Method for quickly detecting pseudorange observation quality of GNSS receiver under complex environment

Abstract

The application discloses a method for quickly detecting the quality of pseudorange observation of a GNSS receiver in a complex environment, and solves the problem that when the GNSS receiver is applied in a complex environment, satellite signals are interfered by many factors, and the quality of some satellite signals received by the receiver is poor; the steps are as follows: a stably tracked satellite is selected as a reference satellite; the distance between the reference satellite and the receiver in the line-of-sight direction, the pseudorange observation and the pseudorange measurement error of the satellite and the receiver are respectively calculated; the inter-satellite difference between the pseudorange measurement error of the reference satellite and the receiver and the pseudorange measurement error of the satellite and the receiver is calculated; the single-difference result of the error in the propagation process of the satellite and the reference satellite is calculated according to the inter-satellite difference; the single-difference result is filtered to obtain the difference value of the ionospheric error and the tropospheric error; and the difference value of the ionospheric error and the tropospheric error is removed from the inter-satellite difference to obtain the estimated value of the pseudorange measurement error of the satellite.

Description

TECHNICAL FIELD

[0001] The present application relates to a pseudo-range observation quality fast detection method, in particular to a pseudo-range observation quality fast detection method of GNSS receiver under complex environment. BACKGROUND

[0002] The pseudo-range is an important observation generated in the working process of GNSS receiver, which is the key to determine whether the receiver can be positioned accurately. The constituent elements of the pseudo-range involve satellite transmitting device, ground receiver and transmission environment between satellite and ground. When the GNSS receiver is applied in complex environment, the satellite signal is interfered by many factors, which leads to the poor quality of some satellite signals received by the receiver, and further leads to the large error of the calculated pseudo-range measurement value. SUMMARY

[0003] The purpose of the present application is to solve the problem that when the application environment of GNSS receiver is complex, the satellite signal is interfered by many factors, which leads to the poor quality of some satellite signals received by the receiver, and further leads to the large error of the calculated pseudo-range measurement value, and to provide a pseudo-range observation quality fast detection method of GNSS receiver under complex environment.

[0004] In order to achieve the above purpose, the present application adopts the following technical scheme:

[0005] A pseudo-range observation quality fast detection method of GNSS receiver under complex environment, which is characterized by comprising the following steps:

[0006] Step 1, selecting a stable tracking satellite as a reference satellite;

[0007] Step 2, respectively calculating the line-of-sight distance and the pseudo-range observation between the reference satellite and the receiver, the to-be-measured satellite and the receiver in the line-of-sight direction, and the pseudo-range measurement error;

[0008] Step 3, calculating the inter-satellite difference between the pseudo-range measurement error of the reference satellite and the receiver and the pseudo-range measurement error of the to-be-measured satellite and the receiver;

[0009] Step 4, calculating the single difference result of the error in the signal propagation process of the to-be-measured satellite and the reference satellite according to the inter-satellite difference obtained in step 3;

[0010] Step 5, performing alpha filtering on the single difference result of step 4 to obtain the difference value of ionospheric error and tropospheric error;

[0011] Step 6, eliminating the difference value of ionospheric error and tropospheric error in the inter-satellite difference to obtain the pseudo-range measurement error estimation value of the to-be-measured satellite.

[0012] Further, step 2 is specifically:

[0013] Step 2.1: Calculate the actual distances between the reference satellite and the receiver, and between the satellite under test and the receiver, respectively, along the line-of-sight direction. The calculation formula is as follows:

[0014]

[0015] In the formula, r i r represents the true distance between the receiver position and the position of the satellite under test in the line-of-sight direction. ref This represents the actual distance between the receiver position and the reference satellite position in the line-of-sight direction, [x i ,y i ,z i ]、[x,y,z]、[x ref ,y ref ,z ref [ ] Represent the actual three-dimensional coordinates of the satellite under test, the receiver, and the reference satellite, respectively;

[0016] Step 2.2: Calculate the coarse pseudorange observations for the reference satellite and receiver, and for the satellite under test and receiver, respectively. The calculation formula is as follows:

[0017] ρ i =r′ i +c(δt u -δt i )+cI i +cT i +ε i

[0018] ρ ref =r′ ref +c(δt u -δt ref )+cI ref +cT ref +ε ref

[0019] In the formula, ρ i This represents the coarse pseudorange observation between the satellite under test and the receiver; δt u δt represents the receiver clock bias. i Indicates the clock bias of the satellite under test; r i ′ represents the theoretical distance between the receiver position and the position of the satellite to be measured, r′ ref I represents the theoretical distance between the receiver position and the reference satellite position. i and T i These represent the errors caused by the influence of the ionosphere and troposphere on the signal from the satellite being measured as it passes through the atmosphere; c represents the speed of light, and ε... i ρ represents the pseudorange error between the satellite under test and the receiver caused by noise. ref δt represents the coarse pseudorange observations of the reference satellite and receiver. refdenotes the reference satellite clock error, I ref and T ref denote the ionospheric and tropospheric errors of the reference satellite signal passing through the atmosphere, respectively, ε ref denotes the pseudorange error between the reference satellite and the receiver caused by noise;

[0020] Step 2.3, respectively, the reference satellite, the coarse pseudorange observation of the satellite to be measured and the receiver is remchip pseudorange correction, the pseudorange observation of the reference satellite and the receiver, the satellite to be measured and the receiver is obtained;

[0021] Step 2.4, the pseudorange observation of the satellite to be measured and the receiver is obtained by removing the true distance between the satellite to be measured and the receiver in the line-of-sight direction, the satellite clock error of the satellite to be measured, and the pseudorange measurement error of the satellite to be measured and the receiver is obtained. Similarly, the pseudorange measurement error of the reference satellite and the receiver is obtained.

[0022] Further,

[0023] Step 2.3 is specifically:

[0024] Step 2.3.1, the pseudorange observation of the satellite to be measured and the receiver is calculated ρ i ′, the calculation formula is:

[0025]

[0026] In the formula, remchip i denotes the code phase deviation between the sampling point and the C / A code edge at the end of the 1ms sampling period, and the calculation formula is:

[0027] remchip i = m i -1023;

[0028] In the formula, m i denotes the actual sampling length of the satellite signal to be measured within 1ms in the tracking process, unit: chip;

[0029] Step 2.3.2, the pseudorange observation of the reference satellite and the receiver is calculated ρ′ refi , the calculation formula is:

[0030]

[0031] In the formula, remchip ref denotes the code phase deviation between the sampling point and the C / A code edge at the end of the 1ms sampling period, and the calculation formula is:

[0032] remchip ref = m ref -1023;

[0033] wherein m ref denotes the actual sampling length of the reference satellite signal in the tracking process within 1 ms, unit: chip.

[0034] Further,

[0035] In step 2.4, the calculation formula of the pseudorange measurement error of the satellite to be measured and the receiver is:

[0036]

[0037] wherein r i e = |r i -r i |; and

[0038] The calculation formula of the pseudorange measurement error of the reference satellite and the receiver is:

[0039]

[0040] wherein,

[0041] wherein, denotes the pseudorange measurement error of the satellite to be measured and the receiver, denotes the pseudorange measurement error of the reference satellite and the receiver, r i e denotes the estimation error of the distance between the receiver position and the satellite to be measured position, denotes the estimation error of the distance between the receiver position and the reference satellite position.

[0042] Further, in step 3, the calculation formula of the inter-satellite difference is:

[0043]

[0044] wherein, denotes the inter-satellite difference, I i,ref = |I ref -I i |, T i,ref = |T ref -T i |, ε i,ref = |ε ref -ε i |; and

[0045] wherein, denotes the difference between the estimation error of the real satellite-to-ground distance of the satellite to be measured and the estimation error of the real satellite-to-ground distance of the reference satellite, cI i,ref denotes the difference between the ionospheric error of the satellite to be measured and the ionospheric error of the reference satellite, Ti,ref represents the difference of troposphere errors of the satellite to be measured and the reference satellite, and ε i,ref represents the pseudo-range observation error caused by noise.

[0046] Further, the step 4 is specifically:

[0047] In the inter-satellite difference obtained in the step 3, the ionosphere error is ignored The single-difference result of the error in the signal propagation of the satellite to be measured and the reference satellite is obtained

[0048] Further, the step 5 is specifically:

[0049] The single-difference result of the step 4 is subjected to alpha filtering, and the filtering formula is:

[0050]

[0051] In the formula, represents the error in the signal propagation of the satellite to be measured and the reference satellite at the nth and (n-1)th epoch, respectively, represents the error in the signal propagation of the satellite to be measured and the reference satellite at the nth and (n-1)th epoch, represents the difference of ionosphere errors and troposphere errors at the nth epoch, and alpha represents the filtering coefficient, and n represents the epoch, and n≥2.

[0052] Further, in the step 6, the calculation formula of the pseudo-range measurement error estimation value of the satellite is:

[0053]

[0054] In the formula, represents the pseudo-range measurement error estimation value of the satellite to be measured.

[0055] Advantages of the present application:

[0056] (1) The present application provides a pseudo-range observation quality rapid detection method of GNSS receiver in a complex environment, which can calculate the coarse pseudo-range observation of the reference satellite and the receiver and the satellite to be measured and the receiver, obtain the pseudo-range observation of the reference satellite and the receiver and the satellite to be measured and the receiver through remchip pseudo-range correction, and improve the precision of the pseudo-range measurement value through filtering, and further improve the positioning precision of the receiver.

[0057] (2) The present application provides a pseudo-range observation quality rapid detection method of GNSS receiver in a complex environment, which does not perform post-processing complex algorithm, and can quickly evaluate the pseudo-range observation quality by using a single machine device, and has important application value. BRIEF DESCRIPTION OF DRAWINGS

[0058] Figure 1 ​A schematic diagram of the filtering result of inter-satellite difference in the embodiment of the method for quickly detecting the pseudo-range observation quality of GNSS receiver in complex environment provided by the application is shown in the following figure:

[0059] Figure 2 In the embodiment of the method for quickly detecting the pseudo-range observation quality of GNSS receiver in complex environment provided by the application, a schematic diagram of the pseudo-range measurement error between different satellites and the receiver without remchip correction and with the positioning number changing is shown in the following figure:

[0060] In the figure, (a)-(f) represent the pseudo-range measurement error between the satellite No. 5, 6, 9, 11, 17 and 19 and the receiver with the positioning number changing.

[0061] Figure 3 In the embodiment of the method for quickly detecting the pseudo-range observation quality of GNSS receiver in complex environment provided by the application, a schematic diagram of the pseudo-range measurement error between different satellites and the receiver with remchip correction and with the positioning number changing is shown in the following figure:

[0062] In the figure, (a)-(f) represent the pseudo-range measurement error between the satellite No. 5, 6, 9, 11, 17 and 19 and the receiver with the positioning number changing. DETAILED DESCRIPTION

[0063] The technical solutions of the application will be described clearly and completely below in combination with the embodiments. Obviously, the described embodiments are only some of the embodiments of the application, but not all the embodiments. Based on the embodiments of the application, all the other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the application.

[0064] The pseudo-range observation ρ is represented as:

[0065] ρ = r + c (δt u - δt) + cI + cT + ε ρ (1)

[0066] In the formula, r is the distance between the receiver and the satellite in the line-of-sight direction, c represents the speed of light, δt u represents the receiver clock error, δt represents the satellite clock error, I and T respectively represent the errors caused by the ionosphere and the troposphere when the satellite signal passes through the atmosphere, and ε ρ represents the pseudo-range error between the satellite and the receiver caused by the noise.

[0067] When the receiver is in a stationary state or low-speed operation, the received satellite signal is affected by the ionosphere and the troposphere, and the changes in a short time are small, so the ionosphere error and the troposphere error in the pseudo-range can be extracted by difference and reverse deduction. The extracted results contain two parts: one is the ionosphere error and the troposphere error which change slowly; the other is the pseudo-range measurement error which changes quickly and jumps greatly.

[0068] In formula (1), for the navigation positioning system, the atomic clock carried on the satellite has the characteristics of high precision and high stability, so the error caused by the satellite clock in a short time can be ignored. In a short time, the ionosphere and the troposphere error change slowly and the satellite clock error can be ignored, so the actual distance between the satellite and the receiver and the receiver clock error have a great influence on the pseudo-range measurement accuracy. The real distance between the satellite and the receiver in the line-of-sight direction can be calculated by using the positioning results of the high-precision receiver and the satellite position calculated by the ephemeris, and thus the theoretical distance between the satellite and the receiver in the pseudo-range measurement value can be removed. Since the receiver clock error in the pseudo-range of each satellite is the same, the receiver clock error in the pseudo-range measurement value can be removed by using the inter-satellite pseudo-range difference method, and the remaining is the estimated value containing the ionosphere error, the troposphere error and the pseudo-range measurement error. Finally, the remaining value is filtered, so that the slowly changing variable in the estimated value, that is, the difference between the ionosphere error and the troposphere error, can be obtained, and the pseudo-range measurement error estimate value can be obtained by subtracting the difference between the ionosphere error and the troposphere error from the estimated value.

[0069] The embodiment provides a pseudo-range observation quality rapid detection method for a GNSS receiver in a complex environment, and comprises the following steps:

[0070] Step 1, a stable tracking satellite is selected as a reference satellite, and a satellite with a higher elevation angle and a higher signal carrier-to-noise ratio is most preferably selected; in the embodiment, the serial number of the to-be-detected satellite is represented by i;

[0071] Step 2, the line-of-sight direction distance and the pseudo-range observation between the reference satellite and the receiver and between the to-be-detected satellite i and the receiver in the line-of-sight direction, and the pseudo-range measurement error are calculated respectively; specifically,

[0072] Step 2.1, the three-dimensional coordinate vector of the actual position of the receiver is represented as [x, y, z], the three-dimensional coordinate vector of the actual position of the to-be-detected satellite i is represented as [x i ,y i ,z i ], and the three-dimensional coordinate vector of the actual position of the reference satellite is represented as [x ref ,y ref ,z ref ], the distance between the to-be-detected satellite i and the receiver in the line-of-sight direction is calculated by using the actual position of the receiver and the actual position of the to-be-detected satellite i, and the calculation formula is:

[0073]

[0074] The distance between the reference satellite and the receiver in the line-of-sight direction is calculated as follows:

[0075]

[0076] In the formula, r i represents the real distance between the receiver position and the position of the satellite to be measured in the line-of-sight direction, r ref represents the real distance between the receiver position and the position of the reference satellite in the line-of-sight direction;

[0077] Step 2.2, the coarse pseudorange observations of the reference satellite and the receiver and the satellite to be measured i and the receiver are calculated respectively, and the calculation formula is as follows:

[0078] p i = r' i + c (δt u - δt i ) + c I i + c T i + ε i (4)

[0079] p ref = r' ref + c (δt u - δt ref ) + c I ref + c T ref + ε ref (5)

[0080] In the formula, p i represents the coarse pseudorange observation of the satellite to be measured i and the receiver; δt u represents the receiver clock error, δt i represents the clock error of the satellite to be measured i; r' i represents the theoretical distance between the receiver position and the position of the satellite to be measured i, r' ref represents the theoretical distance between the receiver position and the position of the reference satellite, I i and T i are errors caused by the ionosphere and the troposphere when the signal of the satellite to be measured i passes through the atmosphere; c represents the speed of light, and ε i represents the pseudorange error between the satellite to be measured i and the receiver caused by noise, p ref represents the coarse pseudorange observation of the reference satellite and the receiver, δt ref represents the reference satellite clock error, I ref and T refrespectively, are errors caused by ionosphere and troposphere effects on the signal of the reference satellite passing through the atmosphere ref represents the pseudorange error between the reference satellite and the receiver caused by noise effects.

[0081] Step 2.3, the remchip pseudorange correction is performed on the coarse pseudorange observations of the reference satellite and the receiver and the satellite i and the receiver respectively, to obtain the pseudorange observations of the reference satellite, the satellite i and the receiver; specifically:

[0082] Step 2.3.1, the pseudorange observation of the satellite i and the receiver is calculated as i , and the calculation formula is:

[0083]

[0084] In the formula, remchip i represents the code phase deviation between the sampling point and the C / A code edge at the end of the 1ms sampling period, and the calculation formula is:

[0085] remchip i = m i -1023;

[0086] In the formula, m i represents the actual sampling length of the signal of the satellite i within 1ms in the tracking process, in units of chips;

[0087] Step 2.3.2, the pseudorange observation of the reference satellite and the receiver is calculated as refi , and the calculation formula is:

[0088]

[0089] In the formula, remchip ref represents the code phase deviation between the sampling point and the C / A code edge at the end of the 1ms sampling period, and the calculation formula is:

[0090] remchip ref = m ref -1023;

[0091] In the formula, m ref represents the actual sampling length of the signal of the reference satellite within 1ms in the tracking process, in units of chips.

[0092] Step 2.4, the true distance between the satellite i and the receiver in the line-of-sight direction and the clock error of the satellite i are removed from the obtained pseudorange observation of the satellite i and the receiver, to obtain the pseudorange measurement error of the satellite i and the receiver, and the pseudorange measurement error of the reference satellite and the receiver is obtained in the same way, and the calculation formula is:

[0093]

[0094] wherein r i e = |r i -r i |;

[0095] The calculation formula of the pseudorange measurement error between the reference satellite and the receiver is:

[0096]

[0097] wherein,

[0098] In the formula, represents the pseudorange measurement error between the satellite i to be measured and the receiver, represents the pseudorange measurement error between the reference satellite and the receiver, r i e represents the estimated error of the distance between the receiver position and the satellite i position to be measured, represents the estimated error of the distance between the receiver position and the reference satellite position.

[0099] Step 3, calculate the inter-satellite difference between the pseudorange measurement error between the reference satellite and the receiver and the pseudorange measurement error between the satellite i to be measured and the receiver; the calculation formula is:

[0100]

[0101] wherein, I i,ref = |I ref -I i |, T i,ref = |T ref -T i |, ε i,ref = |ε ref -ε i |;

[0102] In the formula, represents the difference between the estimated error of the real geodetic distance of the satellite to be measured and the estimated error of the real geodetic distance of the reference satellite, cI i,ref represents the difference between the ionospheric error of the satellite i to be measured and the ionospheric error of the reference satellite, T i,ref represents the difference between the tropospheric error of the satellite to be measured and the tropospheric error of the reference satellite, ε i,ref represents the pseudorange observation error caused by noise.

[0103] Step 4, since the positioning result of the high-precision receiver is used, and the projection amplitude difference of the positioning error of the high-precision receiver on the line of sight between the receiver and the satellite is very small, the inter-satellite difference The single difference result of the error in the signal propagation process between the satellite i to be measured and the reference satellite can be ignored.

[0104] Step 5, α-filtering the single difference result of step 4 to obtain a slowly changing curve, which is the difference between the ionospheric error and the tropospheric error; the filtering formula is:

[0105]

[0106] In the formula, respectively represent the error in the signal propagation process between the satellite i to be measured and the reference satellite at the n th and (n-1) th epoch, represents the difference between the ionospheric error and the tropospheric error at the n th epoch, α represents the filtering coefficient, n represents the epoch, and n≥2.

[0107] As shown in Figure 1 , it is a schematic diagram of the inter-satellite difference between one satellite to be measured using channel 1 to transmit signals and a reference satellite using channel 3 to transmit signals changing with the positioning number, wherein the blue points are the inter-satellite difference changing with the positioning number before α-filtering, which is obtained by removing the real distance between the satellite and the receiver and the receiver clock bias from the measured pseudo-range; the red curve is the slowly changing reference result of the ionosphere and the troposphere after α-filtering. Since the ionospheric error and the tropospheric error change little in a short time, they can be regarded as a constant, and at this time the pseudo-range observation error ε i,ref is mainly affected by noise, and the filtered result is a curve with a certain bias.

[0108] Step 6, in the inter-satellite difference, the difference between the ionospheric error and the tropospheric error is removed to obtain the pseudo-range measurement error estimate of the satellite.

[0109] The calculation formula is:

[0110]

[0111] In the formula, represents the pseudo-range measurement error estimate of the satellite i to be measured.

[0112] Verification effect:

[0113] Select satellites 5, 6, 9, 11, 17, 19, and 20, which have signal transmission with the receiver, as the satellites to be measured, and satellite 20 as the reference satellite, and compare the results using the pseudo-range before and after remchip correction to verify the effectiveness of the detection method.

[0114] (1) Pseudo-range measurement error without remchip correction;

[0115] According to the method in the present application and without remchip correction, the rough pseudo-range observation is taken as the pseudo-range observation to calculate the pseudo-range error between different satellites and the receiver, and the change of the pseudo-range error with the positioning times is observed when the coherent integration time is 1ms, as shown in Fig. 1. Figure 2 Fig. 1 shows the change of the pseudo-range error with the positioning times, wherein (a)-(f) represent the change of the pseudo-range error between the No. 5, No. 6, No. 9, No. 11, No. 17 and No. 19 satellites and the receiver.

[0116] The standard deviation of the pseudo-range error between the No. 5, No. 6, No. 9, No. 11, No. 17 and No. 19 satellites and the receiver is shown in Table 1:

[0117] Table 1

[0118]

[0119] (2) The pseudo-range error after remchip correction;

[0120] According to the method in the present application and with remchip correction, the change of the pseudo-range error with the positioning times is observed when the coherent integration time is 1ms, as shown in Fig. 2. Figure 3 Fig. 2 shows the change of the pseudo-range error with the positioning times, wherein (a)-(f) represent the change of the pseudo-range error between the No. 5, No. 6, No. 9, No. 11, No. 17 and No. 19 satellites and the receiver.

[0121] The standard deviation of the pseudo-range error between the No. 5, No. 6, No. 9, No. 11, No. 17 and No. 19 satellites and the receiver is shown in Table 2:

[0122] Table 2

[0123]

[0124] According to the comparison between Table 1 and Table 2, it can be seen that after using remchip pseudo-range correction, the pseudo-range measurement error is greatly reduced, and the effectiveness of the method in the present application is verified.

[0125] The above is only a specific embodiment of the present application, and the effect of the relevant specific embodiment and the comparative example is compared, but the protection scope of the present application is not limited to this, any change or replacement within the technical scope disclosed in the present application should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A rapid detection method for pseudorange observation quality of GNSS receivers in complex environments, characterized in that, Includes the following steps: Step 1: Select a stably tracked satellite as a reference satellite; Step 2: Calculate the line-of-sight distance and pseudorange observation between the reference satellite and the receiver, and between the satellite under test and the receiver, respectively, as well as the pseudorange measurement error; specifically: Step 2.1: Calculate the actual distances between the reference satellite and the receiver, and between the satellite under test and the receiver, respectively, in the line-of-sight direction; Step 2.2: Calculate the coarse pseudorange observations for the reference satellite and receiver, and the satellite under test and receiver, respectively; Step 2.3: Perform remchip pseudorange correction on the coarse pseudorange observations of the reference satellite, the satellite under test, and the receiver respectively to obtain the pseudorange observations of the reference satellite and receiver, and the satellite under test and the receiver; specifically: Step 2.3.1: Calculate the pseudorange observation ρ between the satellite under test and the receiver. i The calculation formula is: p′ i =ρ i -r remchipi ; remchip i The code phase deviation between the sampling point and the C / A code edge at the end of the 1ms sampling period is expressed by the following formula: remchip i =m i -1023; In the formula, m i This indicates the actual sampling length of the satellite signal under test within 1 ms during the tracking process, in chips. Step 2.3.2: Calculate the pseudorange observation ρ′ of the reference satellite and receiver. refi The calculation formula is: p′ ref =ρ ref -r remchipref ; remchip ref The code phase deviation between the sampling point and the C / A code edge at the end of the 1ms sampling period is expressed by the following formula: remchip ref =m ref -1023; In the formula, m ref This indicates the actual sampling length of the reference satellite signal within 1 ms during the tracking process, in chips. Step 2.4: Remove the true distance between the satellite and receiver in the line-of-sight direction and the clock error of the satellite from the pseudorange observations of the satellite and receiver to obtain the pseudorange measurement error of the satellite and receiver. Similarly, obtain the pseudorange measurement error of the reference satellite and receiver. Step 3: Calculate the inter-satellite difference between the pseudorange measurement error of the reference satellite and the receiver, and the pseudorange measurement error of the satellite under test and the receiver; Step 4: Calculate the single difference result of the error between the satellite under test and the reference satellite during signal propagation based on the inter-satellite difference obtained in Step 3; Step 5: Perform α filtering on the single difference results from Step 4 to obtain the difference between the ionospheric error and the tropospheric error; Step 6: In the inter-satellite difference, remove the difference between ionospheric error and tropospheric error to obtain the estimated value of pseudorange measurement error of the satellite under test.

2. The rapid detection method for pseudorange observation quality of GNSS receivers in complex environments according to claim 1, characterized in that, The formulas for calculating the actual distances between the reference satellite and the receiver, and between the satellite under test and the receiver in the line-of-sight direction in step 2.1 are as follows: In the formula, r i r represents the true distance between the receiver position and the position of the satellite under test in the line-of-sight direction. ref This represents the actual distance between the receiver position and the reference satellite position in the line-of-sight direction, [x i ,y i ,z i ]、[x,y,z]、[x ref ,y ref ,z ref [ ] Represent the actual three-dimensional coordinates of the satellite under test, the receiver, and the reference satellite, respectively; The formulas for calculating the coarse pseudorange observations of the reference satellite and receiver, and the satellite under test and receiver in step 2.2 are as follows: r i =r′ i +c(δt u -δt i )+cI i +cT i +e i r ref =r′ ref +c(δt u -δt ref )+cI ref +cT ref +e ref In the formula, ρ i This represents the coarse pseudorange observation between the satellite under test and the receiver; δt u δt represents the receiver clock bias. i Indicates the clock bias of the satellite under test; r′ i r′ represents the theoretical distance between the receiver position and the position of the satellite being measured. ref I represents the theoretical distance between the receiver position and the reference satellite position. i and T i These represent the errors caused by the influence of the ionosphere and troposphere on the signal from the satellite being measured as it passes through the atmosphere; c represents the speed of light, and ε... i ρ represents the pseudorange error between the satellite under test and the receiver caused by noise. ref δt represents the coarse pseudorange observations of the reference satellite and receiver. ref Indicates the reference satellite clock bias, I ref and T ref These are the errors caused by the influence of the ionosphere and troposphere on the reference satellite's signal as it passes through the atmosphere, ε. ref This indicates the pseudorange error between the reference satellite and the receiver caused by noise.

3. The rapid detection method for pseudorange observation quality of GNSS receivers in complex environments according to claim 1, characterized in that, In step 2.4, the formula for calculating the pseudorange measurement error between the satellite under test and the receiver is as follows: in, The formula for calculating the pseudorange measurement error between the reference satellite and the receiver is as follows: in, In the formula, This represents the pseudorange measurement error between the satellite under test and the receiver. r represents the pseudorange measurement error between the reference satellite and the receiver. i e This represents the estimation error of the distance between the receiver's position and the position of the satellite being measured. This represents the estimated error of the distance between the receiver's position and the reference satellite's position.

4. The rapid detection method for pseudorange observation quality of GNSS receivers in complex environments according to claim 3, characterized in that, In step 3, the formula for calculating the inter-satellite difference is: in, Indicates inter-satellite difference. I i,ref =|I ref -I i |,T i,ref =|T ref -T i |,ε i,ref =|ε ref -ε i |; In the formula, cI represents the difference between the estimation error of the true satellite-to-ground distance of the satellite under test and the estimation error of the true satellite-to-ground distance of the reference satellite. i,ref T represents the difference in ionospheric error between the satellite under test and the reference satellite. i,ref ε represents the difference in tropospheric error between the satellite under test and the reference satellite. i,ref This indicates the pseudorange observation error caused by noise.

5. The rapid detection method for pseudorange observation quality of GNSS receivers in complex environments according to claim 4, characterized in that, Step 4 specifically involves: In the inter-satellite difference obtained in step 3, ignore The single difference result of the error between the satellite under test and the reference satellite during signal propagation was obtained.

6. The rapid detection method for pseudorange observation quality of GNSS receivers in complex environments according to claim 5, characterized in that, Step 5 specifically involves: The single-difference result from step 4 is subjected to α-filtering, and the filtering formula is as follows: In the formula, These represent the errors between the satellite under test and the reference satellite during signal propagation at the nth and (n-1)th epochs, respectively. α represents the difference between the ionospheric error and the tropospheric error at the nth epoch, α represents the filtering coefficient, n represents the epoch, and n≥2.

7. The rapid detection method for pseudorange observation quality of GNSS receivers in complex environments according to claim 4, characterized in that, In step 6, the formula for calculating the estimated pseudorange measurement error of the satellite is as follows: In the formula, This represents the estimated pseudorange measurement error of the satellite under test.

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