguity fixing by using the narrow-lane perimeter, and returning to the step of modifying the original observation equation to realize continuous GNSS time transfer under ambiguity fixing.

[0014] Optionally, the original observation equation is modified to obtain a modified observation equation, including:

[0015] determining an original observation equation;

[0016] correcting the original observation equation by using a pseudo-range / phase signal bias product to obtain an initial modified observation equation;

[0017] eliminating the influence of ionospheric first-order terms in the initial modified observation equation by using a dual-frequency ionosphere-free model to obtain a modified observation equation.

[0018] Optionally, the ambiguities in the modified observation equation are fixed, including:

[0019] wide-lane ambiguity fixing is performed on the modified observation equation by using MW combination, and narrow-lane ambiguity fixing is performed on the modified observation equation after wide-lane ambiguity fixing by using a least squares ambiguity decorrelation adjustment method.

[0020] Optionally, the receiver clock differences of the reference station and the reference station for multiple days are solved based on the modified observation equation after fixing the ambiguities, including:

[0021] linearizing the modified observation equation after fixing the ambiguities to obtain to-be-estimated parameters;

[0022] solving the receiver clock differences of the reference station and the reference station for multiple days based on the to-be-estimated parameters.

[0023] Optionally, inter-satellite narrow-lane ambiguities are compensated for in the process of narrow-lane ambiguity fixing by using the narrow-lane perimeter, and the step of modifying the original observation equation is performed to realize continuous GNSS time transfer under ambiguity fixing, including:

[0024] 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;

[0025] 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.

[0026] Optionally, the modified observation equation includes:

[0027] ;

[0028] 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.

[0029] Optionally, the narrow lane perimeter includes:

[0030] ;

[0031] 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 difference of the reference station; representing the receiver clock difference of the reference station; receiver clock difference of the reference station; representing the speed of light; representing the narrow-lane wavelength.

[0032] In a second aspect, the present application provides a continuous-time transfer device for compensating inter-satellite narrow-lane ambiguity, comprising:

[0033] a correction module configured to correct the original observation equation to obtain a modified observation equation;

[0034] a solving module configured to fix the ambiguity in the modified observation equation and solve the receiver clock difference of the reference 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;

[0035] a difference module configured to difference the receiver clock difference of the reference station and the reference station for multiple days to obtain a time transfer result;

[0036] a conversion module configured to calculate the cross-day jump amplitude according to the time transfer result and convert the cross-day jump amplitude into a narrow-lane circumference;

[0037] a compensation module configured to compensate the inter-satellite narrow-lane ambiguity in the process of fixing the narrow-lane ambiguity by using the narrow-lane circumference and return to the step of correcting the original observation equation to realize continuous GNSS time transfer under ambiguity fixing.

[0038] The continuous-time transfer method for compensating inter-satellite narrow-lane ambiguity provided by the present application fixes the ambiguity in the modified observation equation to solve the receiver clock difference of the reference station and the reference station for multiple days, differentiates the receiver clock difference of the reference station and the reference station for multiple days to obtain a time transfer result, calculates the cross-day jump amplitude based on the time transfer result and converts the cross-day jump amplitude into a narrow-lane circumference, compensates the inter-satellite narrow-lane ambiguity in the process of fixing the narrow-lane ambiguity by using the narrow-lane circumference to ensure the continuity of the receiver clock difference, eliminates the cross-day jump phenomenon inherent in the post-carrier phase processing mode on the basis of fixing the ambiguity to improve the stability of time transfer, and realizes continuous time transfer.

[0039] The present application will be further described in detail below with reference to the accompanying drawings and embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0040] Figure 1 is a flowchart of a continuous-time transfer method for compensating inter-satellite narrow-lane ambiguity provided by an embodiment of the present application;

[0041] Figure 2is a flowchart of another continuous time transfer method for compensating inter-satellite narrow-lane ambiguity provided by the embodiment of the present application;

[0042] Figure 3 is a first compensation before and after comparison schematic diagram of BRUX station and SPT0 station;

[0043] Figure 4 is a second compensation before and after comparison schematic diagram of RUX station and SPT0 station;

[0044] Figure 5 is a continuous time transfer device for compensating inter-satellite narrow-lane ambiguity provided by the embodiment of the present application. DETAILED DESCRIPTION

[0045] The present application will be further described in detail below in combination with specific embodiments, but the embodiments of the present application are not limited thereto.

[0046] In order to solve the problems that the existing continuous time transfer method is relatively complex to implement and does not have universality, the embodiment of the present application provides a continuous time transfer method for compensating inter-satellite narrow-lane ambiguity, referring to Figure 1 , Figure 1 is a flowchart of a continuous time transfer method for compensating inter-satellite narrow-lane ambiguity provided by the embodiment of the present application, specifically comprising the following steps:

[0047] Step S101, modifying the original observation equation to obtain a modified observation equation.

[0048] In the embodiment of the present application, the original observation equation is modified to obtain a modified observation equation, including:

[0049] determining the original observation equation;

[0050] using the pseudo-range / phase absolute signal bias product to correct the original observation equation to obtain an initial modified observation equation;

[0051] using a double-frequency ionosphere-free model to eliminate the influence of the first-order ionosphere term in the initial modified observation equation to obtain the modified observation equation.

[0052] Firstly, the original observation equation of each satellite is determined as:

[0053] ;

[0054] wherein, represents the original pseudo-range observation value of the receiver observing the satellite at the frequency ; represents the geometric distance between the receiver and the satellite . 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 .

[0055] 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:

[0056] ;

[0057] 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.

[0058] In the embodiment of the present application, the double-frequency ionosphere-free (IF) model is used to eliminate the influence of the first-order ionosphere term in the initial correction observation equation, and the correction observation equation is obtained:

[0059] ;

[0060] wherein, represents the modified pseudorange observation value of the receiver observing the satellite ; represents the geometric distance of the receiver and the satellite ; represents the speed of light; represents the clock error of the receiver ; represents the clock error of the satellite ; represents the corresponding code hardware delay of the receiver ; represents the troposphere delay; represents the pseudorange observation noise of the receiver observing the satellite ; represents the modified carrier phase observation value of the receiver observing the satellite ; represents the corresponding phase hardware delay of the receiver ; represents the carrier wavelength; represents the integer ambiguity; represents the phase observation noise of the receiver observing the satellite .

[0061] In step S102, the ambiguities in the correction observation equation are fixed, and the receiver clock errors of the reference station and the reference station for multiple days are solved based on the fixed ambiguities in the correction observation equation. The ambiguities include narrow-lane ambiguities and wide-lane ambiguities.

[0062] In the embodiment of the present application, the ambiguities in the correction observation equation are fixed, including:

[0063] The wide-lane ambiguity is fixed by using the MW combination for the correction observation equation, and the narrow-lane ambiguity is fixed by using the least square ambiguity decorrelation adjustment method for the correction observation equation. The MW combination is a combined observation value algorithm that can be used to fix the wide-lane ambiguity.

[0064] In the embodiment of the present application, the wide-lane ambiguity is fixed by using the MW combination for the correction observation equation, including:

[0065] ;

[0066] wherein, , represents the frequency of the observation value of different frequency points of the same satellite; represents the wide-lane wavelength; represents the phase observation value of the first frequency point of the satellite corresponding wide-lane ambiguity; represents the phase observation value of the first frequency point of the satellite corresponding wide-lane ambiguity; represents the phase observation value of the second frequency point of the satellite corresponding wide-lane ambiguity; represents the pseudo-range observation value of the first frequency point of the satellite corresponding wide-lane ambiguity; represents the pseudo-range observation value of the second frequency point of the satellite corresponding wide-lane ambiguity.

[0067] Further, the inter-satellite single-difference wide-lane ambiguity is represented as:

[0068] ;

[0069] wherein, represents the corresponding wide-lane ambiguity of the satellite represents the corresponding wide-lane ambiguity of the satellite ; represents the corresponding wide-lane ambiguity of the satellite and represent different satellites.

[0070] In the embodiment of the application, the narrow-lane ambiguity is fixed by using the least square ambiguity decorrelation adjustment method to correct the observation equation, in order to eliminate the cross-day jump phenomenon, when fixing the narrow-lane ambiguity of the last epoch of each day, the constraint information is increased, that is, the inter-satellite single-difference narrow-lane ambiguity of the current epoch is ensured to be unchanged, the purpose is to absorb all jumps into the receiver clock error, when the wide-lane ambiguity and the narrow-lane ambiguity are correctly fixed, the fixing of the double-frequency ionosphere-free ambiguity can be realized, and the expression is as follows:

[0071] ;

[0072] wherein, represents the inter-satellite single-difference narrow-lane ambiguity; represents the ionosphere-free inter-satellite single-difference ambiguity.

[0073] After the above steps, the corrected observation equation after fixing the ambiguity is obtained, and the corrected observation equation after fixing the ambiguity includes:

[0074] ;

[0075] ;

[0076] 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.

[0077] 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:

[0078] ;

[0079] in, is the coordinate of the measuring station;

[0080] 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 .

[0081] Step S103: Differentiate the receiver clock differences of the base station and the reference station over multiple days to obtain a time transfer result.

[0082] 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.

[0083] 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.

[0084] 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 :

[0085] ;

[0086] 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.

[0087] 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.

[0088] 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:

[0089] 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.

[0090] 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.

[0091] In an embodiment of the present invention, re-obtaining and correcting the parameters to be estimated includes:

[0092] ;

[0093] in, Indicates the corrected receiver clock difference between the base station and the reference station.

[0094] ;

[0095] 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.

[0096] Thus, continuous GNSS time transfer with fixed ambiguity is achieved.

[0097] In the embodiment of the present application, the receiver clock differences of the reference station and the reference station for multiple days are solved by fixing the ambiguities in the modified observation equation, and the receiver clock differences of the reference station and the reference station for multiple days are differenced to obtain a time transfer result, the cross-day jump amplitude is calculated based on the time transfer result, the cross-day jump amplitude is converted into a narrow-lane circumference, the inter-satellite narrow-lane ambiguity is compensated in the narrow-lane ambiguity fixing process by using the narrow-lane circumference to ensure the continuity of the receiver clock difference, and on the basis of fixing the ambiguities and improving the time transfer stability, the cross-day jump phenomenon inherent in the post-carrier phase processing mode is also eliminated, and continuous time transfer is realized.

[0098] Referring to Figure 2 , Figure 2 is a flowchart of another continuous time transfer method for compensating inter-satellite narrow-lane ambiguity provided by the embodiment of the present application, and specifically includes the following steps:

[0099] Step 201, determining an original observation equation.

[0100] First, the original pseudo-range observation value and the original carrier phase observation value are determined to determine the original observation equation.

[0101] Step 202, determining an initial modified observation equation by using a pseudo-range / phase signal bias product.

[0102] The pseudo-range / phase signal bias product is used to correct the original pseudo-range observation value and the original carrier phase observation value to obtain an initial modified pseudo-range observation value and an initial modified carrier phase observation value, so as to determine the initial modified observation equation.

[0103] Step 203, processing the initial modified observation equation by using a dual-frequency ionosphere-free model to obtain a modified observation equation.

[0104] The dual-frequency ionosphere-free model is used to eliminate the influence of the first-order ionospheric term in the initial modified observation equation to obtain the modified observation equation.

[0105] Step 204, fixing narrow-lane ambiguities and wide-lane ambiguities to obtain a dual-frequency ionosphere-free model ambiguity integer solution.

[0106] In the embodiment of the present application, the narrow-lane ambiguities and the wide-lane ambiguities are fixed to obtain the dual-frequency ionosphere-free model ambiguity integer solution, so as to determine the modified observation equation after fixing the ambiguities.

[0107] Step 205, determining the receiver clock differences of the reference station and the reference station for multiple days based on the ambiguity fixing solution.

[0108] In the embodiment of the present application, the receiver clock differences of the reference station and the reference station for multiple days are solved based on the modified observation equation after fixing the ambiguities.

[0109] Step 206, difference the receiver clock difference of the reference station and the reference station for multiple days to obtain the time transfer result.

[0110] Difference the receiver clock difference of the reference station and the reference station for multiple days to obtain the link difference result, that is, the time transfer result.

[0111] Step 207, calculate the cross-day jump amplitude according to the time transfer result.

[0112] In the embodiment of the application, the cross-day jump amplitude is calculated by subtracting the first epoch result of the next day from the last epoch result of the previous day according to the time transfer result.

[0113] Step 208, convert the cross-day jump amplitude into the narrow lane circumference.

[0114] The implementation process of steps 207 and S208 is as described above, and will not be repeated here.

[0115] Step 209, compensate the narrow lane circumference into the narrow lane ambiguity fixing process.

[0116] Specifically, after compensating the narrow lane circumference into the inter-satellite narrow lane ambiguity, the step of modifying the original observation equation is returned to be executed until the modified estimated parameter is reacquired; the modified receiver clock difference of the reference station and the reference station is determined based on the modified estimated parameter to realize the continuous GNSS time transfer under ambiguity fixing.

[0117] The simulation experiment of the continuous time transfer method for compensating inter-satellite narrow lane ambiguity provided by the embodiment of the application is as follows, referring to Figure 3 and Figure 4 , Figure 3 is the first comparison diagram before and after compensation of the BRUX station and the SPT0 station, Figure 4 is the second comparison diagram before and after compensation of the RUX station and the SPT0 station. Figure 3 and Figure 4 The abscissa of and represents an epoch, and the ordinate represents a time deviation, NORMAL represents before compensation, REPAIR represents after compensation, and it can be known from Figure 3 and Figure 4 that the method is obviously effective.

[0118] Based on the same inventive concept, the embodiment of the application further provides a continuous time transfer device for compensating inter-satellite narrow lane ambiguity, referring to Figure 5 , Figure 5 The continuous time transfer device for compensating inter-satellite narrow lane ambiguity provided by the embodiment of the application comprises:

[0119] The modification module 501 is configured to modify the original observation equation to obtain a modified observation equation.

[0120] The solving module 502 is used for fixing ambiguity in the modified observation equation, and solving receiver clock differences of the reference 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;

[0121] The difference module 503 is used for differentiating the receiver clock differences of the reference station and the reference station for multiple days to obtain a time transfer result.

[0122] The conversion module 504 is used for calculating a cross-day jump amplitude according to the time transfer result, and converting the cross-day jump amplitude into a narrow-lane perimeter.

[0123] The compensation module 505 is used for compensating inter-satellite narrow-lane ambiguity in the process of fixing narrow-lane ambiguity by using the narrow-lane perimeter, and returning to perform the step of modifying the original observation equation to realize continuous GNSS time transfer under ambiguity fixing.

[0124] In the embodiment of the application, the receiver clock differences of the reference station and the reference station for multiple days are solved by fixing ambiguity in the modified observation equation, and the receiver clock differences of the reference station and the reference station for multiple days are differentiated 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 inter-satellite narrow-lane ambiguity is compensated in the process of fixing narrow-lane ambiguity by using the narrow-lane perimeter to ensure the continuity of the receiver clock differences, on the basis of fixing the ambiguity to improve the stability of time transfer, the cross-day jump phenomenon inherent in the post-carrier phase processing mode can also be eliminated, and continuous time transfer is realized.

[0125] Optionally, the modification module 501 is specifically used for:

[0126] determining an original observation equation, correcting the original observation equation by using a pseudo-range / phase signal bias product to obtain an initial modified observation equation, and eliminating the influence of ionospheric first-order terms in the initial modified observation equation by using a double-frequency ionosphere-free model to obtain the modified observation equation.

[0127] Optionally, the solving module 502 fixes the ambiguity in the modified observation equation, and includes:

[0128] wide-lane ambiguity fixing is performed on the modified observation equation by using MW combination, and narrow-lane ambiguity fixing is performed on the modified observation equation after fixing the wide-lane ambiguity by using a least square ambiguity decorrelation adjustment method.

[0129] Optionally, the solving module 502 solves the receiver clock differences of the reference station and the reference station for multiple days based on the modified observation equation after fixing the ambiguity, and includes:

[0130] linearizing the modified observation equation after fixing the ambiguity to obtain to-be-estimated parameters.

[0131] Calculate the receiver clock differences between the base station and the reference station over multiple days based on the parameters to be estimated.

[0132] Optionally, the compensation module 505 is specifically configured to:

[0133] 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.

[0134] 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.

[0135] Optionally, the modified observation equation includes:

[0136] ;

[0137] 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.

[0138] Optional, narrow lane perimeter includes:

[0139] ;

[0140] in, Indicates the base station Receiver clock error of the day; denotes the receiver clock bias of the reference station on day denotes the receiver clock bias of the reference station on day denotes the receiver clock bias of the reference station on day denotes the receiver clock bias of the reference station on day denotes the receiver clock bias of the reference station on day denotes the receiver clock bias of the reference station on day denotes the speed of light; denotes the narrow-lane wavelength.

[0141] It is to be understood that the terms "first", "second", and so on, are used herein to distinguish between similar objects, and are not necessarily used to describe a particular sequential or chronological order. It is to be understood that data so designated can be interchanged, where appropriate, so that the embodiments of the application described herein can be carried out in other than the order shown or described herein. The implementations described in the following example embodiments are not meant to represent all implementations consistent with the application. Rather, they are simply examples of apparatus and methods consistent with some aspects of the application.

[0142] In the description of the specification, the description of the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" and the like means that the specific feature or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In the specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features or characteristics described can be combined in any suitable manner in one or more embodiments or examples. In addition, those skilled in the art can combine and combine different embodiments or examples described in the specification.

[0143] Although the application is described herein with reference to various embodiments, one skilled in the art, upon inspection of the figures and disclosure, can understand and implement other variations of the disclosed embodiments in practicing the claimed application. In the description of the application, the word "comprising" does not exclude other components or steps, "a" or "an" does not exclude a plurality, and "multiple" means two or more, unless otherwise expressly specified. In addition, some measures are described in different embodiments, but this does not mean that these measures cannot be combined to produce good results.

[0144] For device embodiments, since they are basically similar to method embodiments, the description is relatively simple, and the relevant part can be referred to the part of the method embodiment.

[0145] It should be noted that the device of the embodiment of the application is the device applying the above-mentioned continuous time transfer method for compensating inter-satellite narrow-lane ambiguity, and all the embodiments of the above-mentioned continuous time transfer method for compensating inter-satellite narrow-lane ambiguity are applicable to the device, and can achieve the same or similar beneficial effects.

[0146] The above is a further detailed description of the present application in combination with specific preferred embodiments, and the specific implementation of the present application should not be limited to these descriptions. For ordinary skilled persons in the technical field of the present application, some simple deductions or substitutions can be made without departing from the concept of the present application, and all of them should be regarded as falling within the protection scope of the present application.

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; 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; The fixing of the ambiguity in the modified observation equation comprises: The modified observation equation is used to fix wide lane ambiguity by using MW combination, and the modified observation equation after wide lane ambiguity fixation is used to fix narrow lane ambiguity by using least squares ambiguity reduction correlation adjustment method; The method of solving 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 includes: The modified observation equation after fixing the ambiguity is linearized to obtain the parameters to be estimated; Calculating the receiver clock differences of the base station and the reference station for multiple days based on the parameters to be estimated; The method of compensating inter-satellite 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 to achieve continuous GNSS time transfer under ambiguity fixation includes: 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.

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 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.

4. 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.

5. A continuous time transfer device for compensating inter-satellite narrow lane ambiguity, used to implement the continuous time transfer method according to any one of claims 1 to 4, 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.

6. The continuous time transfer device according to claim 5, 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.

7. The continuous time transfer device according to claim 5, 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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