GNSS carrier phase ambiguity processing method and electronic device

Abstract

The application discloses a GNSS carrier phase ambiguity processing method and electronic equipment. The method can comprise: establishing a carrier phase ambiguity solution model; determining a vector expression of the integer ambiguity in the carrier phase ambiguity solution model; calculating the integer ambiguity of the continuous visible satellite in the kth epoch based on the integer ambiguity of the visible satellite in the k-1th epoch and the baseline vector obtained by the inertial navigation assistance; substituting the integer ambiguity of the continuous visible satellite into the ambiguity solution model to solve the integer ambiguity of the newly added visible satellite in the kth epoch, and then obtaining the integer ambiguity of all visible satellites. The application quickly solves the integer ambiguity in the GNSS carrier phase observation by using the auxiliary information output by the inertial navigation, and significantly improves the ambiguity solution efficiency under the condition that the number of visible satellites is large.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of GNSS high-precision positioning technology, and more particularly, to a GNSS carrier phase ambiguity processing method and an electronic device. BACKGROUND

[0002] Global Navigation Satellite System (GNSS) high-precision applications rely on satellite carrier phase observations. Carrier phase is a kind of observation that measures the geometric distance between the satellite and the receiver antenna. When a high-precision antenna is used, the accuracy of the carrier phase observation can reach millimeter level. However, the carrier phase observation usually contains an integer number of carrier wavelengths of error, called carrier phase integer ambiguity. When the value of the integer ambiguity is solved, the carrier phase observation can be used as an accurate geometric distance measurement value, and various GNSS high-precision applications based on carrier phase become possible.

[0003] With the continuous development of GNSS by various countries, there are now more than one hundred navigation satellites in orbit, and the number of navigation satellites that can be observed and used at any location on Earth at the same time can reach dozens. Although high-precision GNSS applications such as real-time kinematic positioning (RTK) generally only need five or six satellites to get good results, more visible satellites are beneficial to improve the accuracy of the solution results - a large number of redundant satellites not only help to improve the positioning accuracy factor of the satellite and improve the theoretical upper limit of the positioning accuracy, but also can weaken the influence of observation with poor accuracy on the solution results.

[0004] However, at the same time, more visible satellites also mean that the operation of the solution process will be more complex, and more observation data means that the solution efficiency will be lower.

[0005] At present, it is necessary to develop a GNSS carrier phase ambiguity processing method based on inertial navigation assistance.

[0006] The information disclosed in the background section of the present application is only intended to deepen the understanding of the general background of the present application, and should not be regarded as acknowledging or implying in any form that the information constitutes prior art known to those skilled in the art. SUMMARY

[0007] The present application provides a GNSS carrier phase ambiguity processing method and an electronic device, which can estimate the integer ambiguity in the GNSS carrier phase observation through the auxiliary information output by the inertial navigation, and further ensure the efficiency of the positioning solution.

[0008] In a first aspect, the present application provides a GNSS carrier phase ambiguity processing method, comprising:

[0009] establishing a carrier phase ambiguity resolution model;

[0010] determining a vector expression of integer ambiguity in the carrier phase ambiguity resolution model;

[0011] calculating integer ambiguity of continuously visible satellites in the k epoch based on integer ambiguity of visible satellites in the k-1 epoch and the baseline vector obtained by the inertial navigation assistance;

[0012] substituting the integer ambiguity of continuously visible satellites into the ambiguity resolution model, resolving integer ambiguity of newly visible satellites in the k epoch, and then obtaining integer ambiguity of all visible satellites.

[0013] Preferably, the carrier phase ambiguity resolution model is:

[0014] E(y) = Aa + Bb, D(y) = Q yy

[0015] wherein E(·) and D(·) represent expectation and variance operators respectively; y represents a column vector composed of carrier phase observations and the difference between pseudo-range observations and satellite-antenna geometric distance; a represents an integer ambiguity vector, ; b represents a baseline three-dimensional vector, ; A is a coefficient matrix containing carrier phase wavelength; B is a coefficient matrix containing unit vectors of satellite observation direction; represents a set of integer vectors of dimension, represents a set of three-dimensional real vectors, Q yy represents the covariance matrix of y.

[0016] Preferably, the vector expression of integer ambiguity is:

[0017] a = [a 12 , a 13 , a 14 ,…, a 1s ] T

[0018] wherein, a 1i represents carrier phase integer ambiguity in double difference form between satellite 1, i ; satellite number 1 represents a reference satellite; represents carrier phase integer ambiguity contained in carrier phase observations of satellite i by the reference station; represents carrier phase integer ambiguity contained in carrier phase observations of satellite i by the user, i = 2, 3, …, s.

[0019] Preferably, the calculation of the integer ambiguity of continuously visible satellites at epoch k, based on the integer ambiguity of visible satellites at epoch k-1 and the baseline vector obtained with inertial navigation assistance, includes:

[0020] Based on the output of the inertial navigation module on the user vehicle, the change in the user antenna coordinates from the (k-1)th epoch to the kth epoch is calculated and used as the change in the baseline three-dimensional vector.

[0021] Calculate the baseline three-dimensional vector at the k-th epoch based on the change in the baseline three-dimensional vector;

[0022] Based on the baseline 3D vector and satellite coordinates at the k-th epoch, calculate the satellite-antenna distance corresponding to each satellite;

[0023] The change in satellite-antenna distance from epoch (k-1) to epoch (k) is obtained by subtracting the satellite-antenna distance from the satellite-antenna distance at epoch (k-1), and is used as the carrier phase change.

[0024] Calculate the carrier phase integer ambiguity of the k-th epoch based on the carrier phase change.

[0025] Satellites 1 through s are visible in both the (k-1)th and kth epochs. Calculate the double-difference ambiguity vector of the continuously visible satellites in the kth epoch.

[0026] Preferably, the change in the baseline three-dimensional vector is:

[0027] △u=[△x r ,△y r ,△z r ] T

[0028] Where △u is the change in the baseline three-dimensional vector, △x r , △y r , △z r These represent the changes in the x, y, and z directions, respectively.

[0029] Preferably, the baseline three-dimensional vector is:

[0030] b(k) = b(k-1) + Δu

[0031] Where b(k-1) and b(k) are the baseline three-dimensional vectors of the (k-1)th epoch and the kth epoch, respectively.

[0032] Preferably, the carrier phase change is:

[0033] ,

[0034] in, denotes the double-difference form of carrier phase observations, i = 2, 3, …, s.

[0035] Preferably, the double-difference ambiguity vector of the continuously visible satellites at the k-th epoch is:

[0036] a 1~s (k) = [a 12 (k), a 13 (k), …, a 1s (k)] T .

[0037] Preferably, the integer ambiguity of the continuously visible satellites is substituted into the ambiguity resolution model to resolve the integer ambiguity of the newly visible satellites at the k-th epoch, and then the integer ambiguity of all the visible satellites is obtained, including:

[0038] The double-difference ambiguity vector of the continuously visible satellites at the k-th epoch is substituted into the carrier phase ambiguity resolution model to obtain the carrier phase ambiguity resolution model at the k-th epoch, and the carrier phase ambiguity resolution model at the k-th epoch is an equation containing only the unknown integer ambiguity of the satellites newly added from the (k-1)-th epoch to the k-th epoch.

[0039] The carrier phase ambiguity resolution model at the k-th epoch is resolved.

[0040] In a second aspect, the embodiments of the present disclosure further provide an electronic device, which comprises:

[0041] a memory storing executable instructions;

[0042] a processor running the executable instructions in the memory to implement the GNSS carrier phase ambiguity processing method.

[0043] The beneficial effects are that:

[0044] 1. In a high-precision GNSS system, the user antenna coordinate change output by the inertial navigation system is used to conveniently obtain the carrier phase ambiguity parameters of the continuously visible satellites at the new epoch.

[0045] 2. When the number of observed GNSS satellites increases, the number of integer ambiguities to be solved in the carrier phase ambiguity resolution process is effectively reduced, and the problem that the resolution efficiency is significantly reduced due to the increase in the number of satellites in the conventional ambiguity resolution algorithm is avoided.

[0046] The method and device have other characteristics and advantages, which will be apparent or will be described in detail in the accompanying drawings and the following detailed description incorporated herein, which together serve to explain the specific principles of the present application. Attached Figure Description

[0047] The above and other objects, features and advantages of the present invention will become more apparent from the more detailed description of exemplary embodiments of the invention in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same parts.

[0048] Figure 1 A flowchart illustrating the steps of a GNSS carrier phase ambiguity processing method according to an embodiment of the present invention is shown. Detailed Implementation

[0049] Preferred embodiments of the invention will now be described in more detail. While preferred embodiments of the invention are described below, it should be understood that the invention can be implemented in various forms and should not be limited to the embodiments set forth herein.

[0050] To facilitate understanding of the solutions and effects of the embodiments of the present invention, two specific application examples are given below. Those skilled in the art should understand that these examples are merely for the purpose of understanding the present invention, and any specific details therein are not intended to limit the present invention in any way. Example 1

[0051] Figure 1 A flowchart illustrating the steps of a GNSS carrier phase ambiguity processing method according to an embodiment of the present invention is shown.

[0052] like Figure 1 As shown, the GNSS carrier phase ambiguity processing method includes: Step 101, establishing a carrier phase ambiguity resolution model; Step 102, determining the vector expression of integer ambiguity in the carrier phase ambiguity resolution model; Step 103, calculating the integer ambiguity of continuously visible satellites in the k-th epoch based on the integer ambiguity of visible satellites in the (k-1)th epoch and the baseline vector obtained with inertial navigation assistance; Step 104, substituting the integer ambiguity of continuously visible satellites into the ambiguity resolution model to resolve the integer ambiguity of newly added visible satellites in the k-th epoch, thereby obtaining the integer ambiguity of all visible satellites.

[0053] In one example, the carrier phase ambiguity resolution model is as follows:

[0054] E(y) = Aa + Bb, D(y) = Q yy

[0055] Where E(·) and D(·) represent the expectation and variance operators, respectively; y represents the column vector consisting of the differences between the carrier phase observation, the pseudorange observation, and the satellite-antenna geometric distance; a represents the integer ambiguity vector. b represents the baseline three-dimensional vector. A is a coefficient matrix containing carrier phase wavelengths; B is a coefficient matrix containing unit vectors of satellite observation directions; denotes a set of integer vectors, denotes a set of three-dimensional real vectors, Q yy denotes a covariance matrix of y.

[0056] In one example, the vector expression of the integer ambiguity is:

[0057] a = [a 12 , a 13 , a 14 ,…, a 1s ] T

[0058] wherein, a 1i denotes the carrier phase integer ambiguity in the double difference form between satellite 1, i ; satellite number 1 denotes a reference satellite; denotes the carrier phase integer ambiguity contained in the carrier phase observation of satellite i by the reference station; denotes the carrier phase integer ambiguity contained in the carrier phase observation of satellite i by the user, i = 2, 3, …, s.

[0059] In one example, the calculation of the integer ambiguity of the continuously visible satellite at the k epoch based on the integer ambiguity of the visible satellite at the k-1 epoch and the baseline vector obtained by the inertial navigation assistance includes:

[0060] According to the output of the inertial navigation module on the user carrier, the change amount of the user antenna coordinates from the k-1 epoch to the k epoch is calculated as the change amount of the baseline three-dimensional vector;

[0061] According to the change amount of the baseline three-dimensional vector, the baseline three-dimensional vector at the k epoch is calculated;

[0062] According to the baseline three-dimensional vector at the k epoch and the satellite coordinates, the satellite-antenna distance corresponding to each satellite is calculated;

[0063] The change amount of the satellite-antenna distance from the k-1 epoch to the k epoch is obtained by subtracting the satellite-antenna distance at the k-1 epoch from the satellite-antenna distance, as the carrier phase change amount;

[0064] According to the carrier phase change amount, the carrier phase integer ambiguity at the k epoch is calculated;

[0065] Satellites 1 through s are visible in both the (k-1)th and kth epochs. Calculate the double-difference ambiguity vector of the continuously visible satellites in the kth epoch.

[0066] In one example, the change in the baseline 3D vector is:

[0067] △u=[△x r ,△y r ,△z r ] T

[0068] Where △u is the change in the baseline three-dimensional vector, △x r , △y r , △z r These represent the changes in the x, y, and z directions, respectively.

[0069] In one example, the baseline 3D vector is:

[0070] b(k) = b(k-1) + Δu

[0071] Where b(k-1) and b(k) are the baseline three-dimensional vectors of the (k-1)th epoch and the kth epoch, respectively.

[0072] In one example, the carrier phase change is:

[0073] ,

[0074] in, Let i represent the carrier phase observation in double-difference form, i=2,3,…,s.

[0075] In one example, the double-difference ambiguity vector for continuously visible satellites at epoch k is:

[0076] a 1~s (k)=[a 12 (k), a 13 (k),…, a 1s (k)] T .

[0077] In one example, the integer ambiguity of continuously visible satellites is substituted into the ambiguity resolution model to resolve the integer ambiguity of newly added visible satellites in the k-th epoch, thereby obtaining the integer ambiguity of all visible satellites, including:

[0078] Substituting the double-difference ambiguity vector of continuously visible satellites at epoch k into the carrier phase ambiguity resolution model, we obtain the carrier phase ambiguity resolution model at epoch k. Then, the carrier phase ambiguity resolution model at epoch k is an equation that only contains the carrier phase integer ambiguity of newly added satellites from epoch k-1 to epoch k as unknowns.

[0079] The carrier phase ambiguity resolution model for the kth epoch.

[0080] Specifically, in GNSS applications, whether positioning, orientation, monitoring or other applications, it is necessary to collect observations of visible satellites using one or more GNSS antennas. Each antenna can collect carrier phase observations and pseudorange observations for each satellite at each frequency point. GNSS carrier phase observations and pseudorange observations are two basic observations of GNSS positioning. Carrier phase observations refer to the difference between the carrier phase of the satellite signal received by the receiver and the reference phase, which has a precision of centimeters or even millimeters, but is affected by the integer ambiguity. Pseudorange observations refer to the difference between the propagation time of the satellite signal received by the receiver and the satellite transmission time, which is not affected by the integer ambiguity, but has a precision of only meters.

[0081] The carrier phase ambiguity resolution model can be expressed as:

[0082] E(y) = Aa + Bb, D(y) = Q yy

[0083] Where E(·) and D(·) represent the expectation and variance operators, respectively; y represents a column vector composed of the difference between carrier phase observations and the satellite-antenna geometric distance, as well as the difference between pseudorange observations and the satellite-antenna geometric distance; a represents the integer ambiguity vector; b represents the baseline three-dimensional vector; A is the coefficient matrix, which contains the carrier phase wavelength; B is the coefficient matrix, which contains the unit vector of the satellite observation direction, which can be calculated based on the receiver single-point positioning coordinates and satellite coordinates, and the satellite coordinates can be calculated from the satellite ephemeris parsed from the satellite signal.

[0084] This embodiment takes real-time kinematic positioning (RTK) as an example. In RTK mode, y represents a column vector composed of 1) the difference between carrier phase observations and satellite-antenna geometric distance, and 2) the difference between pseudorange observations and satellite-antenna geometric distance; a represents the unknown integer ambiguity vector; b represents the unknown baseline three-dimensional vector. Wherein, y and a are in double difference form, i.e., inter-station and inter-satellite difference form. b can be expressed as:

[0085] b = [x ru , y ru , z ru ] T

[0086] bis the relative coordinate of the user with respect to the reference station, subscript r 、 u denotes the reference station (reference) and the user (user).

[0087] The integer ambiguity vector in double difference form can be expressed as:

[0088] a=[a 12 , a 13 , a 14 ,…, a 1s ] T .

[0089] Suppose that the current is the k-1 epoch, the number of visible satellites is s, and the carrier phase integer ambiguity has been solved. When the k epoch, suppose that two new satellites are received, the number of visible satellites is s+2. Next, the integer ambiguity processing in the k epoch is carried out:

[0090] According to the output of the inertial navigation module on the user carrier, first calculate the change amount△u=[△x r ,△y r ,△z r ] T of the user antenna coordinates from the k-1 epoch to the k epoch. Since the reference station is stationary,△u can also be regarded as the change amount of the baseline vector. Because the inertial navigation can maintain high accuracy in a short time, the baseline three-dimensional vector at the k epoch can be obtained:

[0091] b(k)= b(k-1)+△u

[0092] The coordinates of the satellites at each time can be calculated by the satellite broadcast ephemeris. After calculating the baseline vector by the above formula, the satellite-antenna distance corresponding to each satellite can be calculated by combining the satellite coordinates. The satellite-antenna distance from the k-1 epoch to the k epoch is obtained by subtracting the satellite-antenna distance at the k-1 epoch from the satellite-antenna distance at the k epoch, that is: This change can be regarded as an estimate of the carrier phase change, that is:

[0093] .

[0094] In the above formula, a 1i (k-1) has been solved in the k-1 epoch, and only a 1i (k) is unknown. Therefore, according to the above formula, a 1i (k) can be solved, i=2,3,…,s.

[0095] Since satellite 1 to satellite s are visible at the k-1th ephemeris and the kth ephemeris, the double-difference ambiguity vector a 1~s (k) of the continuously visible satellites at the kth ephemeris can be obtained according to the above formula

[0096] a 1~s (k) = [a 12 (k), a 13 (k),…, a 1s (k)] T

[0097] Substituting a 1~s (k) into the carrier phase ambiguity resolution model, the following can be obtained:

[0098] E(y) = Aa 1~s+2 (k) + Bb, D(y) = Q yy , ,

[0099] a 1~s+2 (k) = [a 12 (k), a 13 (k),…, a 1s (k),a 1,s+1 (k),a 1,s+2 (k)] T

[0100] At this time, there are only two unknowns a 1,s+1 (k) and a 1,s+2 (k) in the formula, that is, the number of unknowns is equal to the number of newly observed satellites at the kth ephemeris. The equation can be solved by the commonly used least square method, and compared with the previous carrier phase ambiguity resolution model, since the number of unknowns is reduced from s+1 to 2, the solving efficiency will be greatly improved.

[0101] Since the long-time output sequence of the inertial navigation module will contain drift bias. Therefore, the ambiguity vector solved in the last step can be used to solve the coordinates of the baseline vector again, so that the coordinates of the baseline vector are not affected by the drift error of the inertial navigation module.

[0102] Continue to solve the k+1th ephemeris, it is worth noting that if the reference satellite used in the last ephemeris is not visible in the current ephemeris, a new reference satellite needs to be switched and the integer ambiguity of the carrier phase observation needs to be initialized. In order to avoid frequent switching of reference satellites, satellites located close to the zenith direction should always be selected as reference satellites, because the blocking objects or interference sources are usually located on the ground or low altitude, and the signals of the satellites in the zenith direction are relatively less affected and more easily observed by users. Embodiment 2

[0103] The electronic device includes a memory storing executable instructions, and a processor running the executable instructions in the memory to implement the GNSS carrier phase ambiguity processing method.

[0104] The electronic device according to an embodiment of the present disclosure includes a memory and a processor.

[0105] The memory is configured to store non-transitory computer-readable instructions. Specifically, the memory can include one or more computer program products that can include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may, for example, include random access memory (RAM), cache memory, and / or the like. The non-volatile memory may, for example, include read-only memory (ROM), hard disk drives, solid-state drives, and / or the like.

[0106] The processor can be a central processing unit (CPU) or other form of processing unit that has data processing and / or instruction execution capabilities, and can control other components in the electronic device to perform desired functions. In an embodiment of the present disclosure, the processor is configured to run the computer-readable instructions stored in the memory.

[0107] Those skilled in the art will understand that, in order to solve the technical problem of how to obtain a good user experience effect, the present embodiment can also include well-known structures such as a communication bus, an interface, and the like, which should also be included in the protection scope of the present disclosure.

[0108] Detailed descriptions of the present embodiment can refer to the corresponding descriptions in the foregoing embodiments, which will not be repeated here.

[0109] Those skilled in the art will understand that the above description of the embodiments of the present application is only for the purpose of exemplarily illustrating the beneficial effects of the embodiments of the present application, and is not intended to limit the embodiments of the present application to any examples given.

[0110] The above has described the embodiments of the present application, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes are obvious to those skilled in the art without departing from the scope and spirit of the described embodiments.

Claims

1. A method for processing GNSS carrier phase ambiguity, characterized in that, include: Establish a carrier phase ambiguity resolution model; Determine the vector expression for integer ambiguity in the carrier phase ambiguity resolution model; Based on the integer ambiguity of the visible satellites at epoch k-1 and the baseline vector obtained with inertial navigation assistance, the integer ambiguity of the continuously visible satellites at epoch k is calculated. Substitute the integer ambiguity of continuously visible satellites into the ambiguity resolution model to resolve the integer ambiguity of newly added visible satellites in the k-th epoch, and then obtain the integer ambiguity of all visible satellites. The calculation of the integer ambiguity of continuously visible satellites at epoch k, based on the integer ambiguity of visible satellites at epoch k-1 and the baseline vector obtained with inertial navigation assistance, includes: Based on the output of the inertial navigation module on the user vehicle, the change in the user antenna coordinates from the (k-1)th epoch to the kth epoch is calculated and used as the change in the baseline three-dimensional vector. Calculate the baseline three-dimensional vector at the k-th epoch based on the change in the baseline three-dimensional vector; Based on the baseline 3D vector and satellite coordinates at the k-th epoch, calculate the satellite-antenna distance corresponding to each satellite; The change in satellite-antenna distance from epoch (k-1) to epoch (k) is obtained by subtracting the satellite-antenna distance from the satellite-antenna distance at epoch (k-1), and is used as the carrier phase change. Calculate the carrier phase integer ambiguity of the k-th epoch based on the carrier phase change. Satellites 1 through s are visible in both the (k-1)th and kth epochs. Calculate the double-difference ambiguity vector of the continuously visible satellites in the kth epoch.

2. The GNSS carrier phase ambiguity processing method according to claim 1, wherein, The carrier phase ambiguity resolution model is as follows: E(y)=Aa+Bb, D(y)=Q yy Where E(·) and D(·) represent the expectation and variance operators, respectively; y represents the column vector consisting of the differences between the carrier phase observation, the pseudorange observation, and the satellite-antenna geometric distance; a represents the integer ambiguity vector. b represents the baseline three-dimensional vector. A is a coefficient matrix containing the carrier phase wavelength; B is a coefficient matrix containing the unit vector of the satellite observation direction. express A set of 3D integer vectors Q represents the set of three-dimensional real vectors. yy Let represent the covariance matrix of y.

3. The GNSS carrier phase ambiguity processing method according to claim 2, wherein, The vector expression for the integer ambiguity is: a=[a 12 , a 13 , a 14 ,…, a 1s ] T in, a 1i Indicates that in satellite 1, i The carrier phase integer ambiguity in the form of double difference; Satellite number 1 indicates the reference satellite; Indicates the reference station's position on the satellite. i The carrier phase integer ambiguity included in the carrier phase observations; Indicates user's opinion on satellite i The carrier phase observation includes carrier phase integer ambiguity, i=2,3,…,s.

4. The GNSS carrier phase ambiguity processing method according to claim 1, wherein, The change in the baseline three-dimensional vector is: △u=[△x r , △y r , △z r ] T Where △u is the change in the baseline three-dimensional vector, △x r , △y r , △z r These represent the changes in the x, y, and z directions, respectively.

5. The GNSS carrier phase ambiguity processing method according to claim 4, wherein, The baseline three-dimensional vector is: b(k) = b(k-1) + Δu Where b(k-1) and b(k) are the baseline three-dimensional vectors of the (k-1)th epoch and the kth epoch, respectively.

6. The GNSS carrier phase ambiguity processing method according to claim 5, wherein, The carrier phase change is: in, Let i represent the carrier phase observation in double-difference form, i=2,3,…,s.

7. The GNSS carrier phase ambiguity processing method according to claim 6, wherein, The double-difference ambiguity vector of continuously visible satellites at epoch k is: a 1~s (k)=[a 12 (k), a 13 (k),…, a 1s (k)] T 。 8. The GNSS carrier phase ambiguity processing method according to claim 1, wherein, Substituting the integer ambiguity of continuously visible satellites into the ambiguity resolution model, the integer ambiguity of the newly added visible satellite in the k-th epoch is resolved, thus obtaining the integer ambiguity of all visible satellites, including: Substituting the double-difference ambiguity vector of continuously visible satellites at epoch k into the carrier phase ambiguity resolution model, the carrier phase ambiguity resolution model at epoch k is obtained. The carrier phase ambiguity resolution model at epoch k is an equation that only contains the carrier phase integer ambiguity of newly added satellites from epoch k-1 to epoch k as unknowns. Solve the carrier phase ambiguity resolution model for the k-th epoch.

9. An electronic device, characterized in that, The electronic device includes: Memory, which stores executable instructions; A processor that executes the executable instructions in the memory to implement the GNSS carrier phase ambiguity processing method according to any one of claims 1-8.

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