Beidou / GNSS full-frequency-point clock error and signal deviation estimation system and method

Abstract

The invention relates to a Beidou / GNSS full-frequency-point clock difference and signal deviation estimation system and method, and the system comprises a full-frequency-point pseudo-range deviation estimation module which is used for estimating pseudo-range deviation products on a plurality of frequency points and / or a plurality of signals of a Beidou / GNSS system; the double-frequency phase clock / phase deviation estimation module is used for estimating a phase clock / phase deviation product on the reference double frequency of the Beidou / GNSS system; the full-frequency-point phase deviation estimation module is used for estimating phase deviation products on frequencies except the reference frequency of the Beidou / GNSS system; and the full-frequency-point phase clock / phase deviation alignment module is used for aligning the clock deviation reference of the product with the clock deviation reference of the product in the previous day based on the product, so as to maintain the day boundary continuity of the product. Therefore, the problem that due to the fact that precision products have diversity and lack a unified modeling framework on the whole, effective information sharing and combined processing are difficult to achieve between different precision products, and the positioning precision is affected is solved.

Description

Technical Field

[0001] This application relates to the field of BeiDou / GNSS (Global Navigation Satellite System) positioning technology, and in particular to a BeiDou / GNSS full-frequency point clock error and signal deviation estimation system and method. Background Technology

[0002] Precise Point Positioning (PPP) is a high-precision positioning technology based on GNSS that can provide positioning accuracy at the decimeter or even centimeter level without the need for a reference station. With the continuous development of GNSS systems, multiple global navigation systems (such as GPS, BDS, GLONASS, and Galileo) have been gradually established and provide multi-frequency signal services. PPP technology has also evolved from traditional single-system, dual-frequency calculations to a precise calculation model oriented towards multiple systems and multiple frequencies.

[0003] In related technologies, by introducing multi-frequency observations and with the assistance of high-precision products such as satellite clock bias, orbit information, multi-code bias, and inter-frequency bias, PPP solution can support flexible frequency combination modeling, effectively enhance the ability to reduce ionospheric errors, improve positioning accuracy and convergence speed, and thus better adapt to the high-precision positioning needs of different platforms, terminals and application scenarios.

[0004] However, in related technologies, due to the diversity of precision products, each product usually has a specific estimation process, dependent input data sources and output results, and there is a lack of a unified modeling framework. This makes it difficult to achieve effective information sharing and joint processing between different precision products, which limits their collaborative efficiency in joint solution and thus affects the accuracy and stability of the overall positioning system, which urgently needs to be solved. Summary of the Invention

[0005] This application provides a BeiDou / GNSS full-frequency clock error and signal deviation estimation system and method to solve the problems in related technologies, such as the lack of a unified modeling framework due to the diversity of precision products, which makes it difficult to achieve effective information sharing and joint processing among different precision products, limiting their collaborative efficiency in joint calculation, and thus affecting the accuracy and stability of the overall positioning system.

[0006] The first aspect of this application provides a BeiDou / GNSS full-frequency clock bias and signal deviation estimation system, comprising: a full-frequency pseudorange deviation estimation module for estimating pseudorange deviation products on multiple frequencies and / or multiple signals of the BeiDou / GNSS system; a dual-frequency phase clock / phase deviation estimation module for estimating phase clock / phase deviation products on the reference dual frequencies of the BeiDou / GNSS system; a full-frequency phase deviation estimation module for estimating phase deviation products on frequencies other than the reference frequency of the BeiDou / GNSS system; and a full-frequency phase clock / phase deviation alignment module for aligning the product clock bias reference with the clock bias reference of the previous day's product based on the pseudorange deviation products, the phase clock / phase deviation products, and the phase deviation products, thereby maintaining the diurnal continuity of the product.

[0007] Through the above technical means, the embodiments of this application can align the product clock bias reference with the clock bias reference of the previous day's product through the BeiDou / GNSS full-frequency clock bias and signal deviation estimation system, maintain the daytime continuity of the product, ensure a smooth transition of clock bias products in cross-day PPP positioning calculation, avoid the calculation discontinuity problem caused by clock bias jumps, and at the same time support the fusion processing of deviation products with multiple precision levels and multiple time resolutions. It can flexibly switch between different precision requirements (such as rapid positioning and high-precision measurement), improve the adaptability and versatility of the product in various GNSS high-precision application scenarios.

[0008] Optionally, in one embodiment of this application, the full-frequency pseudorange deviation estimation module includes: a differential code deviation estimation unit, used to estimate the full-frequency pseudorange deviation other than the Galileo intra-frequency code deviation; and a Galileo intra-frequency code deviation estimation unit, used to calculate the Galileo intra-frequency code deviation.

[0009] Through the above technical means, the embodiments of this application can estimate the pseudorange deviation of all frequency points except for the Galileo frequency code deviation, and simultaneously calculate the Galileo frequency code deviation. This enables comprehensive modeling and correction of pseudorange observation errors of each system and each frequency point, providing high-precision pseudorange deviation support for the consistency fusion and multi-frequency combined positioning of subsequent full-frequency precision positioning products.

[0010] Optionally, in one embodiment of this application, the formula for calculating the Galileo intra-frequency code deviation is:

[0011]

[0012] in, and These represent the intra-frequency code deviations of C1C-C1X and C5Q-C5X, respectively. and These represent the satellite clock biases corresponding to the pilot and mixed signals, respectively. and λ1 and λ2 represent the satellite phase deviations corresponding to the pilot and mixed signals, respectively; λ1 represents the wavelength at Galileo E1 frequency; λ2 represents the wavelength at Galileo E5a frequency; λ w and λ n α and β represent the wide-lane wavelength and narrow-lane wavelength of the Galileo E1 / E5a ​​combination, respectively; α and β represent the two non-ionospheric combination coefficients of the E1 / E5a ​​combination.

[0013] Through the above technical means, the embodiments of this application can estimate the satellite clock bias / phase deviation products of Galileo full-frequency pilot and mixed signals, and then obtain the Galileo intra-frequency code deviation by subtracting these two signal products. This can directly extract the system deviation between different signal modes from the phase observation level without relying on external prior models. It can provide high-precision data support for the modeling and correction of intra-frequency deviations within the Galileo system, and further enhance the consistency and fusion capabilities of multi-frequency and multi-mode GNSS products.

[0014] Optionally, in one embodiment of this application, the dual-frequency phase clock / phase deviation estimation module includes: a satellite orbit estimation unit for estimating the BeiDou / GNSS orbit, Earth rotation parameters, and satellite attitude; a pseudorange clock estimation unit for estimating the satellite clock bias product under the dual-difference ambiguity fixed mode; a phase deviation estimation unit for extracting the fractional part of the dual-frequency precise single-point positioning ambiguity parameters to generate a satellite phase deviation product; and a phase clock estimation unit for re-estimating the satellite clock bias product based on the inter-satellite single-difference ambiguity integer constraint.

[0015] Through the above technical means, the embodiments of this application can effectively eliminate related error terms at the receiver by using fixed ambiguity solutions, extracting the fractional part of ambiguity parameters, and introducing integer constraints for inter-satellite single-difference ambiguity. They can also jointly estimate systematic error terms such as dual-frequency phase clock / phase deviation, satellite orbit error, and rotation effect, thereby improving the accuracy and stability of clock error and phase deviation products and providing a guarantee for subsequent full-frequency phase deviation construction and high-precision GNSS applications.

[0016] Optionally, in one embodiment of this application, the full-frequency phase deviation estimation module includes: an epoch-differential inter-frequency clock deviation estimation unit, used to calculate the inter-frequency clock deviation at GPS L5 and BDS-2B2 frequencies using epoch-differential non-geometric non-ionospheric combined observations; a full-frequency phase deviation estimation unit, used to calculate the ambiguity of the GPS / Galileo / BDS-2 / BDS-3 full-frequency points through non-differential non-combined PPP to extract the full-frequency phase deviation; an inter-frequency clock deviation refinement estimation unit, used to calculate the inter-frequency clock deviation through non-differential non-combined network solution and convert the inter-frequency clock deviation into a time-varying phase deviation; and a non-reference frequency pseudorange deviation product calibration unit, used to calibrate the pseudorange deviation product at non-reference frequencies using the inter-frequency pseudorange deviation parameters in the non-differential non-combined network solution.

[0017] Through the above technical means, the embodiments of this application can use geometrically and ionospherically undifferentiated combined observations, non-differential and non-combined PPP models, and non-differential and non-combined network solutions to estimate the phase deviation of all frequency points. This can avoid the information loss caused by differential processing, while fully preserving the frequency information and accuracy advantages of the original observations. At the same time, through joint modeling and solution, the phase deviation between each frequency point can be accurately extracted, realizing the generation of high-precision, multi-frequency phase deviation products, and improving the GNSS positioning solution capability and consistency under multi-system and multi-frequency combinations.

[0018] Optionally, in one embodiment of this application, the full-frequency phase clock / phase deviation alignment module is further used to extract the closure difference formed at the boundary of adjacent day products based on the boundary consistency of orbit, clock difference and signal deviation at each frequency, so as to eliminate the differences caused by the randomness of the selection of mean reference and ambiguity reference.

[0019] Through the above technical means, the embodiments of this application can utilize phase clock / phase deviation alignment to extract the closure difference formed at the date boundary of adjacent day products, and make date boundary transition adjustments accordingly, thereby effectively eliminating the differences between products caused by the randomness of the selection of mean benchmark and ambiguity benchmark, maintaining the consistency and smoothness of products in continuous time periods, and providing a stable and reliable time continuity guarantee for high-precision GNSS positioning.

[0020] A second aspect of this application provides a method for estimating clock bias and signal deviation across all frequencies of the BeiDou / GNSS system, comprising the following steps: estimating pseudorange deviation products on multiple frequencies and / or multiple signals of the BeiDou / GNSS system; estimating phase clock / phase deviation products on the reference dual frequencies of the BeiDou / GNSS system; estimating phase deviation products on frequencies other than the reference frequencies of the BeiDou / GNSS system; and aligning the product clock bias reference with the clock bias reference of the previous day's product based on the pseudorange deviation products, the phase clock / phase deviation products, and the phase deviation products to maintain the date continuity of the product.

[0021] A third aspect of this application provides an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor. The processor executes the program to implement the BeiDou / GNSS full-frequency clock bias and signal deviation estimation method as described in the above embodiments.

[0022] A fourth aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described method for estimating the clock and signal bias of the BeiDou / GNSS full-frequency points.

[0023] A fifth aspect of this application provides a computer program product, including a computer program that, when executed, is used to implement the above-described BeiDou / GNSS full-frequency clock bias and signal deviation estimation method.

[0024] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0025] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0026] Figure 1 This is a schematic diagram of the structure of a BeiDou / GNSS full-frequency clock difference and signal deviation estimation system according to an embodiment of this application;

[0027] Figure 2 This is a schematic diagram of the specific structure of a BeiDou / GNSS full-frequency clock error and signal deviation estimation system according to an embodiment of this application;

[0028] Figure 3 This is a flowchart illustrating a method for estimating clock bias and signal deviation across all frequencies of BeiDou / GNSS according to an embodiment of this application.

[0029] Figure 4This is a schematic diagram illustrating the specific process of a BeiDou / GNSS full-frequency point clock difference and signal deviation estimation method according to an embodiment of this application;

[0030] Figure 5 This is a schematic diagram of the structure of an electronic device according to an embodiment of this application.

[0031] Figure label:

[0032] 10 - BeiDou / GNSS full-frequency clock bias and signal deviation estimation system; 100 - Full-frequency pseudorange deviation estimation module; 200 - Dual-frequency phase clock / phase deviation estimation module; 300 - Full-frequency phase deviation estimation module; 400 - Full-frequency phase clock / phase deviation alignment module; 201 - Differential code deviation estimation unit; 202 - Galileo intra-frequency code deviation estimation unit; 203 - Satellite orbit estimation unit; 204 - Pseudorange clock estimation unit; 205 - Phase deviation estimation unit; 206 - Phase clock estimation unit; 207 - Ephemeral differential inter-frequency clock deviation estimation unit; 208 - Full-frequency phase deviation estimation unit; 209 - Inter-frequency clock deviation refinement estimation unit; 210 - Non-reference frequency pseudorange deviation product calibration unit; 211 - Full-frequency phase clock / phase deviation alignment unit; 501 - Memory; 502 - Processor; 503 - Communication interface. Detailed Implementation

[0033] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0034] The following describes a BeiDou / GNSS full-frequency clock bias and signal deviation estimation system and method according to embodiments of this application, with reference to the accompanying drawings. To address the technical problem mentioned in the background that the diversity of precision products and the lack of a unified modeling framework make it difficult to achieve effective information sharing and joint processing among different precision products, thus limiting their collaborative efficiency in joint calculation and affecting the accuracy and stability of the overall positioning system, this application provides a BeiDou / GNSS full-frequency clock error and signal deviation estimation system. This system integrates a full-frequency pseudorange deviation estimation module, a dual-frequency phase clock / phase deviation estimation module, a full-frequency phase deviation estimation module, and a full-frequency phase clock / phase deviation alignment module. It then performs consistent modeling and joint estimation of pseudorange deviation products and phase deviation products across the entire frequency range, effectively eliminating frequency limitations in the use of precision products. It supports a smooth expansion from dual-frequency positioning to high-precision positioning supporting arbitrary combinations of BeiDou / GNSS frequencies. Furthermore, the system considers frequency compatibility and parameter continuity among various products, maintaining the overall diurnal continuity of the calculated products and avoiding frequency inconsistencies and redundant calculations in cross-diurnal processing. This significantly improves calculation efficiency and system stability, and greatly enhances the usability and flexibility of GNSS PPP technology. This solves the problem that the diversity of precision products and the lack of a unified modeling framework make it difficult to achieve effective information sharing and joint processing among different precision products, thus affecting positioning accuracy.

[0035] Specifically, Figure 1 This is a schematic diagram of the structure of a BeiDou / GNSS full-frequency clock error and signal deviation estimation system provided in an embodiment of this application.

[0036] like Figure 1 As shown, the BeiDou / GNSS full-frequency clock difference and signal bias estimation system includes:

[0037] The full-frequency pseudorange deviation estimation module 100 is used to estimate pseudorange deviation products on multiple frequency points and / or multiple signals of the BeiDou / GNSS system.

[0038] GNSS refers to a positioning, navigation, and timing system composed of multiple navigation satellites distributed in Earth orbit, mainly including but not limited to GPS, BeiDou, and Galileo systems. With the full completion and global coverage of the BeiDou system, its application proportion within the GNSS system continues to increase. The BeiDou / GNSS system typically refers to a technical system centered on the BeiDou system, integrating other GNSS signals to achieve multi-system joint positioning and high-precision navigation services.

[0039] Understandably, GNSS satellites can transmit signals on different radio frequencies (frequency points). Common frequency points include, but are not limited to, 19 frequency points such as GPS L1 / L2 / L5, Galileo E1 / E5a / E5b / E5 / E6, GLONASS G1 / G2 / G3, BDS-2B1 / B3 / B2, and BDS-3B1 / B3 / B2a / B2b / B1C. On the same frequency point, the satellite may transmit multiple signals with different modulation methods or service types. These signals may include, but are not limited to, four types: C / A (Coarse / Acquisition) signals, P (Precision) signals, pilot (C (Cosine) and Q (Quadrature)) signals, and X (Mixed) signals.

[0040] Pseudorange bias products can be the result of modeling, estimating and publishing systematic errors in pseudorange observations in GNSS systems. These can include, but are not limited to, intra-frequency code bias, inter-frequency code bias, and inter-system differences. They can be used to improve the accuracy and consistency of pseudorange measurements.

[0041] In the embodiments of this application, the full-frequency pseudorange bias estimation module 100 can perform systematic bias estimation on pseudorange observations corresponding to all available frequency points (such as L1 / L2 / L5, B1 / B2 / B3, E1 / E5, etc.) in multiple satellite navigation systems (such as GPS, BDS, Galileo, GLONASS) to comprehensively characterize the systematic errors (such as hardware delay, intra-frequency code bias, differential code bias, etc.) in multi-frequency pseudorange observations, thereby serving higher-precision navigation, ionospheric modeling, or time-frequency transmission tasks.

[0042] This application embodiment acquires pseudorange observation data from multiple systems and multiple frequencies, and then performs full-frequency pseudorange bias estimation. This can effectively identify and compensate for pseudorange biases between different frequencies, thereby improving the accuracy and stability of multi-frequency combined positioning.

[0043] Optionally, in one embodiment of this application, the full-frequency pseudorange deviation estimation module 100 includes: a differential code deviation estimation unit for estimating the full-frequency pseudorange deviation other than the Galileo intra-frequency code deviation; and a Galileo intra-frequency code deviation estimation unit for calculating the Galileo intra-frequency code deviation.

[0044] Galileo intra-frequency code deviation generally refers to the systematic pseudorange deviation generated during signal modulation, filtering characteristics, and receiver processing of signals with different modulation schemes at the same frequency. Its main sources include, but are not limited to, signal modulation schemes, pulse shapes, and differences in receiver response to different signals. Other pseudorange deviations across all frequencies besides Galileo intra-frequency code deviation may include, but are not limited to, other intra-frequency code deviations and inter-frequency code deviations.

[0045] In the embodiments of this application, the differential code deviation estimation unit can estimate the pseudorange deviation at all frequencies except for the Galileo intra-frequency code deviation. This can be achieved by constructing a differential observation equation using the ionospheric delay frequency correlation between dual-frequency or multi-frequency observation data, eliminating or suppressing the first-order ionospheric error, thereby separating the hardware-dependent code deviation term in the pseudorange observation. Alternatively, it can be achieved by establishing empirical models related to time, satellite type, and frequency to model and fit the inter-system code deviation and inter-frequency deviation. The Galileo intra-frequency code deviation estimation unit can solve for the Galileo intra-frequency code deviation. This can be done based on the phase clock / phase deviation alignment method, utilizing the high-precision characteristics of carrier phase observation to achieve accurate alignment and estimation of pseudorange deviations between signals in different frequencies. Alternatively, it can be combined with a multi-frequency pseudorange differential model, using joint least squares or filtering methods, leveraging the redundancy and frequency correlation of multi-signal observation data for joint calculation. These settings can be configured by those skilled in the art according to actual conditions, and no specific limitations are imposed here.

[0046] As one possible implementation, in the embodiments of this application, the full-frequency pseudorange deviation estimation module 100 may include, but is not limited to, a differential code deviation estimation unit and a Galileo intra-frequency code deviation estimation unit.

[0047] Among them, the differential code deviation estimation unit can estimate the pseudorange deviation at all frequency points, excluding the Galileo frequency intra-code deviation, based on the ionospheric analysis method, which can be expressed as:

[0048]

[0049] in, These are the frequencies f q f i The ionospheric coefficient above; They are f q f i The pseudorange observations above; G r,qo These are the inter-frequency differential code deviations at the satellite end and the receiver end, respectively. express GF (Geometry-Free) combination; This represents the ionospheric delay above the Galileo E1 frequency.

[0050] In some cases, the Galileo intra-frequency code bias estimation unit can calculate the Galileo intra-frequency code bias based on the phase clock / phase bias alignment method. Specifically, in the embodiments of this application, due to the different models of the deployed receivers, the ranging signal demodulated by the Galileo observatory includes both pilot and mixed signals. Specifically, the Septentrio and Leica receivers demodulate the pilot signal, while the Javad and Trimble receivers demodulate the mixed signal. The Galileo intra-frequency code bias estimation unit can calculate two sets of satellite clock biases based on the observatory that only demodulates the pilot signal and the observatory that demodulates the mixed signal, respectively. and phase deviation products Then, in this embodiment of the application, the difference in satellite clock difference products and the difference in phase deviation between the Galileo pilot and the hybrid signals can be used to calculate the Galileo intra-frequency code deviation.

[0051] Specifically, in this application embodiment, the satellite clock bias / phase bias products of Galileo full frequency point, full frequency point pilot and mixed signal can be estimated first by using the phase clock / phase bias alignment method, and then the difference between the two signal products can be used to obtain the Galileo intra-frequency code bias.

[0052] Optionally, in one embodiment of this application, the formula for calculating the Galileo intra-frequency code deviation can be expressed as:

[0053]

[0054] in, and These represent the intra-frequency code deviations of C1C-C1X and C5Q-C5X, respectively. and These represent the satellite clock biases corresponding to the pilot and mixed signals, respectively. and λ1 and λ2 represent the satellite phase deviations corresponding to the pilot and mixed signals, respectively; λ1 represents the wavelength at Galileo E1 frequency; λ2 represents the wavelength at Galileo E5a frequency; λ w and λ n α and β represent the wide-lane wavelength and narrow-lane wavelength of the Galileo E1 / E5a ​​combination, respectively; α and β represent the two non-ionospheric combination coefficients of the E1 / E5a ​​combination.

[0055] This application embodiment uses a full-frequency pseudorange deviation estimation module 100 to estimate pseudorange deviation products on multiple frequencies and / or multiple signals of the BeiDou / GNSS system. This can eliminate systematic deviations introduced by different frequencies, different signals, and different receiver hardware in pseudorange observations, and reduce inconsistencies within observations and error effects when used in conjunction with other systems.

[0056] Dual-frequency phase clock / phase deviation estimation module 200 is used to estimate the phase clock / phase deviation product on the reference dual frequencies of the BeiDou / GNSS system;

[0057] In multi-frequency GNSS observations, the reference dual-frequency designation typically refers to selecting two specific frequency points (dual frequencies) as the primary reference frequency combination. The observation data from these two frequencies are then used to correct for ionospheric delay and other errors, effectively improving positioning accuracy and system stability. Phase clock products can describe and correct satellite clock bias terms in phase observations. Compared to traditional pseudorange clock bias, they eliminate systematic errors such as inter-symbol deviation present in pseudorange observations, making them more suitable for non-differential solution models where carrier phase is the primary observation.

[0058] Phase deviation products can characterize the systematic deviations between different phase observations under multiple frequency points and multiple modulation signals, including but not limited to inter-frequency phase deviation, inter-signal phase deviation, and integer deviation.

[0059] In the embodiments of this application, the dual-frequency phase clock / phase deviation estimation module 200 can estimate the phase clock / phase deviation product on the reference dual frequencies of the BeiDou / GNSS system. Its functions may include, but are not limited to, satellite orbit parameter estimation, pseudorange clock error estimation, and phase deviation product estimation, which helps to improve the convergence speed and positioning accuracy of technologies such as precise single-point positioning and ambiguity fixation in multi-system and multi-frequency environments.

[0060] Optionally, in one embodiment of this application, the dual-frequency phase clock / phase deviation estimation module 200 includes: a satellite orbit estimation unit for estimating BeiDou / GNSS orbit, Earth rotation parameters, and satellite attitude; a pseudorange clock estimation unit for estimating satellite clock bias products under a fixed dual-difference ambiguity mode; a phase deviation estimation unit for extracting the fractional part of the dual-frequency precise single-point positioning ambiguity parameters to generate satellite phase deviation products; and a phase clock estimation unit for re-estimating satellite clock bias products based on inter-satellite single-difference ambiguity integer constraints.

[0061] It can be noted that BeiDou / GNSS orbits can describe information including, but not limited to, satellite position and velocity, potentially introducing inter-frequency phase deviations and inter-signal phase deviations. This can lead to non-integer shifts in carrier phase observations, thus affecting the fixation of carrier phase ambiguity and positioning accuracy. Earth rotation parameters refer to the Earth's rotation relative to an inertial reference frame, including polar motion and the Earth's rotation rate. Inaccuracies or changes in Earth rotation parameters can cause systematic errors in positioning coordinates and satellite trajectory calculations, thereby affecting the positioning accuracy and stability of the GNSS system. Satellite attitude describes the satellite's spatial orientation and rotation during its on-orbit operation, typically characterized by attitude angles (roll, pitch, yaw). Changes in satellite attitude affect the position and direction of the satellite antenna phase center, potentially causing changes in electromagnetic wave propagation paths and increased antenna phase center errors, thus impacting precision measurement signals (such as carrier phase observations).

[0062] Double-difference allows for the differential measurement of carrier phase observations from two receivers of the same satellite compared to those of another satellite, eliminating errors such as satellite clock bias and receiver clock bias. Ambiguity fixing refers to fixing the integer ambiguity portion of the carrier phase observation from floating-point values ​​to integers, eliminating the corresponding uncertainty. Satellite clock bias products in double-difference ambiguity fixing mode are estimated and output as satellite clock bias correction values ​​after fixing the carrier phase ambiguity parameters to integers during the GNSS double-difference observation processing flow. This allows users to achieve high-precision positioning without estimating ambiguity.

[0063] In PPP, carrier phase ambiguity is a parameter consisting of both integer and fractional parts. Due to satellite and receiver hardware delays, phase deviations, and other system errors, ambiguity generally cannot be directly divided into integers. The fractional part reflects the non-integer deviation of the ambiguity and is a key variable in floating-point solutions. The presence of the fractional part can affect the accuracy of ambiguity fixing and positioning precision. Various filtering and resolution algorithms are typically used to attempt to fix it into integers to improve positioning accuracy.

[0064] Inter-satellite single-difference ambiguity refers to the ambiguity obtained by performing single-difference processing on the carrier phases of different satellites observed by the same receiver. Theoretically, this ambiguity is an integer, but actual observations have errors, so it needs to be fixed by integer constraints.

[0065] In the embodiments of this application, the dual-frequency phase clock / phase deviation estimation module 200 may include, but is not limited to, a satellite orbit estimation unit, a pseudo-range clock estimation unit, a phase deviation estimation unit, and a phase clock estimation unit.

[0066] The satellite orbit estimation unit can use the least squares adjustment algorithm to estimate the precise orbit parameters of BeiDou / GNSS satellites. At the same time, it can solve the Earth's rotation parameters (polar motion, diurnal variation) through a dynamic model and combine the satellite dynamic model to solve key parameters such as satellite attitude quaternions. The pseudorange clock estimation unit can use a non-difference processing mode to estimate the satellite clock error product using a white noise model under the condition of fixed double-difference ambiguity. It is called pseudorange clock because it uses pseudorange observations as a reference. The phase deviation estimation unit can generate the satellite phase deviation product by extracting the fractional part of the dual-frequency precise single-point positioning ambiguity parameters. The phase clock estimation unit can re-estimate the satellite clock error product based on the integer constraints of inter-satellite single-difference ambiguity.

[0067] Specifically, in the embodiments of this application, the inter-satellite single-difference ambiguity integer-constrained clock bias estimation in the phase clock estimation unit is based on PPP to solve floating-point ambiguity, and then inter-satellite single-difference is used to fix the ambiguity. Then, a fixed inter-satellite single-difference ambiguity constraint is introduced to re-estimate the satellite clock bias parameters, thereby merging the time-varying part of the phase deviation with the pseudorange clock to form a phase clock that is more coupled with the phase deviation and based on the phase observation value. The analytical difference between the pseudorange clock and the phase clock can be expressed as:

[0068]

[0069] in, It is a pseudo-distance clock. They are phase clocks, and what they have in common is that they all contain the atomic clock bias t. s Constant pseudorange deviation with and without ionosphere The difference between them lies in the fact that the phase clock includes a zero-mean time-varying phase deviation. c represents the speed of light in a vacuum.

[0070] This application embodiment uses a dual-frequency phase clock / phase deviation estimation module 200 to jointly process GNSS observation data and prior models, estimate core parameters such as satellite orbits and pseudorange clocks of the BeiDou / GNSS system, and output orbit and clock error products that meet the needs of high-precision navigation, timing and scientific research, so as to be applied in PPP scenarios and thereby improve positioning accuracy.

[0071] Full-frequency phase deviation estimation module 300 is used to estimate the phase deviation product of the BeiDou / GNSS system at frequencies other than the reference frequency.

[0072] The reference frequency can be a specific frequency or combination of frequency points selected for normalization or reference during processes such as pseudorange deviation modeling, phase deviation estimation, and phase clock difference product generation.

[0073] It can be explained that the full-frequency phase deviation estimation module 300 can estimate the phase deviation products of the BeiDou / GNSS system at frequencies other than the reference frequency, including but not limited to epoch differential inter-frequency clock deviation, inter-frequency clock deviation refinement estimation, etc., which can eliminate systematic phase deviations between different frequencies, thereby enhancing the consistency of multi-frequency observation data and improving the success rate and stability of ambiguity fixation in multi-frequency precise positioning.

[0074] Optionally, in one embodiment of this application, the full-frequency phase deviation estimation module 300 includes: an epoch-differential inter-frequency clock deviation estimation unit, used to calculate the inter-frequency clock deviation at GPS L5 and BDS-2B2 frequencies using epoch-differential non-geometric non-ionospheric combined observations; a full-frequency phase deviation estimation unit, used to calculate the ambiguity of the GPS / Galileo / BDS-2 / BDS-3 full-frequency points through non-differential non-combined PPP to extract the full-frequency phase deviation; an inter-frequency clock deviation refinement estimation unit, used to calculate the inter-frequency clock deviation through non-differential non-combined network solution and convert the inter-frequency clock deviation into a time-varying phase deviation; and a non-reference frequency pseudorange deviation product calibration unit, used to calibrate the pseudorange deviation product at non-reference frequencies using the inter-frequency pseudorange deviation parameters in the non-differential non-combined network solution.

[0075] Among them, epoch-differenced geometric- and ionospheric-free combined observations can be obtained by performing epoch-difference on combined observations after removing geometric distance and ionospheric delay terms from GNSS phase observations. This eliminates static components (geometric + ionospheric) while retaining time-dependent terms such as satellite clock bias, receiver clock bias, and inter-frequency offset. Non-differentiated, non-combined PPP can directly use original multi-frequency observations (such as pseudorange and carrier phase) as input, combined with precise satellite orbits, clock biases, and auxiliary products, without satellite-receiver differential (non-differentiated) or observation combination (non-combined). This allows for parameter estimation while preserving multi-frequency observation information and improving the model's parameter observability. Ambiguity refers to the integer uncertainty in carrier phase observations in GNSS. Network solution can be jointly calculated based on multiple stations.

[0076] As one possible implementation, the full-frequency phase deviation estimation module 300 may include, but is not limited to, an epoch differential inter-frequency clock deviation estimation unit, a full-frequency phase deviation estimation unit, an inter-frequency clock deviation refinement estimation unit, and a non-reference frequency pseudorange deviation product calibration unit.

[0077] Among them, the epoch-difference inter-frequency clock bias estimation unit can use epoch-difference geometrically and ionospherically free combined observations to calculate the inter-frequency clock bias at GPS L5 and BDS-2B2 frequencies with a resolution of 30 seconds; the full-frequency phase bias estimation unit can use non-differential non-combined PPP to solve the ambiguity of GPS / Galileo / BDS-2 / BDS-3 full-frequency points, and then extract the full-frequency phase bias; the inter-frequency clock bias refinement estimation unit can use non-differential non-combined network solution to solve high-precision inter-frequency clock bias and convert the inter-frequency clock bias into time-varying phase bias; the non-reference frequency pseudorange bias calibration unit can use the inter-frequency pseudorange bias parameters in the non-differential non-combined network solution to calibrate pseudorange bias products on non-reference frequencies.

[0078] Furthermore, the inter-frequency clock bias refinement estimation unit can estimate the inter-frequency clock bias using a non-difference non-combinatorial network solution. Specifically, in this embodiment, the ambiguity parameters and phase deviation calculated by the full-frequency phase deviation estimation unit are first used to form a non-difference, non-combined fixed ambiguity value; then, the non-difference, non-combined fixed ambiguity value is used as the correction value. In the non-difference, non-combinatorial network solution, corrections are made to eliminate most of the ambiguity parameters, thereby improving the solution efficiency. The parameter structure of the non-difference, non-combinatorial network solution can be as follows:

[0079]

[0080] in, To enable the use of piecewise linear functions, the unit of t is epochs:

[0081]

[0082] Furthermore, the reference added in the embodiments of this application can be expressed as:

[0083]

[0084] in, and These are pseudorange observations. and These are phase observations; It is the satellite-to-station distance term that includes error terms such as coordinates and tropospheric delay; and It is the satellite pseudorange bias parameter, and and It is the receiver segment phase deviation parameter; These are receiver clock bias parameters; and These are the estimated ambiguity parameters; It is the ionospheric delay parameter; It is the inter-frequency pseudorange deviation; m1, m2, ..., m 96 It is the slope of each piecewise linear function, q1, q2, ..., q 96 It is the intercept of each piecewise linear function; t represents the epoch number of the observation; It is the inter-frequency clock offset value of the first epoch; q n and q n+1 is the intercept at the nth and (n+1)th ends, while Δt is the epoch interval; p δ These are the weights of the random walk constraint; p d It is the power spectral density of random noise; It represents the prior variance; x represents the starting number for the summation; n sat This indicates the total number of satellites involved in the calculation.

[0085] In actual implementation, the non-reference frequency pseudorange deviation calibration unit of this application embodiment can utilize the inter-frequency pseudorange deviation parameter in the above non-difference non-combination model. Extracting the error value of pseudorange deviation products at non-reference frequencies It can be represented as:

[0086]

[0087] Among them, h r,q Indicates from The satellite end-to-frequency pseudorange deviation parameters separated from the data.

[0088] Furthermore, embodiments of this application can correct the original pseudorange deviation at non-reference frequencies, making it more compatible with phase deviation across all frequencies, thereby improving the ambiguity fixing performance at the user end. This can be expressed as follows:

[0089]

[0090] in, It is the initial pseudorange deviation product; This refers to the calibrated deviation product; q represents a frequency number other than the reference frequency.

[0091] In summary, the embodiments of this application can utilize the dual-frequency phase clock / phase deviation estimation module 300 to perform orbit estimation, pseudorange clock estimation, phase clock estimation, etc., thereby improving the accuracy and consistency of orbit and clock difference products, and enhancing the convergence speed and solution accuracy of the overall GNSS data processing model in non-differential non-combined PPP or precise single-point positioning.

[0092] The full-frequency phase clock / phase deviation alignment module 400 is used to align the product clock difference reference with the clock difference reference of the previous day's product based on the pseudorange deviation product, the phase clock / phase deviation product, and the phase deviation product, thereby maintaining the diurnal continuity of the product.

[0093] Reference alignment unifies parameters (such as clock bias, pseudorange bias, phase bias, and ambiguity) from multiple frequencies, systems, and signals under a common reference standard for processing or representation. This improves parameter consistency among multiple frequencies, enhances the accuracy of fusion calculations across multiple systems, strengthens the stability and convergence of the PPP calculation model, and reduces the interference of inter-frequency biases on the calculation results, thereby achieving higher accuracy and reliability in positioning services. Date continuity typically refers to the characteristic that products (such as orbit, clock bias, pseudorange bias, and phase bias) remain continuous and non-abrupt at the date boundary (00:00:00 UTC).

[0094] Optionally, in one embodiment of this application, the full-frequency phase clock / phase deviation alignment module 400 is further used to extract the closure difference formed at the boundary of adjacent day products based on the boundary consistency of orbit, clock difference and signal deviation at each frequency, so as to eliminate the difference caused by the randomness of the selection of mean reference and ambiguity reference.

[0095] Understandably, the ambiguity reference typically refers to the ambiguity term included in carrier phase observations, and the initial reference for ambiguity resolution may differ daily. The mean reference, which can be a clock bias product or a deviation product, is usually constrained by a certain mean reference (such as an average of 0 for the entire constellation or a portion of satellites), and this reference selection may vary daily.

[0096] The embodiments of this application can extract the closure difference formed at the boundary of adjacent day products based on the boundary consistency of the orbit, clock difference and signal deviation at each frequency calculated in the product estimation module, and eliminate the differences caused by the randomness of the selection of the mean benchmark and ambiguity benchmark, thereby maintaining the overall boundary continuity of the product.

[0097] As one possible implementation, in embodiments of this application, the reference frequency product is introduced into the diurnal discontinuity of the observations. The expression can be represented as:

[0098]

[0099] in, The product discontinuity introduces a boundary discontinuity into the ionospheric ambiguity at the user end; Δ AB r iIt is a radial discontinuity at the solar boundary, Δ AB t i The discontinuity of the day's horizon due to clock differences and Δ AB IF i These are the discontinuities in phase deviation between the wide lane and the narrow lane combination, respectively.

[0100] Furthermore, multi-frequency products are introduced to address the diurnal discontinuity of the observed values. The expression can be represented as:

[0101]

[0102] in, The discontinuity of the product boundary is introduced into the ambiguity of the non-reference frequency point on the user end due to the discontinuity of the boundary. This indicates the daily discontinuity of the phase-biased product; Indicates pseudorange deviation product and The diurnal discontinuity of the GF combination can be expressed as:

[0103]

[0104] This application embodiment can identify and quantify the observation deviations introduced by the diurnal variation of clock bias, inter-frequency deviation, or ambiguity reference through the diurnal discontinuity model. It can then construct a reference consistency adjustment strategy or closure error constraint to achieve diurnal continuity of cross-day observation data in parameters such as clock bias, pseudorange deviation, and phase deviation. This can effectively improve the diurnal stability and solution continuity of the product, thereby ensuring continuous and reliable data service capabilities in high-precision positioning, orbit determination, or geodetic surveying applications.

[0105] like Figure 2 As shown, as a specific example, the BeiDou / GNSS full-frequency clock error and signal deviation estimation system of this application embodiment may include, but is not limited to, the following:

[0106] (1) Full-frequency pseudorange deviation estimation module.

[0107] The full-frequency pseudorange deviation estimation module may include, but is not limited to, the differential code deviation estimation unit 201 and the Galileo intra-frequency code deviation estimation unit 202.

[0108] In this embodiment, after acquiring the raw GNSS observation data, the differential code bias estimation unit 201 and the Galileo intra-frequency code bias estimation unit 202 are used to jointly model the pseudorange observations of multiple systems and multiple frequencies, estimate and obtain the complete full-frequency pseudorange bias product (observable specific bias OSB). This can improve the frequency integrity of the pseudorange bias product, ensure that subsequent parameter estimation based on different frequency combinations has a unified pseudorange bias benchmark, and help in the construction and convergence of the multi-frequency PPP model.

[0109] (2) Dual-frequency phase clock / phase deviation estimation module.

[0110] The dual-frequency phase clock / phase deviation estimation module may include, but is not limited to, satellite orbit estimation unit 203, pseudo-range clock estimation unit 204, phase deviation estimation unit 205, and phase clock estimation unit 206.

[0111] This embodiment of the application utilizes the satellite orbit estimation unit 203 to obtain high-precision orbit information, calls the pseudorange clock estimation unit 204 to estimate the floating-point clock error in combination with pseudorange observations, and introduces the phase deviation estimation unit 205 and the phase clock estimation unit 206 to further obtain the phase deviation and phase clock products under dual frequencies. This can achieve the decoupling of phase observation values ​​and clock errors under dual frequencies, improve the accuracy of clock error modeling, and provide a high-quality foundation for the expansion and integration of multi-frequency phase clock products.

[0112] (3) Full-frequency phase deviation estimation module.

[0113] The full-frequency phase deviation estimation module may include an epoch differential inter-frequency clock deviation estimation unit 207, a full-frequency phase deviation estimation unit 208, an inter-frequency clock deviation refinement estimation unit 209, and a non-reference frequency pseudorange deviation product calibration unit 210.

[0114] This embodiment estimates the epoch-level clock bias variation trend between different frequency points using the epoch differential inter-frequency clock bias estimation unit 207; estimates the phase bias of non-reference frequency points using the full-frequency phase bias estimation unit 208; iteratively optimizes the inter-frequency clock bias using the inter-frequency clock bias refinement estimation unit 209; and corrects the pseudorange observations on non-reference frequency points using the non-reference frequency pseudorange bias product calibration unit 210. This improves the consistency of phase and pseudorange observations on non-reference frequency points, further enhances the accuracy of full-frequency phase bias estimation, and facilitates unified modeling of the multi-frequency PPP algorithm under different frequency combinations.

[0115] (4) Full-frequency phase deviation estimation module.

[0116] The full-frequency phase clock / phase deviation alignment module may include, but is not limited to, the full-frequency phase clock / phase deviation alignment unit 211.

[0117] As one possible implementation, this application embodiment can utilize the full-frequency phase clock / phase deviation alignment unit 211 to jointly process the full-frequency pseudorange OSB, dual-frequency phase clock and phase deviation product, and full-frequency phase OSB, to achieve time reference alignment and date continuity processing between different frequencies, and finally output continuous and complete GNSS full-frequency clock difference and signal deviation product. This can ensure that the output product has good continuity and consistency between different frequencies and different epochs, and can be directly used for multi-frequency high-precision PPP solution, effectively improving the accuracy and convergence speed of PPP solution.

[0118] The BeiDou / GNSS full-frequency clock error and signal deviation estimation system proposed in this application integrates a full-frequency pseudorange deviation estimation module, a dual-frequency phase clock / phase deviation estimation module, a full-frequency phase deviation estimation module, and a full-frequency phase clock / phase deviation alignment module. This allows for consistent modeling and joint estimation of pseudorange deviation products and phase deviation products across the entire frequency range. This effectively eliminates frequency limitations in the use of precision products, supports a smooth expansion from dual-frequency positioning to high-precision positioning supporting arbitrary combinations of BeiDou / GNSS frequencies. Furthermore, the system considers frequency compatibility and parameter continuity among various products, maintaining the overall diurnal continuity of the calculated products and avoiding frequency inconsistencies and redundant calculations in cross-diurnal processing. This significantly improves calculation efficiency and system stability, and greatly enhances the usability and flexibility of GNSS PPP technology.

[0119] Next, referring to the accompanying drawings, a method for estimating the clock bias and signal deviation of the BeiDou / GNSS full-frequency points according to an embodiment of this application is described.

[0120] Figure 3 This is a flowchart of the BeiDou / GNSS full-frequency clock bias and signal deviation estimation method according to an embodiment of this application.

[0121] like Figure 3 As shown, the method for estimating the clock difference and signal bias across all frequencies of BeiDou / GNSS includes the following steps:

[0122] In step S301, pseudorange deviation products on multiple frequency points and / or multiple signals of the BeiDou / GNSS system are estimated.

[0123] In step S302, the phase clock / phase deviation product on the reference dual frequency of the BeiDou / GNSS system is estimated.

[0124] In step S303, the phase deviation product of the BeiDou / GNSS system at frequencies other than the reference frequency is estimated.

[0125] In step S304, based on the pseudorange deviation product, the phase clock / phase deviation product, and the phase deviation product, the product clock difference reference is aligned with the clock difference reference of the previous day's product to maintain the product's date continuity.

[0126] like Figure 4 As shown below, a specific example will be used to describe in detail the method for estimating the clock difference and signal deviation of the BeiDou / GNSS full-frequency points according to an embodiment of this application. The embodiments of this application may include, but are not limited to, the following steps:

[0127] Before proceeding with the steps, this embodiment of the application first performs GNSS observation data download and quality check to ensure the reliability of the input data.

[0128] In step S401, the dual-frequency pseudo-range clock product is estimated.

[0129] After data preparation, this embodiment of the application can use full-frequency, geometry-free combined observations and, based on ionospheric analysis methods, estimate the pseudorange bias products across all frequencies, excluding Galileo frequency intracode bias. Subsequently, large-scale network calculations are performed using dual-frequency, ionospheric-free combined observations to estimate satellite orbits, floating-point clock biases, and orbit and clock bias products for the BeiDou / GNSS reference frequencies.

[0130] In step S402, the dual-frequency phase clock product is estimated.

[0131] Based on the above steps, this embodiment of the application can generate a dual-frequency phase deviation product, and further estimate the dual-frequency phase clock difference product by combining it with inter-satellite single-difference ambiguity constraints. Based on this dual-frequency phase deviation and dual-frequency phase clock difference product, this embodiment of the application can calculate the Galileo intra-frequency code deviation, thereby updating the pseudorange deviation product.

[0132] In step S403, the integer value of the ambiguity of the non-reference frequency point is estimated.

[0133] This application embodiment can perform epoch difference based on geometrically ionized combination observations to obtain epoch difference inter-frequency clock bias, thereby estimating the initial inter-frequency clock bias products for GPS L5 and BDS-2B2 at the same frequency. Furthermore, this application embodiment can combine dual-frequency phase clock bias, dual-frequency phase bias, and full-frequency pseudorange bias to further solve for the time-invariant phase bias at non-reference frequencies, and fix the full-frequency ambiguity to an integer value.

[0134] In step S404, the phase deviation of the non-reference frequency point is estimated.

[0135] Based on a fixed ambiguity, embodiments of this application can perform full-frequency non-differential non-combined network decomposition to form carrier pseudorange network decomposition results, thereby obtaining a more accurate inter-frequency clock offset product. Furthermore, embodiments of this application can merge the inter-frequency clock offset product with the aforementioned time-invariant phase offset product to construct a complete full-frequency phase offset product.

[0136] In step S405, pseudorange deviation correction is performed at non-reference frequencies.

[0137] The embodiments of this application can perform inter-frequency deviation calibration based on pseudorange deviation products of non-reference frequencies, and merge them with full-frequency pseudorange deviation products to finally output full-frequency pseudorange deviation products with higher consistency.

[0138] In step S406, the full-frequency phase clock / phase deviation is aligned.

[0139] As one possible implementation method, the embodiments of this application can align the full-frequency clock difference and signal deviation products obtained by steps S401-S405 with the same products from the previous day using full-frequency phase clock / phase deviation, extract the closure error of the products at the horizon, eliminate the discontinuity at the horizon caused by the difference in the selection of ambiguity reference and mean reference, and ensure the time continuity and stability of the clock difference and deviation products.

[0140] Ultimately, the embodiments of this application can output complete, continuous, and highly accurate GNSS full-frequency clock bias and signal deviation products, which can be used for high-precision PPP calculation, improve the accuracy and consistency of PPP models with different frequency combinations, and meet the needs of high-precision positioning.

[0141] It should be noted that the foregoing explanation of the BeiDou / GNSS full-frequency point clock error and signal deviation estimation system embodiment also applies to the BeiDou / GNSS full-frequency point clock error and signal deviation estimation method of this embodiment, and will not be repeated here.

[0142] The BeiDou / GNSS full-frequency clock bias and signal deviation estimation method proposed in this application integrates a full-frequency pseudorange deviation estimation module, a dual-frequency phase clock / phase deviation estimation module, a full-frequency phase deviation estimation module, and a full-frequency phase clock / phase deviation alignment module. This allows for consistent modeling and joint estimation of pseudorange deviation products and phase deviation products across the entire frequency range. This effectively eliminates frequency limitations in the use of precision products, supports a smooth expansion from dual-frequency positioning to high-precision positioning supporting arbitrary combinations of BeiDou / GNSS frequencies. Furthermore, the system considers frequency compatibility and parameter continuity among various products, maintaining the overall diurnal continuity of the calculated products and avoiding frequency inconsistencies and redundant calculations during cross-diurnal processing. This significantly improves calculation efficiency and system stability, and greatly enhances the usability and flexibility of GNSS PPP technology.

[0143] Figure 5 A schematic diagram of the structure of an electronic device provided in an embodiment of this application. The electronic device may include:

[0144] The memory 501, the processor 502, and the computer program stored on the memory 501 and capable of running on the processor 502.

[0145] When the processor 502 executes the program, it implements the BeiDou / GNSS full-frequency clock error and signal deviation estimation method provided in the above embodiments.

[0146] Furthermore, electronic devices also include:

[0147] Communication interface 503 is used for communication between memory 501 and processor 502.

[0148] The memory 501 is used to store computer programs that can run on the processor 502.

[0149] The memory 501 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0150] If the memory 501, processor 502, and communication interface 503 are implemented independently, then the communication interface 503, memory 501, and processor 502 can be interconnected via a bus to complete communication between them. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of representation, Figure 5 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0151] Optionally, in a specific implementation, if the memory 501, processor 502, and communication interface 503 are integrated on a single chip, then the memory 501, processor 502, and communication interface 503 can communicate with each other through an internal interface.

[0152] Processor 502 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application.

[0153] This embodiment also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described method for estimating the clock difference and signal deviation of the BeiDou / GNSS full-frequency points.

[0154] This application also provides a computer program product, including a computer program that can run computer instructions. When the computer instructions are executed by a processor, they implement the BeiDou / GNSS full-frequency clock error and signal deviation estimation method provided in this application.

[0155] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0156] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0157] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0158] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0159] It should be understood that the various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, it can be implemented using any one or more of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0160] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0161] Furthermore, the functional units in the various embodiments of this application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0162] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this application.

Claims

1. A BeiDou / GNSS full-frequency point clock difference and signal deviation estimation system, characterized in that, Including: The full-frequency pseudorange deviation estimation module is used to estimate pseudorange deviation products on multiple frequency points and / or multiple signals of the BeiDou / GNSS system. Dual-frequency phase clock / phase deviation estimation module, used to estimate the phase clock / phase deviation product on the reference dual frequencies of the BeiDou / GNSS system; The full-frequency phase deviation estimation module is used to estimate the phase deviation products of the BeiDou / GNSS system at frequencies other than the reference frequency. The full-frequency phase clock / phase deviation alignment module is used to align the product clock bias reference with the clock bias reference of the previous day's product based on the pseudorange deviation product, the phase clock / phase deviation product, and the phase deviation product, thereby maintaining the product's date continuity.

2. The system according to claim 1, characterized in that, The full-frequency pseudorange bias estimation module includes: The differential code deviation estimation unit is used to estimate the pseudorange deviation at all frequency points, excluding the Galileo intra-frequency code deviation. The Galileo frequency code deviation estimation unit is used to calculate the Galileo frequency code deviation.

3. The system according to claim 2, characterized in that, The formula for calculating the Galileo intra-frequency code deviation is as follows: in, and These represent the intra-frequency code deviations of C1C-C1X and C5Q-C5X, respectively. and These represent the satellite clock biases corresponding to the pilot and mixed signals, respectively. and λ1 and λ2 represent the satellite phase deviations corresponding to the pilot and mixed signals, respectively; λ1 represents the wavelength at Galileo E1 frequency; λ2 represents the wavelength at Galileo E5a frequency; λ w and λ n α and β represent the wide-lane wavelength and narrow-lane wavelength of the Galileo E1 / E5a ​​combination, respectively; α and β represent the two non-ionospheric combination coefficients of the E1 / E5a ​​combination.

4. The system according to claim 1, characterized in that, The dual-frequency phase clock / phase deviation estimation module includes: The satellite orbit estimation unit is used to estimate BeiDou / GNSS orbits, Earth rotation parameters, and satellite attitude. The pseudo-range clock estimation unit is used to estimate satellite clock error products in a fixed double-difference ambiguity mode. The phase deviation estimation unit is used to extract the fractional part of the dual-frequency precise single-point positioning ambiguity parameters to generate satellite phase deviation products. Phase clock estimation unit, used to re-evaluate satellite clock error products based on inter-satellite single-difference ambiguity integer constraints.

5. The system according to claim 1, characterized in that, The full-frequency phase deviation estimation module includes: The epoch-differential inter-frequency clock bias estimation unit is used to calculate the inter-frequency clock bias at GPS L5 and BDS-2B2 frequencies using epoch-differential combined observations without geometry or ionosphere. The full-frequency point phase deviation estimation unit is used to solve the ambiguity of GPS / Galileo / BDS-2 / BDS-3 full-frequency points through non-differential non-combined PPP to extract the full-frequency point phase deviation. The inter-frequency clock bias refinement estimation unit is used to solve the inter-frequency clock bias through non-difference non-combination network solution and convert the inter-frequency clock bias into a time-varying phase bias. The non-reference frequency pseudorange deviation product calibration unit is used to calibrate pseudorange deviation products at non-reference frequencies using the inter-frequency pseudorange deviation parameters in the non-differential non-combined network solution.

6. The system according to claim 1, characterized in that, The full-frequency phase clock / phase deviation alignment module is further used to extract the closure difference formed at the boundary of adjacent day products based on the consistency of the orbit, clock difference and signal deviation at each frequency, so as to eliminate the differences caused by the randomness of the selection of the mean benchmark and ambiguity benchmark.

7. A method for estimating clock difference and signal deviation across all frequencies of BeiDou / GNSS, characterized in that, The sampling method comprises the following steps: (1) Sampling the BeiDou / GNSS full-frequency clock difference and signal bias estimation system as described in any one of claims 1-6. Estimating pseudorange deviation products at multiple frequency points and / or multiple signals of the BeiDou / GNSS system; Estimate the phase clock / phase deviation products on the reference dual frequencies of the BeiDou / GNSS system; Estimate the phase deviation product of the BeiDou / GNSS system at frequencies other than the reference frequency; Based on the pseudorange deviation product, the phase clock / phase deviation product, and the phase deviation product, the product clock difference reference is aligned with the clock difference reference of the previous day's product to maintain the product's date continuity.

8. An electronic device, characterized in that, include: The system includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the BeiDou / GNSS full-frequency clock bias and signal deviation estimation method as described in claim 7.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, The program is executed by the processor to implement the BeiDou / GNSS full-frequency clock bias and signal deviation estimation method as described in claim 7.

10. A computer program product, comprising a computer program, characterized in that, The computer program is executed to implement the BeiDou / GNSS full-frequency clock difference and signal deviation estimation method as described in claim 7.

Images