Method, device and storage medium for determining gnss observations of frequency points

Abstract

The application provides a method, device and storage medium for determining GNSS observation values of frequency points, which determines the satellite-ground distance difference between the first frequency point of known observation values and the second frequency point of unknown observation values; determines the pseudo-range observation value of the second frequency point and / or the phase observation value of the second frequency point according to the satellite-ground distance difference between the first frequency point and the second frequency point, the observation value of the first frequency point, the state space representation correction number of the satellite, the central frequencies of the first frequency point and the second frequency point, on the one hand, the difference in satellite-ground distance between different frequency points is fully considered, so that the accuracy of the recovered pseudo-range observation and / or phase observation value of the frequency point is higher, at the same time, the requirements for the first frequency point and the second frequency point are reduced, the universality of the method is improved, on the other hand, the high-precision ionospheric delay in the SSR correction number, the pseudo-range hardware delay and the phase hardware delay at the satellite end are effectively utilized for error compensation, the implementation difficulty is reduced, and the feasibility of the method is improved.

Description

Technical Field

[0001] This article relates to communication technologies, particularly to methods, equipment, and storage media for determining GNSS observations at a specific frequency. Background Technology

[0002] Global Navigation Satellite Systems (GNSS) are widely used to provide spatiotemporal information services to users worldwide. Users achieve positioning, velocity measurement, and time synchronization by receiving ranging signals broadcast to the ground from GNSS satellites. Currently, the main GNSS systems providing global navigation and positioning services include the US GPS system, Russia's GLONASS system, Europe's Galileo system, and China's BeiDou system. Most GNSS satellites broadcast multiple ranging signals on different frequency bands. GNSS receivers amplify and down-convert signals from different frequencies using radio frequency front-end circuitry, then acquire and track these signals in a dedicated channel. The receiver uses code correlation and phase-locked loop (PLL) techniques to obtain pseudorange and phase observations at a specific frequency.

[0003] High-precision GNSS positioning technology typically requires observations at multiple frequencies. However, due to factors such as the observation environment, observation stations sometimes cannot acquire observations at all frequencies. To address this issue, existing technologies have proposed methods to recover observations at other frequencies based on single-frequency observations. However, these existing technologies have stringent requirements on the frequency difference between known and unknown observation frequencies, lacking universality. Summary of the Invention

[0004] This application provides a method, device, and storage medium for determining GNSS observations at a frequency point, which features high universality, high feasibility, and high accuracy of calculation results.

[0005] In a first aspect, this application provides a method for determining GNSS observations at a frequency point, comprising: determining the satellite-to-ground distance difference between a first frequency point and a second frequency point; wherein, the first frequency point is a frequency point with known observations, and the observations at the first frequency point include at least one of the following: pseudorange observations and phase observations; the second frequency point and the first frequency point are different frequencies on the same satellite; Based on the satellite-to-ground distance difference between the first and second frequency points, the observation value of the first frequency point, the satellite's state-space characterization correction, the center frequency of the first frequency point, and the center frequency of the second frequency point, determine at least one of the following: the pseudorange observation value of the second frequency point and the phase observation value of the second frequency point.

[0006] In one possible implementation, the pseudorange observation value of the second frequency point is determined based on the satellite-to-ground distance difference between the first and second frequency points, the observed value of the first frequency point, the satellite's state-space characterization correction, the center frequency of the first frequency point, and the center frequency of the second frequency point, including: Obtain the pseudorange hardware delay at the first frequency point and the pseudorange hardware delay at the second frequency point from the satellite's state space representation correction. Based on the satellite-to-ground distance difference between the first and second frequency points, the ionospheric delay of the first frequency point, the pseudorange hardware delay and pseudorange observation value at the satellite end, the pseudorange hardware delay of the second frequency point at the satellite end, the center frequency of the first frequency point, and the center frequency of the second frequency point, the pseudorange observation value of the second frequency point is determined.

[0007] In one possible implementation, the ionospheric delay at the first frequency is determined according to at least one of the following methods: The ionospheric delay at the first frequency point is obtained from the state-space characterization corrections of the satellite. The ionospheric delay of the first frequency point is determined based on the center frequency, signal wavelength, phase observation value, integer ambiguity, and phase hardware delay at the satellite end of the first and third frequency points, as well as the satellite-to-ground distance difference between the first and third frequency points; wherein the third frequency point and the first frequency point are different frequency points on the same satellite.

[0008] In one possible implementation, the ionospheric delay of the first frequency point is determined based on the center frequencies, signal wavelengths, phase observations, integer ambiguities, and phase hardware delay at the satellite end of the first and third frequency points, as well as the satellite-to-ground distance difference between the first and third frequency points, including: The following expression is used for calculation: , in, Indicates the ionospheric delay at the first frequency point. This indicates the signal wavelength at the first frequency point. The signal wavelength representing the third frequency point. This represents the phase observation value at the first frequency point. This represents the phase observation value at the third frequency point. Indicates the integer ambiguity of the first frequency point. Indicates the integer ambiguity of the third frequency point. This represents the satellite distance difference between the first and third frequency points. This indicates the phase hardware delay at the satellite end for the first frequency point. This indicates the phase hardware delay at the satellite end for the third frequency point. This indicates the center frequency of the first frequency point. This indicates the center frequency of the third frequency point.

[0009] In one possible implementation, the pseudorange observation value of the second frequency point is determined based on the satellite-to-ground distance difference between the first and second frequency points, the ionospheric delay of the first frequency point, the pseudorange hardware delay and pseudorange observation value at the satellite end, the pseudorange hardware delay of the second frequency point at the satellite end, the center frequency of the first frequency point, and the center frequency of the second frequency point, including: The following expression is used for calculation: , in, This represents the pseudorange observation value at the second frequency point. This represents the pseudorange observation value at the first frequency point. This indicates the pseudorange hardware delay at the satellite end for the first frequency point. This represents the difference in satellite-to-ground distance between the first and second frequency points. This indicates the center frequency of the second frequency point. This indicates the pseudorange hardware delay at the satellite end for the second frequency point.

[0010] In one possible implementation, the phase observation value of the second frequency point is determined based on the satellite-to-ground distance difference between the first and second frequency points, the observed value of the first frequency point, the satellite's state-space characterization correction, the center frequency of the first frequency point, and the center frequency of the second frequency point, including: When the integer ambiguity of the first frequency point is unknown, the pseudorange hardware delay of the first frequency point at the satellite end and the phase hardware delay of the second frequency point at the satellite end are obtained from the satellite's state space characterization correction. Based on the satellite-to-ground distance difference between the first and second frequency points, the center frequency of the first frequency point, the pseudorange hardware delay at the satellite end and the pseudorange observation value, the center frequency of the second frequency point and the phase hardware delay at the satellite end, the phase observation value of the second frequency point is determined. Given that the integer ambiguity of the first frequency point is known, the phase hardware delay of the first frequency point at the satellite end and the phase hardware delay of the second frequency point at the satellite end are obtained from the satellite's state space characterization correction. Based on the satellite-to-ground distance difference between the first and second frequency points, the center frequency of the first frequency point, the phase hardware delay at the satellite end, and the phase observation value, and the center frequency and phase hardware delay at the satellite end of the second frequency point, the phase observation value of the second frequency point is determined.

[0011] In one possible implementation, the phase observation value of the second frequency point is determined based on the satellite-to-ground distance difference between the first and second frequency points, the center frequency of the first frequency point, the pseudorange hardware delay at the satellite end, and the pseudorange observation value, as well as the center frequency of the second frequency point and the phase hardware delay at the satellite end, including: The following expression is used for calculation: ; Based on the satellite-to-ground distance difference between the first and second frequency points, the center frequency of the first frequency point, the phase hardware delay at the satellite end, and the phase observation value, and the center frequency of the second frequency point and the phase hardware delay at the satellite end, the phase observation value of the second frequency point is determined, including: The following expression is used for calculation: ; in, This represents the phase observation value at the second frequency point. This represents the pseudorange observation value at the first frequency point. This indicates the pseudorange hardware delay at the satellite end for the first frequency point. This represents the difference in satellite-to-ground distance between the first and second frequency points. This indicates the center frequency of the first frequency point. This indicates the center frequency of the second frequency point. This indicates the phase hardware delay at the satellite end for the second frequency point. This indicates the signal wavelength at the second frequency point. This indicates the signal wavelength at the first frequency point. This represents the phase observation value at the first frequency point. Indicates the integer ambiguity of the first frequency point. This indicates the phase hardware delay at the satellite end for the first frequency point. This represents the ionospheric delay at the first frequency point.

[0012] In one possible implementation, determining the satellite-to-ground distance difference between the first frequency point and the second frequency point includes: The transmission time of the first frequency point is determined based on the pseudorange observation value and reception time of the first frequency point; Based on the satellite's broadcast ephemeris and orbital corrections, as well as the transmission time of the first frequency point, determine the satellite's centroid coordinates at the time of the first frequency point's launch. Based on the antenna phase information of the first frequency point and the antenna phase information of the second frequency point, as well as the satellite's centroid coordinates when the satellite was launched at the first frequency point, the antenna phase center coordinates of the first frequency point and the antenna phase center coordinates of the second frequency point are determined. Based on the pre-determined approximate location information of the user, as well as the antenna phase center coordinates of the first frequency point and the antenna phase center coordinates of the second frequency point, the satellite-to-ground distance between the antenna phase center of the first frequency point and the user, and the satellite-to-ground distance between the antenna phase center of the second frequency point and the user are determined; wherein, the approximate location of the user is determined based on the pseudorange observation value of the first frequency point; The difference between the satellite-to-ground distance between the first frequency point and the second frequency point is determined based on the satellite-to-ground distance between the antenna phase center of the first frequency point and the user, and the satellite-to-ground distance between the antenna phase center of the second frequency point and the user.

[0013] Secondly, this application also provides an electronic device, including a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus; Memory, used to store computer programs; A processor, when executing a program stored in memory, implements any of the methods provided in the first aspect.

[0014] Thirdly, this application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements any of the methods provided in the first aspect.

[0015] The method, device, and storage medium for determining GNSS observations at frequency points provided in this application determine the satellite-to-ground distance difference between a first frequency point and a second frequency point with known observations. Based on the satellite-to-ground distance difference between the first and second frequency points, the observation value of the first frequency point, the satellite's state-space characterization correction, the center frequency of the first frequency point, and the center frequency of the second frequency point, the pseudorange observation value of the second frequency point and / or the phase observation value of the second frequency point are determined. This fully considers the satellite-to-ground distance differences between different frequency points on a single satellite, resulting in higher accuracy of the recovered pseudorange and / or phase observation values ​​of the frequency points. At the same time, it reduces the requirements for the first and second frequency points, improving the universality and feasibility of the method.

[0016] Other features and advantages of this application will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the application. Other advantages of this application can be realized and obtained by means of the embodiments described in the description and the accompanying drawings. Attached Figure Description

[0017] The accompanying drawings are used to provide an understanding of the technical solutions of this application and constitute a part of the specification. They are used together with the embodiments of this application to explain the technical solutions of this application and do not constitute a limitation on the technical solutions of this application.

[0018] Figure 1 This is a flowchart illustrating a method for determining GNSS observations at a frequency point, as provided in an embodiment of this application. Detailed Implementation

[0019] This application describes several embodiments, but these descriptions are exemplary and not limiting, and it will be apparent to those skilled in the art that many more embodiments and implementations are possible within the scope of the embodiments described herein. Although many possible combinations of features are shown in the drawings and discussed in the detailed description, many other combinations of the disclosed features are also possible. Unless specifically limited, any feature or element of any embodiment may be used in combination with, or may replace, any feature or element of any other embodiment.

[0020] This application includes and contemplates combinations of features and elements known to those skilled in the art. The embodiments, features, and elements disclosed in this application can also be combined with any conventional features or elements to form unique inventive solutions. Any feature or element of any embodiment can also be combined with features or elements from other inventive solutions to form another unique inventive solution. Therefore, it should be understood that any feature shown and / or discussed in this application can be implemented individually or in any suitable combination. Therefore, the embodiments are not limited except by the limitations imposed by the appended claims and their equivalents. Furthermore, various modifications and changes can be made within the scope of the appended claims.

[0021] Furthermore, in describing representative embodiments, the specification may have presented methods and / or processes as a specific sequence of steps. However, the method or process should not be limited to a specific order of steps to the extent that it does not depend on this specific order. As will be understood by those skilled in the art, other sequences of steps are also possible. Therefore, the specific order of steps set forth in the specification should not be construed as a limitation of the claims. Moreover, the claims relating to the method and / or process should not be limited to the steps performed in the order written, and those skilled in the art will readily understand that these orders can be varied and still remain within the spirit and scope of the embodiments of this application.

[0022] High-precision GNSS positioning technology typically requires pseudorange and phase observations from multiple frequency points. Taking Real-Time Kinematic (RTK) technology as an example, the rover receives frequency observations from a base station with known coordinates and eliminates most of the errors in these observations through differential methods, achieving centimeter-level or even millimeter-level positioning accuracy. Because some satellite navigation signal error sources are frequency-dependent, RTK technology can only use frequency observations from common frequencies shared by the rover and base station for positioning calculations. However, due to cost or observation environment limitations, the number of frequency points a rover receiver can receive is often less than that of the base station. In cases where the base station uses an older receiver, the number of frequency points observed by the base station may also be less than that observed by the rover. Once the number of frequency points involved in the positioning calculation decreases, positioning performance degrades. To address this issue, existing technologies propose methods for recovering observations at other frequencies from single-frequency observations. However, these methods, which utilize dual-frequency pseudorange observations to extract ionospheric delay, are limited in accuracy by the measurement precision of the pseudorange observations, making it difficult to achieve centimeter-level precision. Therefore, they require the two frequencies to be very close, ensuring a sufficiently small coefficient preceding the ionospheric delay, to meet the accuracy requirements for phase observations in positioning, thus lacking universality. The inventors further discovered that the phase centers of satellite antennas at different frequencies are not necessarily the same. Existing technologies that directly calculate satellite-to-ground distances using pseudorange observations at known frequencies are inaccurate. Furthermore, the hardware delays of signals at different frequencies vary at the satellite end, but existing technologies have not considered these differences, leading to significant errors in the results.

[0023] To address the problems existing in the prior art, this application provides a method for determining GNSS observations at specific frequencies. This method is based on State Space Representation Corrections (SSR) to recover missing observations at user-defined frequencies. As long as a user can receive observation signals from one or more frequencies of a particular satellite, the missing observations at other frequencies can be recovered. Taking SSR corrections supporting GPS L1, L2, L5, GLONASS L1 and L2, Galileo E1, E5a, E5b, E5, E6, and BeiDou B1I, B2I, B3I, B1C, B2a, B2b frequencies as an example, when a user can only receive pseudorange and phase observations from GPS L1, GLONASS L1, Galileo E1, E5a, and BeiDou B1I, B2I, the method provided in this application can recover the pseudorange and phase observations from GPS L2, L5, GLONASS L2, Galileo E5b, E5, E6, and BeiDou B3I, B1C, B2a, B2b frequencies.

[0024] Figure 1 A flowchart illustrating a method for determining GNSS observations at a frequency point, as provided in this application embodiment, is shown below. Figure 1 As shown, the method includes: S101. Determine the satellite-to-ground distance difference between the first frequency point and the second frequency point.

[0025] The first frequency point is the frequency point of the known observation value.

[0026] The observations at the first frequency point include at least one of the following: pseudorange observations and phase observations.

[0027] The second frequency point and the first frequency point are different frequencies on the same satellite.

[0028] Satellite-to-ground distance is the distance between the phase center of the satellite signal transmitting antenna and the ground receiver. Satellites typically transmit signals at multiple frequencies simultaneously. When a satellite has multiple antennas, each capable of transmitting signals at different frequencies, the satellite will transmit these signals through different antennas at the same time. Because each antenna is positioned differently, the distance between the phase center of the satellite signal transmitting antenna and the ground receiver will vary depending on the frequency being transmitted; that is, the satellite-to-ground distance will differ for different frequencies.

[0029] Determine the satellite-to-ground distance difference between the first frequency point and the second frequency point, that is, determine the difference between the distance from the antenna phase center of the first frequency point on the satellite to the ground receiver and the distance from the antenna phase center of the second frequency point to the ground receiver when the satellite signal is transmitted.

[0030] In one possible implementation, determining the satellite-to-ground distance difference between the first frequency and the second frequency includes: determining the transmission time of the first frequency based on pseudorange observations and reception time; determining the satellite's centroid coordinates at the time of transmission of the first frequency based on the satellite's broadcast ephemeris and orbital corrections, as well as the transmission time of the first frequency; determining the antenna phase center coordinates of the first and second frequencies based on the antenna phase information of the first and second frequencies, as well as the satellite's centroid coordinates at the time of transmission of the first frequency; determining the satellite-to-ground distance between the antenna phase center of the first frequency and the user, and the satellite-to-ground distance between the antenna phase center of the second frequency and the user, based on pre-determined approximate user location information, the antenna phase center coordinates of the first and second frequencies, wherein the user's probabilistic location is determined based on pseudorange observations of the first frequency; and determining the satellite-to-ground distance difference between the first and second frequencies based on the satellite-to-ground distance between the antenna phase center of the first frequency and the user, and the satellite-to-ground distance between the antenna phase center of the second frequency and the user.

[0031] It should be noted that the user's location information is the same as the location information of the ground receiver. The satellite-to-ground distance between the antenna at the first frequency and the user is the distance between the phase center of the antenna at the first frequency and the ground receiver when the satellite transmits the signal. The satellite-to-ground distance between the antenna at the second frequency and the user is the distance between the phase center of the antenna at the second frequency and the ground receiver when the satellite transmits the signal.

[0032] Optionally, the approximate location information of the user is determined based on the pseudorange observation value of the first frequency point, including: using the pseudorange observation value of the first frequency point to perform Standard Point Positioning (SPP) calculation to obtain the approximate location information of the user.

[0033] This method can determine the satellite-to-ground distance difference between different frequency points, and the calculation is convenient and accurate. In other implementations, other methods can be used to determine the satellite-to-ground distance difference between different frequency points.

[0034] S102. Based on the satellite-to-ground distance difference between the first frequency point and the second frequency point, the observation value of the first frequency point, the state-space characterization correction of the satellite, the center frequency of the first frequency point and the center frequency of the second frequency point, determine at least one of the following: the pseudorange observation value of the second frequency point and the phase observation value of the second frequency point.

[0035] State-space characterization corrections, or SSR corrections, include various types of corrections such as orbital corrections, clock error corrections, pseudorange deviation corrections, phase deviation corrections, ionospheric delay corrections, and tropospheric delay corrections.

[0036] In one possible implementation, the ionospheric delay at the first frequency is determined according to at least one of the following methods: The ionospheric delay at the first frequency point is obtained from the state-space characterization corrections of the satellite. The ionospheric delay of the first frequency point is determined based on the center frequency, signal wavelength, phase observation value, integer ambiguity, and phase hardware delay at the satellite end of the first and third frequency points, as well as the satellite-to-ground distance difference between the first and third frequency points. The third frequency point and the first frequency point are different frequency points on the same satellite.

[0037] For example, when only the observation value of the first frequency point is known for a satellite, the ionospheric delay of the first frequency point is obtained from the state space characterization correction of the satellite; when at least the observation values ​​of the first frequency point and the third frequency point are known for a satellite, the ionospheric delay of the first frequency point is determined based on the center frequency, signal wavelength, phase observation value, integer ambiguity, and phase hardware delay at the satellite end of the first frequency point and the third frequency point, as well as the satellite-to-ground distance difference between the first frequency point and the third frequency point, wherein the third frequency point and the first frequency point are different frequencies on the same satellite.

[0038] Specifically, for a satellite, when only the observation value of the first frequency point is known, the ionospheric delay correction of the first frequency point is obtained from the satellite's state space characterization correction value as the ionospheric delay of the first frequency point.

[0039] When only one frequency observation is known, this method can determine the ionospheric delay at that frequency. The process is simple and the computation is efficient. When at least two frequency observations are known, this method can improve the accuracy and precision of the ionospheric delay.

[0040] In other implementations, when observations at multiple frequencies are known, the SSR correction can still be used to obtain the ionospheric delay.

[0041] Optionally, the ionospheric delay of the first frequency point is determined based on the center frequency, signal wavelength, phase observation value, integer ambiguity, and phase hardware delay at the satellite end of the first and third frequency points, as well as the satellite-to-ground distance difference between the first and third frequency points, including: The following expression is used for calculation: , in, Indicates the ionospheric delay at the first frequency point. This indicates the signal wavelength at the first frequency point. The signal wavelength representing the third frequency point. This represents the phase observation value at the first frequency point. This represents the phase observation value at the third frequency point. Indicates the integer ambiguity of the first frequency point. Indicates the integer ambiguity of the third frequency point. This represents the satellite distance difference between the first and third frequency points. This indicates the phase hardware delay at the satellite end for the first frequency point. This indicates the phase hardware delay at the satellite end for the third frequency point. This indicates the center frequency of the first frequency point. This indicates the center frequency of the third frequency point.

[0042] To improve the feasibility of this method, before calculating the ionospheric delay of the first frequency point using the above formula, the integer ambiguity of the first and third frequency points can be determined first. Specifically, the integer ambiguity of each known frequency point can be obtained by performing a LAMBDA search using the observation values ​​of each frequency point in the current epoch.

[0043] The following is a further detailed explanation of S102: In GNSS systems, taking the first and second frequency points as examples, the complete observation equations for pseudorange and phase at these frequency points are typically expressed as: , , , , in, This indicates the center frequency of the first frequency point. This indicates the center frequency of the second frequency point. Indicates the clock bias at the receiver end. Indicates the clock bias at the satellite end. Indicates tropospheric delay, and These represent the pseudorange hardware delay at the receiver and the pseudorange hardware delay at the satellite, respectively, for the signal at the first frequency point. and These represent the phase hardware delay at the receiver and the phase hardware delay at the satellite, respectively. This indicates the signal wavelength at the first frequency point. This indicates the signal wavelength at the second frequency point. and These represent pseudorange observation noise and phase observation noise, respectively. Indicates the satellite-to-ground distance at the first frequency point. This indicates the satellite-to-ground distance at the second frequency point.

[0044] In one possible implementation, determining the pseudorange observation value of the second frequency point based on the satellite-to-ground distance difference between the first and second frequency points, the observed value of the first frequency point, the satellite's state-space characterization correction, the center frequency of the first frequency point, and the center frequency of the second frequency point includes: obtaining the pseudorange hardware delay of the first frequency point at the satellite end and the pseudorange hardware delay of the second frequency point at the satellite end from the satellite's state-space characterization correction; and determining the pseudorange observation value of the second frequency point based on the satellite-to-ground distance difference between the first and second frequency points, the ionospheric delay of the first frequency point, the pseudorange hardware delay at the satellite end, the pseudorange observed value, the pseudorange hardware delay of the second frequency point at the satellite end, the center frequency of the first frequency point, and the center frequency of the second frequency point.

[0045] Optionally, based on the satellite-to-ground distance difference between the first and second frequency points, the ionospheric delay of the first frequency point, the pseudorange hardware delay and pseudorange observation value at the satellite end, the pseudorange hardware delay of the second frequency point at the satellite end, the center frequency of the first frequency point, and the center frequency of the second frequency point, the pseudorange observation value of the second frequency point is determined, including by calculation using the following expression: , in, This represents the pseudorange observation value at the second frequency point. This represents the pseudorange observation value at the first frequency point. This indicates the pseudorange hardware delay at the satellite end for the first frequency point. , This represents the difference in satellite-to-ground distance between the first and second frequency points. This indicates the center frequency of the second frequency point. This indicates the pseudorange hardware delay at the satellite end for the second frequency point.

[0046] When calculating the pseudorange observation value of another frequency point based on the known frequency point observation value, this method takes into account that the satellite transmitting antennas of different frequencies are not completely in the same position, resulting in different phase centers of the satellite antennas when transmitting signals of different frequencies, which in turn leads to the difference between satellite and ground distances between different frequencies. In the calculation, the difference between satellite and ground distances between different frequencies and the SSR correction number are effectively combined, which not only recovers the pseudorange observation value of the missing frequency point, but also improves the accuracy and precision of the results.

[0047] Since the phase observations involve integer ambiguity, two cases need to be discussed. One is that the integer ambiguity of the first frequency point is unknown, such as when a cycle slip occurs in the first epoch or at the first frequency point. The other is that the integer ambiguity of the first frequency point is known, such as when it has been solved by the LAMBDA algorithm in the previous epoch.

[0048] In one possible implementation, the phase observation value of the second frequency point is determined based on the satellite-to-ground distance difference between the first and second frequency points, the observation value of the first frequency point, the satellite's state-space representation correction, the center frequency of the first frequency point, and the center frequency of the second frequency point. This includes: when the integer ambiguity of the first frequency point is unknown, obtaining the pseudorange hardware delay of the first frequency point at the satellite end and the phase hardware delay of the second frequency point at the satellite end from the satellite's state-space representation correction; and determining the phase observation value of the second frequency point based on the satellite-to-ground distance difference between the first and second frequency points, the center frequency of the first frequency point, the pseudorange hardware delay at the satellite end, the pseudorange observation value, the center frequency of the second frequency point, and the phase hardware delay at the satellite end.

[0049] Optionally, based on the satellite-to-ground distance difference between the first and second frequency points, the center frequency of the first frequency point, the pseudorange hardware delay at the satellite end, and the pseudorange observation value, and the center frequency of the second frequency point and the phase hardware delay at the satellite end, the phase observation value of the second frequency point is determined, including calculation using the following expression: , in, This represents the phase observation value at the second frequency point. This indicates the phase hardware delay at the satellite end for the second frequency point. This indicates the signal wavelength at the second frequency point.

[0050] This method can determine the phase observation value of the second frequency point when the integer ambiguity of the first frequency point is unknown, thus having higher universality.

[0051] In one possible implementation, determining the phase observation value of the second frequency point based on the satellite-to-ground distance difference between the first and second frequency points, the observed value of the first frequency point, the satellite's state-space representation correction, the center frequency of the first frequency point, and the center frequency of the second frequency point includes: when the integer ambiguity of the first frequency point is known, obtaining the phase hardware delay of the first frequency point at the satellite end and the phase hardware delay of the second frequency point at the satellite end from the satellite's state-space representation correction; and determining the phase observation value of the second frequency point based on the satellite-to-ground distance difference between the first and second frequency points, the center frequency of the first frequency point, the phase hardware delay at the satellite end, the phase observation value, the center frequency of the second frequency point, and the phase hardware delay at the satellite end.

[0052] Optionally, based on the satellite-to-ground distance difference between the first and second frequency points, the center frequency of the first frequency point, the phase hardware delay at the satellite end, and the phase observation value, and the center frequency of the second frequency point and the phase hardware delay at the satellite end, the phase observation value of the second frequency point is determined, including: The following expression is used for calculation: .

[0053] This method can further improve the calculation accuracy of phase observations.

[0054] The method for determining GNSS frequency point observations provided in this application determines the satellite-to-ground distance difference between a first frequency point and a second frequency point with known observations. Based on the satellite-to-ground distance difference between the first and second frequency points, the observation value of the first frequency point, the satellite's state-space characterization correction, the center frequency of the first frequency point, and the center frequency of the second frequency point, the pseudorange observation value of the second frequency point and / or the phase observation value of the second frequency point are determined. On the one hand, this method fully considers the satellite-to-ground distance differences between different frequency points, resulting in higher accuracy of the recovered pseudorange and / or phase observation values ​​of the frequency points. On the other hand, it reduces the requirements for the first and second frequency points, improving the universality of the method. Furthermore, it effectively utilizes the high-precision ionospheric delay in the SSR correction, the pseudorange hardware delay at the satellite end, and the phase hardware delay for error compensation, reducing the implementation difficulty and improving the feasibility of the method.

[0055] This application also provides an electronic device, including a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus; Memory, used to store computer programs; When a processor executes a program stored in memory, it implements any of the methods provided in the above-described method embodiments.

[0056] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements any of the methods provided in the above-described method embodiments.

[0057] It will be understood by those skilled in the art that all or some of the steps, systems, or apparatuses disclosed above, and their functional modules / units, can be implemented as software, firmware, hardware, or suitable combinations thereof. In hardware implementations, the division between functional modules / units mentioned above does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed collaboratively by several physical components. Some or all components may be implemented as software executed by a processor, such as a digital signal processor or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit (ASIC). Such software may be distributed on a computer-readable medium, which may include computer storage media (or non-transitory media) and communication media (or transient media). As is known to those skilled in the art, the term "computer storage medium" includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and can be accessed by a computer. Furthermore, it is well known to those skilled in the art that communication media typically contain computer-readable instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

[0058] Furthermore, the terms "first," "second," etc., 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. Therefore, a feature defined with "first," "second," etc., may explicitly or implicitly include at least one of those features.

[0059] 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.

[0060] 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 method for determining GNSS observation values, characterized in that, include: Based on the pre-determined approximate location information of the user, as well as the antenna phase center coordinates of the first frequency point and the antenna phase center coordinates of the second frequency point, the satellite-to-ground distance between the antenna phase center of the first frequency point and the user, and the satellite-to-ground distance between the antenna phase center of the second frequency point and the user are determined; wherein, the approximate location of the user is determined based on the pseudorange observation value of the first frequency point; The satellite-to-ground distance difference between the first frequency point and the second frequency point is determined based on the satellite-to-ground distance between the antenna phase center of the first frequency point and the user, and the satellite-to-ground distance between the antenna phase center of the second frequency point and the user; wherein, the first frequency point is a frequency point with known observation values, and the observation values ​​of the first frequency point include at least one of the following: pseudorange observation values ​​and phase observation values; the second frequency point and the first frequency point are different frequency points on the same satellite; Based on the satellite-to-ground distance difference between the first frequency point and the second frequency point, the observation value of the first frequency point, the state-space characterization correction of the satellite, the center frequency of the first frequency point and the center frequency of the second frequency point, at least one of the following is determined: the pseudorange observation value of the second frequency point and the phase observation value of the second frequency point.

2. The method according to claim 1, characterized in that, Based on the satellite-to-ground distance difference between the first and second frequency points, the observed value at the first frequency point, the satellite's state-space characterization correction, the center frequency of the first frequency point, and the center frequency of the second frequency point, the pseudorange observed value at the second frequency point is determined, including: The pseudorange hardware delay of the first frequency point at the satellite end and the pseudorange hardware delay of the second frequency point at the satellite end are obtained from the state space representation correction of the satellite. Based on the satellite-to-ground distance difference between the first and second frequency points, the ionospheric delay of the first frequency point, the pseudorange hardware delay and pseudorange observation value at the satellite end, the pseudorange hardware delay of the second frequency point at the satellite end, the center frequency of the first frequency point and the center frequency of the second frequency point, the pseudorange observation value of the second frequency point is determined.

3. The method according to claim 2, characterized in that, The ionospheric delay at the first frequency point is determined according to at least one of the following methods: The ionospheric delay at the first frequency point is obtained from the state-space characterization correction of the satellite. The ionospheric delay of the first frequency point is determined based on the center frequency, signal wavelength, phase observation value, integer ambiguity, and phase hardware delay at the satellite end of the first and third frequency points, as well as the satellite-to-ground distance difference between the first and third frequency points; wherein the third frequency point and the first frequency point are different frequency points on the same satellite.

4. The method according to claim 3, characterized in that, The step of determining the ionospheric delay of the first frequency point based on the center frequency, signal wavelength, phase observation value, integer ambiguity, and phase hardware delay at the satellite end of the first and third frequency points, as well as the satellite-to-ground distance difference between the first and third frequency points, includes: The following expression is used for calculation: ， in, Indicates the ionospheric delay at the first frequency point. This indicates the signal wavelength at the first frequency point. The signal wavelength representing the third frequency point. This represents the phase observation value at the first frequency point. This represents the phase observation value at the third frequency point. Indicates the integer ambiguity of the first frequency point. Indicates the integer ambiguity of the third frequency point. This represents the satellite distance difference between the first and third frequency points. This indicates the phase hardware delay at the satellite end for the first frequency point. This indicates the phase hardware delay at the satellite end for the third frequency point. This indicates the center frequency of the first frequency point. This indicates the center frequency of the third frequency point.

5. The method according to claim 2, characterized in that, The step of determining the pseudorange observation value of the second frequency point based on the satellite-to-ground distance difference between the first and second frequency points, the ionospheric delay of the first frequency point, the pseudorange hardware delay and pseudorange observation value at the satellite end, the pseudorange hardware delay of the second frequency point at the satellite end, the center frequency of the first frequency point, and the center frequency of the second frequency point includes: The following expression is used for calculation: ， in, This represents the pseudorange observation value at the second frequency point. This represents the pseudorange observation value at the first frequency point. This indicates the pseudorange hardware delay at the satellite end for the first frequency point. This represents the difference in satellite-to-ground distance between the first and second frequency points. This indicates the center frequency of the second frequency point. This indicates the pseudorange hardware delay at the satellite end for the second frequency point.

6. The method according to claim 1, characterized in that, Determining the phase observation value of the second frequency point based on the satellite-to-ground distance difference between the first and second frequency points, the observed value of the first frequency point, the state-space characterization correction of the satellite, the center frequency of the first frequency point, and the center frequency of the second frequency point includes at least one of the following: When the integer ambiguity of the first frequency point is unknown, the pseudorange hardware delay of the first frequency point at the satellite end and the phase hardware delay of the second frequency point at the satellite end are obtained from the state space characterization correction of the satellite. Based on the satellite-to-ground distance difference between the first frequency point and the second frequency point, the center frequency of the first frequency point, the pseudorange hardware delay at the satellite end and the pseudorange observation value, the center frequency of the second frequency point and the phase hardware delay at the satellite end, the phase observation value of the second frequency point is determined. When the integer ambiguity of the first frequency point is known, the phase hardware delay of the first frequency point at the satellite end and the phase hardware delay of the second frequency point at the satellite end are obtained from the state space characterization correction of the satellite. Based on the satellite-to-ground distance difference between the first frequency point and the second frequency point, the center frequency of the first frequency point, the phase hardware delay at the satellite end, and the phase observation value, the center frequency of the second frequency point and the phase hardware delay at the satellite end, the phase observation value of the second frequency point is determined.

7. The method according to claim 6, characterized in that, The step of determining the phase observation value of the second frequency point based on the satellite-to-ground distance difference between the first and second frequency points, the center frequency of the first frequency point, the pseudorange hardware delay at the satellite end, and the pseudorange observation value, the center frequency of the second frequency point, and the phase hardware delay at the satellite end, includes: The following expression is used for calculation: ； The step of determining the phase observation value of the second frequency point based on the satellite-to-ground distance difference between the first and second frequency points, the center frequency of the first frequency point, the phase hardware delay at the satellite end, and the phase observation value, the center frequency of the second frequency point, and the phase hardware delay at the satellite end, includes: The following expression is used for calculation: ， in, This represents the phase observation value at the second frequency point. This represents the pseudorange observation value at the first frequency point. This indicates the pseudorange hardware delay at the satellite end for the first frequency point. This represents the difference in satellite-to-ground distance between the first and second frequency points. This indicates the center frequency of the first frequency point. This indicates the center frequency of the second frequency point. This indicates the phase hardware delay at the satellite end for the second frequency point. This indicates the signal wavelength at the second frequency point. This indicates the signal wavelength at the first frequency point. This represents the phase observation value at the first frequency point. Indicates the integer ambiguity of the first frequency point. This indicates the phase hardware delay at the satellite end for the first frequency point. This represents the ionospheric delay at the first frequency point.

8. The method according to any one of claims 1 to 7, characterized in that, Determine the antenna phase center coordinates at the first frequency point and the antenna phase center coordinates at the second frequency point, including: The transmission time of the first frequency point is determined based on the pseudorange observation value and the reception time of the first frequency point; Based on the satellite's broadcast ephemeris and orbital corrections, as well as the transmission time of the first frequency, determine the satellite's centroid coordinates when the satellite was transmitted to the first frequency. Based on the antenna phase information of the first frequency point and the antenna phase information of the second frequency point, as well as the satellite centroid coordinates when the satellite launched at the first frequency point, the antenna phase center coordinates of the first frequency point and the antenna phase center coordinates of the second frequency point are determined.

9. An electronic device, characterized in that, It includes a processor, memory, and a communication bus, wherein the processor and memory communicate with each other through the communication bus; Memory, used to store computer programs; A processor, when executing a program stored in memory, implements the method of any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the method described in any one of claims 1 to 8.

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