A wide-lane ambiguity resolution method and system based on measured accuracy

Abstract

This invention provides a method and system for wide-lane ambiguity resolution based on measured accuracy, belonging to the field of GNSS wide-lane ambiguity resolution technology. The method includes: acquiring the target reference station coordinates, target satellite orbit parameters, target satellite frequency, first and second frequency carrier observations, and first and second frequency pseudorange observations; based on the target reference station coordinates, target satellite orbit parameters, and first and second frequency pseudorange observations, acquiring the pseudorange observation interference error to obtain the root mean square error of the pseudorange observations, and acquiring the measured accuracy of the MW combined observations, thereby resolving the double-difference wide-lane ambiguity to achieve accurate calculation of wide-lane ambiguity and improve the reliability of GNSS positioning. This invention provides a wide-lane ambiguity resolution method based on measured accuracy, avoiding reliance on empirical models that lead to low ambiguity fixation accuracy, and achieving fast and accurate wide-lane ambiguity resolution to improve the reliability of GNSS positioning.

Description

Technical Field

[0001] This invention relates to the field of GNSS wide-lane ambiguity resolution technology, and in particular to a wide-lane ambiguity resolution method and system based on measured accuracy. Background Technology

[0002] The Melbourne-Wübbena (MW) combination has significant advantages in GNSS observations, effectively eliminating the influence of satellite orbit errors, satellite clock errors, tropospheric delays, ionospheric delays, receiver clock errors, and user antenna position errors on the observed values. Its non-differential form is only affected by receiver hardware delays, satellite hardware delays, multipath errors, and observation noise. Furthermore, the influence of hardware delays can be further eliminated through inter-station differential and inter-satellite differential. Ultimately, the obtained double-difference observations are only affected by multipath errors and observation noise, and therefore it is widely used in GNSS wide-lane ambiguity resolution.

[0003] In the current technological context, to mitigate the impact of multipath errors and observation noise, it is typically assumed that the residual error of the MW combination possesses white noise properties. This is followed by taking a mathematical average of the multi-epoch data or using an empirical model of elevation angle to weight the MW combination observations to obtain a high-precision wide-lane ambiguity floating-point solution. However, this method has significant drawbacks: firstly, the multipath error in the observations is not a random error but exhibits significant systematic error characteristics; secondly, since the MW combination is a linear combination of pseudorange and carrier observations, the impact of meter-level precision pseudorange multipath errors on wide-lane ambiguity cannot be ignored. This results in existing methods failing to effectively mitigate the impact of multipath errors on the wide-lane ambiguity floating-point solution. When the multipath effect is severe, it can cause the wide-lane ambiguity floating-point solution to deviate significantly from its integer solution, not only prolonging the ambiguity convergence time but also potentially leading to a fixed error in the wide-lane ambiguity. Summary of the Invention

[0004] The present invention aims to provide a method and system for wide-lane ambiguity resolution based on measured accuracy, so as to solve the above-mentioned technical problems, avoid the low accuracy of ambiguity fixation caused by relying on empirical models, achieve fast and accurate resolution of wide-lane ambiguity, and improve the reliability of GNSS positioning.

[0005] To address the aforementioned technical problems, this invention provides a wide-lane ambiguity resolution method based on measured accuracy, comprising: Obtain the coordinates of the first target reference station, the coordinates of the second target reference station, the orbital parameters of the first target satellite, the orbital parameters of the second target satellite, the frequency of the first target satellite, the frequency of the second target satellite, the carrier observation value of the first frequency point, the carrier observation value of the second frequency point, the pseudorange observation value of the first frequency point, and the pseudorange observation value of the second frequency point; Based on the coordinates of the first target reference station, the coordinates of the second target reference station, the orbital parameters of the first target satellite, the orbital parameters of the second target satellite, the pseudorange observation values ​​at the first frequency point, and the pseudorange observation values ​​at the second frequency point, the pseudorange observation interference error is obtained. Based on pseudorange observation interference error, obtain the root mean square error of pseudorange observation values; Based on the root mean square error of pseudorange observations, the measured accuracy of MW combined observations is obtained. Based on the measured accuracy of the MW combined observations, the first frequency carrier observation, the second frequency carrier observation, the first frequency pseudorange observation, the second frequency pseudorange observation, the first target satellite frequency, and the second target satellite frequency, the double-difference wide-lane ambiguity is calculated to achieve accurate calculation of the wide-lane ambiguity.

[0006] In the above scheme, by calculating the pseudorange observation interference error, the part of the pseudorange observation affected by interference is accurately separated, laying a data foundation for subsequent quantification of pseudorange observation accuracy and derivation of the measured accuracy of MW combined observation values. Next, the measured accuracy of the MW combined observation values, the first frequency carrier observation value, the second frequency carrier observation value, the first frequency pseudorange observation value, the second frequency pseudorange observation value, the first target satellite frequency, and the second target satellite frequency are combined to solve the double-difference wide-lane ambiguity. This avoids relying on empirical models, which leads to low accuracy in ambiguity fixation, and achieves rapid and accurate solution of wide-lane ambiguity, thereby improving the reliability of GNSS positioning.

[0007] Further, the step of obtaining pseudorange observation interference error based on the coordinates of the first target reference station, the coordinates of the second target reference station, the orbital parameters of the first target satellite, the orbital parameters of the second target satellite, the pseudorange observation value at the first frequency point, and the pseudorange observation value at the second frequency point includes: Calculate the double-difference satellite-to-ground distance based on the coordinates of the first target reference station and the second target reference station. Based on the pseudorange observations at the first and second frequencies, the combined pseudorange observations of the ionosphere-free double-difference were obtained. Based on the coordinates of the first target reference station, the coordinates of the second target reference station, the orbital parameters of the first target satellite and the orbital parameters of the second target satellite, the double-difference tropospheric delay term is obtained; Based on the pseudorange observations with double-difference and no ionospheric combination, the double-difference satellite-to-ground distance, and the double-difference tropospheric delay term, the pseudorange observation interference error is obtained.

[0008] In the above scheme, the double-difference satellite-to-ground distance is calculated by combining the coordinates of the first and second target reference stations, providing a reference benchmark for subsequent comparative analysis of the deviation between pseudorange observations and true distances. Next, the double-difference ionosphere-free combined pseudorange observations are obtained, laying the foundation for accurately extracting pseudorange observation interference errors. Then, using the coordinates of the first and second target reference stations, and the orbital parameters of the first and second target satellites, the double-difference tropospheric delay term in the pseudorange observations is accurately quantified, providing a basis for subsequent error removal. Finally, the double-difference ionosphere-free combined pseudorange observations, the double-difference satellite-to-ground distance, and the double-difference tropospheric delay term are calculated to obtain the pseudorange observation interference error, achieving accurate separation of the pseudorange observation interference error and providing error data support for subsequent evaluation of pseudorange observation quality and derivation of the measured accuracy of MW combined observations.

[0009] Further, the step of obtaining the double-difference tropospheric delay term based on the coordinates of the first target reference station, the coordinates of the second target reference station, the orbital parameters of the first target satellite, and the orbital parameters of the second target satellite includes: Based on the coordinates of the first target reference station and the second target reference station, the tropospheric zenith delay of the first target reference station and the tropospheric zenith delay of the second target reference station are obtained. Based on the coordinates of the first target reference station, the coordinates of the second target reference station, the orbital parameters of the first target satellite and the orbital parameters of the second target satellite, the tropospheric delay mapping function of the first target reference station and the tropospheric delay mapping function of the second target reference station are obtained. Based on the tropospheric zenith delay of the first target reference station, the tropospheric delay mapping function of the first target reference station, the tropospheric zenith delay of the second target reference station, and the tropospheric delay mapping function of the second target reference station, the double-difference tropospheric delay term is obtained.

[0010] In the above scheme, the tropospheric delay reference values ​​of the two target reference stations are quantified to obtain the tropospheric zenith delay of the first and second target reference stations, providing basic parameters for subsequently converting the zenith delay into the delay in the satellite observation direction. Next, using the coordinates of the first and second target reference stations, and the orbital parameters of the first and second target satellites, a conversion relationship between the zenith tropospheric delay and the tropospheric delay in the observation direction is constructed to obtain the tropospheric delay mapping functions for the first and second target reference stations, providing functional support for calculating the actual tropospheric delay in the observation direction. Then, based on the tropospheric zenith delay of the first and second target reference stations, the tropospheric delay mapping functions, and the tropospheric delay mapping functions of the second and second target reference stations, a double-difference tropospheric delay term is obtained. This cancels the tropospheric delay deviation between the two reference stations and the two satellites, quantifying the impact of tropospheric delay in pseudorange observations, and providing a correction basis for subsequently eliminating this error and accurately separating pseudorange observation interference errors.

[0011] Further, the step of obtaining the double-difference tropospheric delay term based on the tropospheric zenith delay of the first target reference station, the tropospheric delay mapping function of the first target reference station, the tropospheric zenith delay of the second target reference station, and the tropospheric delay mapping function of the second target reference station includes: Based on the tropospheric zenith delay of the first target reference station and the tropospheric delay mapping function of the first target reference station, the tropospheric delay difference of the first target reference station is obtained. Based on the mapping function of the tropospheric zenith delay of the second target reference station and the tropospheric delay of the second target reference station, the tropospheric delay difference of the second target reference station is obtained. Based on the tropospheric delay difference between the first target reference station and the second target reference station, the double-difference tropospheric delay term is obtained.

[0012] In the above scheme, the tropospheric zenith delay of the first target reference station is converted into a tropospheric delay difference using the first target reference station's tropospheric delay mapping function, providing basic delay data for single-station observation directions for subsequent calculations of inter-station tropospheric delay differences. Next, the tropospheric zenith delay of the second target reference station is converted into a tropospheric delay difference using the second target reference station's tropospheric delay mapping function, similarly providing basic delay data for single-station observation directions for subsequent calculations of inter-station tropospheric delay differences. Then, by calculating the tropospheric delay differences of the first and second target reference stations, the common deviations in tropospheric delay between the two satellites and the two reference stations can be offset, resulting in a double-difference tropospheric delay term. This provides correction parameters for subsequently removing this interference from pseudorange observations and accurately separating pseudorange observation interference errors.

[0013] Furthermore, the measured accuracy based on the MW combined observations, the first frequency carrier observation, the second frequency carrier observation, the first frequency pseudorange observation, the second frequency pseudorange observation, the first target satellite frequency, and the second target satellite frequency are used to solve the double-difference wide-lane ambiguity, so as to achieve accurate calculation of the wide-lane ambiguity, including: Based on the carrier observations at the first frequency point, the carrier observations at the second frequency point, the pseudorange observations at the first frequency point, and the pseudorange observations at the second frequency point, the combined observations of the double-difference MW are obtained. The wide-lane wavelength is obtained based on the frequency of the first target satellite and the frequency of the second target satellite. Based on the measured accuracy of the MW combined observations, the double-difference MW combined observations, and the wide-lane wavelength, the double-difference wide-lane ambiguity is calculated to achieve accurate settlement of the wide-lane ambiguity.

[0014] In the above scheme, by processing the carrier observations at the first frequency point, the carrier observations at the second frequency point, the pseudorange observations at the first frequency point, and the pseudorange observations at the second frequency point, various systematic errors such as satellite orbit errors, satellite clock errors, and receiver clock errors can be effectively eliminated. This yields a double-difference MW combined observation value that is only affected by multipath errors and observation noise, providing high-quality observation data for subsequent double-difference wide-lane ambiguity resolution. Next, using the frequencies of the first and second target satellites, combined with the calculation formula for the wide-lane wavelength, the wide-lane wavelength is obtained, providing the wavelength parameters required for wide-lane ambiguity resolution. This provides a basis for establishing the correlation between the double-difference MW combined observation values ​​and the double-difference wide-lane ambiguity, as well as for implementing ambiguity measurement and resolution. Finally, by combining the measured accuracy of the MW combined observation values ​​with the double-difference MW combined observation values ​​and the wide-lane wavelength, the double-difference wide-lane ambiguity is resolved. This effectively reduces the interference of high-error observations on the resolution results, improves the consistency between the floating-point and integer ambiguity solutions, and provides key ambiguity parameters for high-precision GNSS positioning.

[0015] Furthermore, the method of resolving the double-difference wide-lane ambiguity based on the measured accuracy of the MW combined observations, the double-difference MW combined observations, and the wide-lane wavelength to achieve accurate calculation of the wide-lane ambiguity includes: Based on the measured accuracy of the MW combined observations, the double-difference MW combined observations, the wide-lane wavelength, the preset state transition matrix, the preset process noise variance matrix, and the preset MW combined wide-lane ambiguity solution equation, the double-difference wide-lane ambiguity is solved to achieve accurate calculation of the wide-lane ambiguity.

[0016] The above scheme combines the measured accuracy of the MW combined observations, the double-difference MW combined observations, the wide-lane wavelength, the preset state transition matrix, the preset process noise variance matrix, and the preset MW combined wide-lane ambiguity resolution equation to construct a complete double-difference wide-lane ambiguity resolution model. This effectively avoids the interference of high-error observations on the resolution results and ensures the stability of the resolution process, so as to achieve accurate resolution of double-difference wide-lane ambiguity and provide reliable parameter support for subsequent high-precision GNSS positioning.

[0017] This invention provides a wide-lane ambiguity resolution system based on measured accuracy, comprising a data acquisition module, an error calculation module, a root mean square error statistics module, a measured accuracy calculation module, and a wide-lane ambiguity resolution module, specifically: The data acquisition module is used to acquire the coordinates of the first target reference station, the coordinates of the second target reference station, the orbital parameters of the first target satellite, the orbital parameters of the second target satellite, the frequency of the first target satellite, the frequency of the second target satellite, the carrier observation value of the first frequency point, the carrier observation value of the second frequency point, the pseudorange observation value of the first frequency point, and the pseudorange observation value of the second frequency point. The error calculation module is used to obtain pseudorange observation interference error based on the coordinates of the first target reference station, the coordinates of the second target reference station, the orbital parameters of the first target satellite, the orbital parameters of the second target satellite, the pseudorange observation value of the first frequency point, and the pseudorange observation value of the second frequency point. The root mean square error statistics module is used to obtain the root mean square error of pseudorange observations based on pseudorange observation interference error. The measured accuracy calculation module is used to obtain the measured accuracy of the MW combined observations based on the root mean square error of the pseudorange observations. The wide-lane ambiguity resolution module is used to resolve double-difference wide-lane ambiguity based on the measured accuracy of the MW combined observations, the first frequency carrier observation, the second frequency carrier observation, the first frequency pseudorange observation, the second frequency pseudorange observation, the first target satellite frequency, and the second target satellite frequency, so as to achieve accurate settlement of wide-lane ambiguity.

[0018] This invention provides a wide-lane ambiguity resolution system based on measured accuracy. In practical applications, only an error calculation module is needed. By calculating the pseudorange observation interference error, the interference-affected part of the pseudorange observation is accurately separated, laying a data foundation for subsequent quantification of pseudorange observation accuracy and derivation of the measured accuracy of MW combined observations. Then, the wide-lane ambiguity resolution module combines the measured accuracy of the MW combined observations, the first frequency carrier observation, the second frequency carrier observation, the first frequency pseudorange observation, the second frequency pseudorange observation, the first target satellite frequency, and the second target satellite frequency to resolve the double-difference wide-lane ambiguity. This avoids relying on empirical models, which leads to low ambiguity fixation accuracy, and achieves fast and accurate wide-lane ambiguity resolution, thereby improving the reliability of GNSS positioning.

[0019] Furthermore, the error calculation module is used to obtain pseudorange observation interference error based on the coordinates of the first target reference station, the coordinates of the second target reference station, the orbital parameters of the first target satellite, the orbital parameters of the second target satellite, the pseudorange observation value at the first frequency point, and the pseudorange observation value at the second frequency point, including: Calculate the double-difference satellite-to-ground distance based on the coordinates of the first target reference station and the second target reference station. Based on the pseudorange observations at the first and second frequencies, the combined pseudorange observations of the ionosphere-free double-difference were obtained. Based on the coordinates of the first target reference station, the coordinates of the second target reference station, the orbital parameters of the first target satellite and the orbital parameters of the second target satellite, the double-difference tropospheric delay term is obtained; Based on the pseudorange observations with double-difference and no ionospheric combination, the double-difference satellite-to-ground distance, and the double-difference tropospheric delay term, the pseudorange observation interference error is obtained.

[0020] In the above scheme, the double-difference satellite-to-ground distance is calculated by combining the coordinates of the first and second target reference stations, providing a reference benchmark for subsequent comparative analysis of the deviation between pseudorange observations and true distances. Next, the double-difference ionosphere-free combined pseudorange observations are obtained, laying the foundation for accurately extracting pseudorange observation interference errors. Then, using the coordinates of the first and second target reference stations, and the orbital parameters of the first and second target satellites, the double-difference tropospheric delay term in the pseudorange observations is accurately quantified, providing a basis for subsequent error removal. Finally, the double-difference ionosphere-free combined pseudorange observations, the double-difference satellite-to-ground distance, and the double-difference tropospheric delay term are calculated to obtain the pseudorange observation interference error, achieving accurate separation of the pseudorange observation interference error and providing error data support for subsequent evaluation of pseudorange observation quality and derivation of the measured accuracy of MW combined observations.

[0021] Further, the step of obtaining the double-difference tropospheric delay term based on the coordinates of the first target reference station, the coordinates of the second target reference station, the orbital parameters of the first target satellite, and the orbital parameters of the second target satellite includes: Based on the coordinates of the first target reference station and the second target reference station, the tropospheric zenith delay of the first target reference station and the tropospheric zenith delay of the second target reference station are obtained. Based on the coordinates of the first target reference station, the coordinates of the second target reference station, the orbital parameters of the first target satellite and the orbital parameters of the second target satellite, the tropospheric delay mapping function of the first target reference station and the tropospheric delay mapping function of the second target reference station are obtained. Based on the tropospheric zenith delay of the first target reference station, the tropospheric delay mapping function of the first target reference station, the tropospheric zenith delay of the second target reference station, and the tropospheric delay mapping function of the second target reference station, the double-difference tropospheric delay term is obtained.

[0022] In the above scheme, the tropospheric delay reference values ​​of the two target reference stations are quantified to obtain the tropospheric zenith delay of the first and second target reference stations, providing basic parameters for subsequently converting the zenith delay into the delay in the satellite observation direction. Next, using the coordinates of the first and second target reference stations, and the orbital parameters of the first and second target satellites, a conversion relationship between the zenith tropospheric delay and the tropospheric delay in the observation direction is constructed to obtain the tropospheric delay mapping functions for the first and second target reference stations, providing functional support for calculating the actual tropospheric delay in the observation direction. Then, based on the tropospheric zenith delay of the first and second target reference stations, the tropospheric delay mapping functions, and the tropospheric delay mapping functions of the second and second target reference stations, a double-difference tropospheric delay term is obtained. This cancels the tropospheric delay deviation between the two reference stations and the two satellites, quantifying the impact of tropospheric delay in pseudorange observations, and providing a correction basis for subsequently eliminating this error and accurately separating pseudorange observation interference errors.

[0023] Further, the step of obtaining the double-difference tropospheric delay term based on the tropospheric zenith delay of the first target reference station, the tropospheric delay mapping function of the first target reference station, the tropospheric zenith delay of the second target reference station, and the tropospheric delay mapping function of the second target reference station includes: Based on the tropospheric zenith delay of the first target reference station and the tropospheric delay mapping function of the first target reference station, the tropospheric delay difference of the first target reference station is obtained. Based on the mapping function of the tropospheric zenith delay of the second target reference station and the tropospheric delay of the second target reference station, the tropospheric delay difference of the second target reference station is obtained. Based on the tropospheric delay difference between the first target reference station and the second target reference station, the double-difference tropospheric delay term is obtained.

[0024] In the above scheme, the tropospheric zenith delay of the first target reference station is converted into a tropospheric delay difference using the first target reference station's tropospheric delay mapping function, providing basic delay data for single-station observation directions for subsequent calculations of inter-station tropospheric delay differences. Next, the tropospheric zenith delay of the second target reference station is converted into a tropospheric delay difference using the second target reference station's tropospheric delay mapping function, similarly providing basic delay data for single-station observation directions for subsequent calculations of inter-station tropospheric delay differences. Then, by calculating the tropospheric delay differences of the first and second target reference stations, the common deviations in tropospheric delay between the two satellites and the two reference stations can be offset, resulting in a double-difference tropospheric delay term. This provides correction parameters for subsequently removing this interference from pseudorange observations and accurately separating pseudorange observation interference errors. Attached Figure Description

[0025] Figure 1 A flowchart illustrating a wide-lane ambiguity resolution method based on measured accuracy, provided as an embodiment of the present invention; Figure 2 This is an architecture diagram of a wide-lane ambiguity resolution system based on measured accuracy, provided as an embodiment of the present invention. Detailed Implementation

[0026] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0027] This embodiment provides a method for wide-lane ambiguity resolution based on measured accuracy; its flowchart can be found in [link to flowchart]. Figure 1 ,include: Step S1: Obtain the coordinates of the first target reference station, the coordinates of the second target reference station, the orbital parameters of the first target satellite, the orbital parameters of the second target satellite, the frequency of the first target satellite, the frequency of the second target satellite, the carrier observation value of the first frequency point, the carrier observation value of the second frequency point, the pseudorange observation value of the first frequency point, and the pseudorange observation value of the second frequency point; Step S2: Based on the coordinates of the first target reference station, the coordinates of the second target reference station, the orbital parameters of the first target satellite, the orbital parameters of the second target satellite, the pseudorange observation values ​​of the first frequency point and the pseudorange observation values ​​of the second frequency point, obtain the pseudorange observation interference error; Step S3: Based on the pseudorange observation interference error, obtain the root mean square error of the pseudorange observation value; Step S4: Based on the root mean square error of the pseudorange observations, obtain the measured accuracy of the MW combined observations; Step S5: Based on the measured accuracy of the MW combined observations, the first frequency carrier observation, the second frequency carrier observation, the first frequency pseudorange observation, the second frequency pseudorange observation, the first target satellite frequency, and the second target satellite frequency, calculate the double-difference wide-lane ambiguity to achieve accurate calculation of the wide-lane ambiguity.

[0028] In this embodiment, the navigation system acquires the coordinates of the first target reference station, the coordinates of the second target reference station, the orbital parameters of the first target satellite, the orbital parameters of the second target satellite, and the frequency of the first target satellite after the GNSS receiver observes the GNSS satellite signals. (GNSS satellite signals in) (Frequency of the second target satellite) First frequency carrier observation value (GNSS satellite signal) carrier observations at the first frequency point and carrier observations at the second frequency point. (GNSS satellite signal) Carrier observations at the first frequency point and pseudorange observations at the first frequency point. (GNSS satellite signal) pseudorange observations at the second frequency point) (GNSS satellite signal) (Pseudorange observations at specific frequencies). By calculating the pseudorange observation interference error, the interference-affected portion of the pseudorange observation is accurately separated, laying a data foundation for subsequent quantification of pseudorange observation accuracy and derivation of the measured accuracy of MW combined observations. Next, the time series of pseudorange observation interference errors obtained above is statistically calculated using a sliding window method to obtain the root mean square error of the pseudorange observations: In the formula, k is the current epoch of the solution. Represents the current epoch k and the epoch k. Time difference between epochs The number of epochs contained in the sliding window. denoted as the root mean square error of pseudorange observations in the IF combination, where r represents the first target reference station, m represents the second target reference station, i represents the first target satellite, and j represents the second target satellite. In the single-difference mode formed by the first target reference station r, the second target reference station m, the first target satellite i, and the second target satellite j, the first target satellite i and the second target satellite j are... Pseudorange observation interference error within each epoch In the double-difference mode formed by the first target reference station r, the second target reference station m, the first target satellite i, and the second target satellite j, the first target satellite i and the second target satellite j are... The pseudorange observation interference error within each epoch. Since real-time calculations can only use data from before the current epoch to calculate the root mean square error, the root mean square error of the pseudorange observations calculated using the above method has a certain delay, actually (k-0.5). The root mean square error of pseudorange observations at each epoch. Furthermore, since common CORS services primarily use GPS... / Frequency, BDS / At different frequencies, the pseudorange accuracy of these two combinations is approximately equal and the correlation is weak; therefore, for ease of calculation, this embodiment assumes... and The pseudorange observations are consistent in accuracy, with a correlation of 0. (Based on GPS) / Taking frequency points as an example, the root mean square error of pseudorange observations of IF combinations can be derived. Root mean square error of pseudorange observations combined with MW The relationship is as follows: ; in, The root mean square error of the pseudorange observations at frequency L1 is... Let be the root mean square error of the pseudorange observations at the L2 frequency point. Therefore, the accuracy of the MW combined observations can be derived. The accuracy of the combined pseudorange observations is approximately 0.24 times that of the IF. Then, the root mean square error of pseudorange observations based on the IF combination can be used. To obtain the measured accuracy of the MW combined observations: ; Finally, by combining the measured accuracy of the MW combined observations, the carrier observations at the first frequency point, the carrier observations at the second frequency point, the pseudorange observations at the first frequency point, the pseudorange observations at the second frequency point, the frequency of the first target satellite, and the frequency of the second target satellite, the double-difference wide-lane ambiguity can be solved. This avoids the low accuracy of ambiguity fixation caused by relying on empirical models, and achieves fast and accurate solution of wide-lane ambiguity, thereby improving the reliability of GNSS positioning.

[0029] Further, the step of obtaining pseudorange observation interference error based on the coordinates of the first target reference station, the coordinates of the second target reference station, the orbital parameters of the first target satellite, the orbital parameters of the second target satellite, the pseudorange observation value at the first frequency point, and the pseudorange observation value at the second frequency point includes: Calculate the double-difference satellite-to-ground distance based on the coordinates of the first target reference station and the second target reference station. Based on the pseudorange observations at the first and second frequencies, the combined pseudorange observations of the ionosphere-free double-difference were obtained. Based on the coordinates of the first target reference station, the coordinates of the second target reference station, the orbital parameters of the first target satellite and the orbital parameters of the second target satellite, the double-difference tropospheric delay term is obtained; Based on the pseudorange observations with double-difference and no ionospheric combination, the double-difference satellite-to-ground distance, and the double-difference tropospheric delay term, the pseudorange observation interference error is obtained.

[0030] In this embodiment, the millimeter-level precision double-difference satellite-to-ground distance is calculated by combining the coordinates of the first target reference station and the coordinates of the second target reference station. Where r represents the first target reference station, m represents the second target reference station, i represents the first target satellite, and j represents the second target satellite, this provides a reference benchmark for subsequent comparative analysis of the deviation between pseudorange observations and true distances. Next, based on the pseudorange observations at the first frequency point... Second frequency pseudorange observations Obtain pseudorange observations of the double-difference non-ionospheric combination. This lays the foundation for accurately extracting pseudorange observation interference errors. This is the double-difference operation symbol. Then, using the coordinates of the first target reference station, the coordinates of the second target reference station, and the orbital parameters of the first and second target satellites, the precise quantification of the double-difference tropospheric delay term in pseudorange observations was achieved, providing a basis for subsequent error correction. Finally, the double-difference ionosphere-free combined pseudorange observations, the double-difference satellite-to-ground distance, and the double-difference tropospheric delay term were calculated to obtain the pseudorange observation interference error: ,in, For pseudorange observations of double-difference non-ionospheric combinations, For double difference star-ground distance, Assuming the double-difference tropospheric delay term, rearranging the above equation yields the IF pseudorange observation noise. and multipath error pseudorange observation interference error This enabled the precise separation of pseudorange observation interference errors, providing error data support for subsequent evaluation of pseudorange observation quality and derivation of the measured accuracy of MW combined observation values.

[0031] Further, the step of obtaining the double-difference tropospheric delay term based on the coordinates of the first target reference station, the coordinates of the second target reference station, the orbital parameters of the first target satellite, and the orbital parameters of the second target satellite includes: Based on the coordinates of the first target reference station and the second target reference station, the tropospheric zenith delay of the first target reference station and the tropospheric zenith delay of the second target reference station are obtained. Based on the coordinates of the first target reference station, the coordinates of the second target reference station, the orbital parameters of the first target satellite and the orbital parameters of the second target satellite, the tropospheric delay mapping function of the first target reference station and the tropospheric delay mapping function of the second target reference station are obtained. Based on the tropospheric zenith delay of the first target reference station, the tropospheric delay mapping function of the first target reference station, the tropospheric zenith delay of the second target reference station, and the tropospheric delay mapping function of the second target reference station, the double-difference tropospheric delay term is obtained.

[0032] In this embodiment, the tropospheric delay reference values ​​of the two target reference stations are quantified to obtain the tropospheric zenith delay of the first and second target reference stations, providing basic parameters for subsequently converting the zenith delay into the delay in the satellite observation direction. Next, using the coordinates of the first and second target reference stations, and the orbital parameters of the first and second target satellites, a conversion relationship between the zenith tropospheric delay and the tropospheric delay in the observation direction is constructed to obtain the tropospheric delay mapping functions for the first and second target reference stations, providing functional support for calculating the actual tropospheric delay in the observation direction. Then, based on the tropospheric zenith delay of the first and second target reference stations, the tropospheric delay mapping functions, and the tropospheric delay mapping functions of the second and second target reference stations, a double-difference tropospheric delay term is obtained. This cancels the tropospheric delay deviation between the two reference stations and the two satellites, quantifying the impact of tropospheric delay in pseudorange observations and providing a correction basis for subsequently eliminating this error and accurately separating pseudorange observation interference errors.

[0033] Further, the step of obtaining the double-difference tropospheric delay term based on the tropospheric zenith delay of the first target reference station, the tropospheric delay mapping function of the first target reference station, the tropospheric zenith delay of the second target reference station, and the tropospheric delay mapping function of the second target reference station includes: Based on the tropospheric zenith delay of the first target reference station and the tropospheric delay mapping function of the first target reference station, the tropospheric delay difference of the first target reference station is obtained. Based on the mapping function of the tropospheric zenith delay of the second target reference station and the tropospheric delay of the second target reference station, the tropospheric delay difference of the second target reference station is obtained. Based on the tropospheric delay difference between the first target reference station and the second target reference station, the double-difference tropospheric delay term is obtained.

[0034] In this embodiment, the tropospheric zenith delay of the first target reference station is converted into the tropospheric delay difference of the first target reference station through the tropospheric delay mapping function: ,in, Let i be the tropospheric delay mapping function of the first target reference station to the first target satellite i. Let be the tropospheric delay mapping function of the first target reference station to the second target satellite j. The tropospheric zenith delay of the first target reference station is used to provide basic delay data in the single-station observation direction for subsequent calculations of inter-station tropospheric delay differences. Next, the tropospheric zenith delay of the second target reference station is converted into the tropospheric delay difference of the second target reference station using the tropospheric delay mapping function. ,in, The tropospheric delay mapping function for the second target reference station to satellite i is given. Let be the tropospheric delay mapping function of the second target reference station for satellite j. The second target reference station's tropospheric zenith delay is used to provide basic delay data in the single-station observation direction for subsequent calculations of inter-station tropospheric delay differences. Then, the tropospheric delay difference between the first and second target reference stations is calculated: the double-difference tropospheric delay term is... Since the distance between CORS base stations is mostly distributed between 30 and 100 km, and the tropospheric mapping coefficients are similar, for example, the accuracy of high-precision empirical models of tropospheric delay such as GPT2w has reached the cm level, the accuracy of the double-difference tropospheric delay term in the above formula can reach the cm level. This can offset the common deviation of tropospheric delay between two satellites and two reference stations, and obtain the double-difference tropospheric delay term. This provides correction parameters for removing this interference from pseudorange observations and accurately separating pseudorange observation interference errors.

[0035] Furthermore, the measured accuracy based on the MW combined observations, the first frequency carrier observation, the second frequency carrier observation, the first frequency pseudorange observation, the second frequency pseudorange observation, the first target satellite frequency, and the second target satellite frequency are used to solve the double-difference wide-lane ambiguity, so as to achieve accurate calculation of the wide-lane ambiguity, including: Based on the carrier observations at the first frequency point, the carrier observations at the second frequency point, the pseudorange observations at the first frequency point, and the pseudorange observations at the second frequency point, the combined observations of the double-difference MW are obtained. The wide-lane wavelength is obtained based on the frequency of the first target satellite and the frequency of the second target satellite. Based on the measured accuracy of the MW combined observations, the double-difference MW combined observations, and the wide-lane wavelength, the double-difference wide-lane ambiguity is calculated to achieve accurate settlement of the wide-lane ambiguity.

[0036] In this embodiment, by processing the carrier observations at the first frequency point, the carrier observations at the second frequency point, the pseudorange observations at the first frequency point, and the pseudorange observations at the second frequency point, various systematic errors such as satellite orbit errors, satellite clock errors, and receiver clock errors can be effectively eliminated, resulting in a double-difference MW combined observation value that is only affected by multipath errors and observation noise. This provides high-quality observation data for subsequent wide-lane ambiguity resolution using the first and second target satellite frequencies. Next, using the wide-lane wavelength calculation formula, the wide-lane wavelength is obtained, yielding the wavelength parameters required for wide-lane ambiguity resolution. This provides a basis for establishing the correlation between the combined double-difference MW observations and the double-difference wide-lane ambiguity, as well as for realizing ambiguity measurement and resolution. Finally, by combining the measured accuracy of the MW combined observations with the double-difference MW combined observations and the wide-lane wavelength, the double-difference wide-lane ambiguity is resolved. This effectively reduces the interference of high-error observations on the resolution results and improves the consistency between the floating-point and integer ambiguity solutions. Compared with the existing methods of simply averaging or using empirical models based on elevation angles to resolve MW combined wide-lane ambiguity, by substituting the measured accuracy of the real-time calculated MW combined observations into the wide-lane ambiguity resolution, the MW combined observations during periods of high noise or high multipath effect can be effectively detected. This reduces the impact of high-error MW combined observations on the wide-lane ambiguity estimate, thereby improving the estimation accuracy and accelerating the convergence time, providing key ambiguity parameters for GNSS high-precision positioning.

[0037] Furthermore, the method of resolving the double-difference wide-lane ambiguity based on the measured accuracy of the MW combined observations, the double-difference MW combined observations, and the wide-lane wavelength to achieve accurate calculation of the wide-lane ambiguity includes: Based on the measured accuracy of the MW combined observations, the double-difference MW combined observations, the wide-lane wavelength, the preset state transition matrix, the preset process noise variance matrix, and the preset MW combined wide-lane ambiguity solution equation, the double-difference wide-lane ambiguity is solved to achieve accurate calculation of the wide-lane ambiguity.

[0038] In this embodiment, the measured accuracy of the MW combined observations, the double-difference MW combined observations, the wide-lane wavelength, the preset state transition matrix, the preset process noise variance matrix, and the preset MW combined wide-lane ambiguity resolution equation are combined to construct a complete double-difference wide-lane ambiguity resolution model. This effectively avoids the interference of high-error observations on the resolution results, while ensuring the stability of the resolution process, thereby achieving accurate resolution of double-difference wide-lane ambiguity. Perform the calculation: ; n is the nth epoch of the solution process, and W is the preset process noise variance matrix. The preset state transition matrix is ​​used. The matrix of parameters to be estimated, For double-difference wide-lane ambiguity, To design the matrix, For wide-lane wavelength, The residual matrix is... The observation matrix, For the double-difference MW combination of observations, E() is the mathematical mean calculation symbol, and Cov() is the variance calculation symbol. (Identity matrix) , The sampling interval is... This provides reliable parameter support for subsequent high-precision GNSS positioning.

[0039] This embodiment provides a wide-lane ambiguity resolution system based on measured accuracy. Please refer to [link to relevant documentation]. Figure 2 It includes a data acquisition module, an error calculation module, a root mean square error statistics module, a measured accuracy calculation module, and a wide-lane ambiguity resolution module, specifically: The data acquisition module is used to acquire the coordinates of the first target reference station, the coordinates of the second target reference station, the orbital parameters of the first target satellite, the orbital parameters of the second target satellite, the frequency of the first target satellite, the frequency of the second target satellite, the carrier observation value of the first frequency point, the carrier observation value of the second frequency point, the pseudorange observation value of the first frequency point, and the pseudorange observation value of the second frequency point. The error calculation module is used to obtain pseudorange observation interference error based on the coordinates of the first target reference station, the coordinates of the second target reference station, the orbital parameters of the first target satellite, the orbital parameters of the second target satellite, the pseudorange observation value of the first frequency point, and the pseudorange observation value of the second frequency point. The root mean square error statistics module is used to obtain the root mean square error of pseudorange observations based on pseudorange observation interference error. The measured accuracy calculation module is used to obtain the measured accuracy of the MW combined observations based on the root mean square error of the pseudorange observations. The wide-lane ambiguity resolution module is used to resolve double-difference wide-lane ambiguity based on the measured accuracy of the MW combined observations, the first frequency carrier observation, the second frequency carrier observation, the first frequency pseudorange observation, the second frequency pseudorange observation, the first target satellite frequency, and the second target satellite frequency, so as to achieve accurate settlement of wide-lane ambiguity.

[0040] This embodiment provides a wide-lane ambiguity resolution system based on measured accuracy. In practical applications, only a data acquisition module is needed. This module acquires the coordinates of the first target reference station, the coordinates of the second target reference station, the orbital parameters of the first target satellite, the orbital parameters of the second target satellite, and the frequency of the first target satellite after the GNSS receiver observes GNSS satellite signals through the navigation system. (GNSS satellite signals in) (Frequency of the second target satellite) First frequency carrier observation value (GNSS satellite signal) carrier observations at the first frequency point and carrier observations at the second frequency point. (GNSS satellite signal) Carrier observations at the first frequency point and pseudorange observations at the first frequency point. (GNSS satellite signal) pseudorange observations at the second frequency point) (GNSS satellite signal) (Pseudorange observations at frequency points). By employing an error calculation module, the interference error of pseudorange observations is calculated, accurately separating the interference-affected portion of the pseudorange observations. This lays a data foundation for subsequent quantification of pseudorange observation accuracy and derivation of the measured accuracy of MW combined observations. Next, using a root mean square error (RMSE) statistical module, the time series of pseudorange observation interference errors obtained from the above formula is statistically calculated using a sliding window method to obtain the root mean square error of the pseudorange observations. In the formula, k is the current epoch of the solution. Represents the current epoch k and the epoch k. Time difference between epochs The number of epochs contained in the sliding window. denoted as the root mean square error of pseudorange observations in the IF combination, where r represents the first target reference station, m represents the second target reference station, i represents the first target satellite, and j represents the second target satellite. In the double-difference mode formed by the first target reference station r, the second target reference station m, the first target satellite i, and the second target satellite j, the first... The pseudorange observation interference error within each epoch. Since real-time calculations can only use data from before the current epoch to calculate the root mean square error, the root mean square error of the pseudorange observations calculated using the above method has a certain delay, actually (k-0.5). The root mean square error of pseudorange observations at each epoch. Further, a measured accuracy calculation module is used, since common CORS services primarily use GPS. / Frequency, BDS / At different frequencies, the pseudorange accuracy of these two combinations is approximately equal and the correlation is weak; therefore, for ease of calculation, this embodiment assumes... and The pseudorange observations are consistent in accuracy, with a correlation of 0. (Based on GPS) / Taking frequency points as an example, the root mean square error of pseudorange observations of IF combinations can be derived. Root mean square error of pseudorange observations combined with MW The relationship is as follows: (Since the magnitude of the pseudorange observation interference error is much larger than that of the carrier observation value, the pseudorange observation interference error of the MW combined observation value is basically composed of the pseudorange observation interference error of the MW combined pseudorange part. Therefore, it is only necessary to obtain the accuracy information of the MW combined pseudorange part.) The root mean square error of the MW combined pseudorange observations can then be approximately calculated. : ): ; Therefore, the accuracy of the MW combined observations can be derived. The accuracy of the combined pseudorange observations is approximately 0.24 times that of the IF. Then, based on the root mean square error of the pseudorange observations, the measured accuracy of the MW combined observations can be obtained: Finally, a wide-lane ambiguity resolution module is used to combine the measured accuracy of the MW combined observations, the carrier observations at the first frequency point, the carrier observations at the second frequency point, the pseudorange observations at the first frequency point, the pseudorange observations at the second frequency point, the frequencies of the first target satellite and the second target satellite to resolve the double-difference wide-lane ambiguity. This avoids the low accuracy of ambiguity fixation caused by relying on empirical models, and achieves fast and accurate resolution of wide-lane ambiguity to improve the reliability of GNSS positioning.

[0041] Furthermore, the error calculation module is used to obtain pseudorange observation interference error based on the coordinates of the first target reference station, the coordinates of the second target reference station, the orbital parameters of the first target satellite, the orbital parameters of the second target satellite, the pseudorange observation value at the first frequency point, and the pseudorange observation value at the second frequency point, including: Calculate the double-difference satellite-to-ground distance based on the coordinates of the first target reference station and the second target reference station. Based on the pseudorange observations at the first and second frequencies, the combined pseudorange observations of the ionosphere-free double-difference were obtained. Based on the coordinates of the first target reference station, the coordinates of the second target reference station, the orbital parameters of the first target satellite and the orbital parameters of the second target satellite, the double-difference tropospheric delay term is obtained; Based on the pseudorange observations with double-difference and no ionospheric combination, the double-difference satellite-to-ground distance, and the double-difference tropospheric delay term, the pseudorange observation interference error is obtained.

[0042] In this embodiment, the millimeter-level precision double-difference satellite-to-ground distance is calculated by combining the coordinates of the first target reference station and the coordinates of the second target reference station. Where r represents the first target reference station, m represents the second target reference station, i represents the first target satellite, and j represents the second target satellite, this provides a reference benchmark for subsequent comparative analysis of the deviation between pseudorange observations and true distances. Next, based on the pseudorange observations at the first frequency point... Second frequency pseudorange observations Obtain pseudorange observations of the double-difference non-ionospheric combination. This lays the foundation for accurately extracting pseudorange observation interference errors. This is the double-difference operation symbol. Then, using the coordinates of the first target reference station, the coordinates of the second target reference station, and the orbital parameters of the first and second target satellites, the precise quantification of the double-difference tropospheric delay term in pseudorange observations was achieved, providing a basis for subsequent error correction. Finally, the double-difference ionosphere-free combined pseudorange observations, the double-difference satellite-to-ground distance, and the double-difference tropospheric delay term were calculated to obtain the pseudorange observation interference error: ,in, For pseudorange observations of double-difference non-ionospheric combinations, For double difference star-ground distance, This is a double-difference tropospheric delay term. This represents multipath error. Rearranging the above equation, we can obtain the IF pseudorange observation noise. and multipath error pseudorange observation interference error This enabled the precise separation of pseudorange observation interference errors, providing error data support for subsequent evaluation of pseudorange observation quality and derivation of the measured accuracy of MW combined observation values.

[0043] Further, the step of obtaining the double-difference tropospheric delay term based on the coordinates of the first target reference station, the coordinates of the second target reference station, the orbital parameters of the first target satellite, and the orbital parameters of the second target satellite includes: Based on the coordinates of the first target reference station and the second target reference station, the tropospheric zenith delay of the first target reference station and the tropospheric zenith delay of the second target reference station are obtained. Based on the coordinates of the first target reference station, the coordinates of the second target reference station, the orbital parameters of the first target satellite and the orbital parameters of the second target satellite, the tropospheric delay mapping function of the first target reference station and the tropospheric delay mapping function of the second target reference station are obtained. Based on the tropospheric zenith delay of the first target reference station, the tropospheric delay mapping function of the first target reference station, the tropospheric zenith delay of the second target reference station, and the tropospheric delay mapping function of the second target reference station, the double-difference tropospheric delay term is obtained.

[0044] In this embodiment, the tropospheric delay reference values ​​of the two target reference stations are quantified to obtain the tropospheric zenith delay of the first and second target reference stations, providing basic parameters for subsequently converting the zenith delay into the delay in the satellite observation direction. Next, using the coordinates of the first and second target reference stations, and the orbital parameters of the first and second target satellites, a conversion relationship between the zenith tropospheric delay and the tropospheric delay in the observation direction is constructed to obtain the tropospheric delay mapping functions for the first and second target reference stations, providing functional support for calculating the actual tropospheric delay in the observation direction. Then, based on the tropospheric zenith delay of the first and second target reference stations, the tropospheric delay mapping functions, and the tropospheric delay mapping functions of the second and second target reference stations, a double-difference tropospheric delay term is obtained. This cancels the tropospheric delay deviation between the two reference stations and the two satellites, quantifying the impact of tropospheric delay in pseudorange observations and providing a correction basis for subsequently eliminating this error and accurately separating pseudorange observation interference errors.

[0045] Further, the step of obtaining the double-difference tropospheric delay term based on the tropospheric zenith delay of the first target reference station, the tropospheric delay mapping function of the first target reference station, the tropospheric zenith delay of the second target reference station, and the tropospheric delay mapping function of the second target reference station includes: Based on the tropospheric zenith delay of the first target reference station and the tropospheric delay mapping function of the first target reference station, the tropospheric delay difference of the first target reference station is obtained. Based on the mapping function of the tropospheric zenith delay of the second target reference station and the tropospheric delay of the second target reference station, the tropospheric delay difference of the second target reference station is obtained. Based on the tropospheric delay difference between the first target reference station and the second target reference station, the double-difference tropospheric delay term is obtained.

[0046] In this embodiment, the tropospheric zenith delay of the first target reference station is converted into the tropospheric delay difference of the first target reference station through the tropospheric delay mapping function: ,in, Let i be the tropospheric delay mapping function of the first target reference station to satellite i. Let be the tropospheric delay mapping function of the first target reference station for satellite j. The tropospheric zenith delay of the first target reference station is used to provide basic delay data in the single-station observation direction for subsequent calculations of inter-station tropospheric delay differences. Next, the tropospheric zenith delay of the second target reference station is converted into the tropospheric delay difference of the second target reference station using the tropospheric delay mapping function. ,in, The tropospheric delay mapping function for the second target reference station to satellite i is given. Let be the tropospheric delay mapping function of the second target reference station for satellite j. The second target reference station's tropospheric zenith delay is used to provide basic delay data in the single-station observation direction for subsequent calculations of inter-station tropospheric delay differences. Then, the tropospheric delay difference between the first and second target reference stations is calculated: the double-difference tropospheric delay term is... Since the distance between CORS base stations is mostly distributed between 30 and 100 km, and the tropospheric mapping coefficients are similar, for example, the accuracy of high-precision empirical models of tropospheric delay such as GPT2w has reached the cm level, the accuracy of the double-difference tropospheric delay term in the above formula can reach the cm level. This can offset the common deviation of tropospheric delay between two satellites and two reference stations, and obtain the double-difference tropospheric delay term. This provides correction parameters for removing this interference from pseudorange observations and accurately separating pseudorange observation interference errors.

[0047] This embodiment adjusts the observation weights by adjusting the measured accuracy of the MW combined observations, effectively suppressing multipath errors and noise. This makes the wide-lane ambiguity floating-point solution closer to the integer solution, improving the fixed accuracy by more than 10%, reducing interference from high-error observations, and shortening the average convergence time by more than half. It is particularly suitable for real-time positioning scenarios. This embodiment does not rely on empirical models and is applicable to environments with complex multipath effects, with particularly significant improvements to the BeiDou Navigation Satellite System (BDS).

[0048] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A method for resolving wide-lane ambiguity based on measured accuracy, characterized in that, include: Obtain the coordinates of the first target reference station, the coordinates of the second target reference station, the orbital parameters of the first target satellite, the orbital parameters of the second target satellite, the frequency of the first target satellite, the frequency of the second target satellite, the carrier observation value of the first frequency point, the carrier observation value of the second frequency point, the pseudorange observation value of the first frequency point, and the pseudorange observation value of the second frequency point; Based on the coordinates of the first target reference station, the coordinates of the second target reference station, the orbital parameters of the first target satellite, the orbital parameters of the second target satellite, the pseudorange observation values ​​at the first frequency point, and the pseudorange observation values ​​at the second frequency point, the pseudorange observation interference error is obtained. Based on pseudorange observation interference error, obtain the root mean square error of pseudorange observation values; Based on the root mean square error of pseudorange observations, the measured accuracy of MW combined observations is obtained. Based on the measured accuracy of the MW combined observations, the first frequency carrier observation, the second frequency carrier observation, the first frequency pseudorange observation, the second frequency pseudorange observation, the first target satellite frequency, and the second target satellite frequency, the double-difference wide-lane ambiguity is calculated to achieve accurate calculation of the wide-lane ambiguity.

2. The method for wide-lane ambiguity resolution based on measured accuracy according to claim 1, characterized in that, The process of obtaining pseudorange observation interference error based on the coordinates of the first target reference station, the coordinates of the second target reference station, the orbital parameters of the first target satellite, the orbital parameters of the second target satellite, the pseudorange observation values ​​of the first frequency point, and the pseudorange observation values ​​of the second frequency point includes: Calculate the double-difference satellite-to-ground distance based on the coordinates of the first target reference station and the second target reference station. Based on the pseudorange observations at the first and second frequencies, the combined pseudorange observations of the ionosphere-free double-difference were obtained. Based on the coordinates of the first target reference station, the coordinates of the second target reference station, the orbital parameters of the first target satellite and the orbital parameters of the second target satellite, the double-difference tropospheric delay term is obtained; Based on the pseudorange observations with double-difference and no ionospheric combination, the double-difference satellite-to-ground distance, and the double-difference tropospheric delay term, the pseudorange observation interference error is obtained.

3. The method for wide-lane ambiguity resolution based on measured accuracy according to claim 2, characterized in that, The process of obtaining the double-difference tropospheric delay term based on the coordinates of the first target reference station, the coordinates of the second target reference station, the orbital parameters of the first target satellite, and the orbital parameters of the second target satellite includes: Based on the coordinates of the first target reference station and the second target reference station, the tropospheric zenith delay of the first target reference station and the tropospheric zenith delay of the second target reference station are obtained. Based on the coordinates of the first target reference station, the coordinates of the second target reference station, the orbital parameters of the first target satellite and the orbital parameters of the second target satellite, the tropospheric delay mapping function of the first target reference station and the tropospheric delay mapping function of the second target reference station are obtained. Based on the tropospheric zenith delay of the first target reference station, the tropospheric delay mapping function of the first target reference station, the tropospheric zenith delay of the second target reference station, and the tropospheric delay mapping function of the second target reference station, the double-difference tropospheric delay term is obtained.

4. The method for resolving wide-lane ambiguity based on measured accuracy according to claim 3, characterized in that, The process of obtaining the double-difference tropospheric delay term based on the tropospheric zenith delay of the first target reference station, the tropospheric delay mapping function of the first target reference station, the tropospheric zenith delay of the second target reference station, and the tropospheric delay mapping function of the second target reference station includes: Based on the tropospheric zenith delay of the first target reference station and the tropospheric delay mapping function of the first target reference station, the tropospheric delay difference of the first target reference station is obtained; Based on the mapping function of the tropospheric zenith delay of the second target reference station and the tropospheric delay of the second target reference station, the tropospheric delay difference of the second target reference station is obtained. Based on the tropospheric delay difference between the first target reference station and the second target reference station, the double-difference tropospheric delay term is obtained.

5. The method for wide-lane ambiguity resolution based on measured accuracy according to claim 1, characterized in that, The measured accuracy based on the MW combined observations, the first frequency carrier observation, the second frequency carrier observation, the first frequency pseudorange observation, the second frequency pseudorange observation, the first target satellite frequency, and the second target satellite frequency are used to calculate the double-difference wide-lane ambiguity, so as to achieve accurate calculation of the wide-lane ambiguity, including: Based on the carrier observations at the first frequency point, the carrier observations at the second frequency point, the pseudorange observations at the first frequency point, and the pseudorange observations at the second frequency point, the combined observations of the double-difference MW are obtained. The wide-lane wavelength is obtained based on the frequency of the first target satellite and the frequency of the second target satellite. Based on the measured accuracy of the MW combined observations, the double-difference MW combined observations, and the wide-lane wavelength, the double-difference wide-lane ambiguity is calculated to achieve accurate settlement of the wide-lane ambiguity.

6. The method for wide-lane ambiguity resolution based on measured accuracy according to claim 5, characterized in that, The method for resolving double-difference wide-lane ambiguity based on the measured accuracy of the MW combined observations, the double-difference MW combined observations, and the wide-lane wavelength, to achieve accurate calculation of wide-lane ambiguity, includes: Based on the measured accuracy of the MW combined observations, the double-difference MW combined observations, the wide-lane wavelength, the preset state transition matrix, the preset process noise variance matrix, and the preset MW combined wide-lane ambiguity solution equation, the double-difference wide-lane ambiguity is solved to achieve accurate calculation of the wide-lane ambiguity.

7. A wide-lane ambiguity resolution system based on measured accuracy, characterized in that, It includes a data acquisition module, an error calculation module, a root mean square error statistics module, a measured accuracy calculation module, and a wide lane ambiguity resolution module, specifically: The data acquisition module is used to acquire the coordinates of the first target reference station, the coordinates of the second target reference station, the orbital parameters of the first target satellite, the orbital parameters of the second target satellite, the frequency of the first target satellite, the frequency of the second target satellite, the carrier observation value of the first frequency point, the carrier observation value of the second frequency point, the pseudorange observation value of the first frequency point, and the pseudorange observation value of the second frequency point. The error calculation module is used to obtain pseudorange observation interference error based on the coordinates of the first target reference station, the coordinates of the second target reference station, the orbital parameters of the first target satellite, the orbital parameters of the second target satellite, the pseudorange observation value of the first frequency point, and the pseudorange observation value of the second frequency point. The root mean square error statistics module is used to obtain the root mean square error of pseudorange observations based on pseudorange observation interference error. The measured accuracy calculation module is used to obtain the measured accuracy of the MW combined observations based on the root mean square error of the pseudorange observations. The wide-lane ambiguity resolution module is used to resolve double-difference wide-lane ambiguity based on the measured accuracy of the MW combined observations, the first frequency carrier observation, the second frequency carrier observation, the first frequency pseudorange observation, the second frequency pseudorange observation, the first target satellite frequency, and the second target satellite frequency, so as to achieve accurate settlement of wide-lane ambiguity.

8. The wide-lane ambiguity resolution system based on measured accuracy according to claim 7, characterized in that, The error calculation module is used to obtain pseudorange observation interference error based on the coordinates of the first target reference station, the coordinates of the second target reference station, the orbital parameters of the first target satellite, the orbital parameters of the second target satellite, the pseudorange observation value of the first frequency point, and the pseudorange observation value of the second frequency point, including: Calculate the double-difference satellite-to-ground distance based on the coordinates of the first target reference station and the second target reference station. Based on the pseudorange observations at the first and second frequencies, the combined pseudorange observations of the ionosphere-free double-difference were obtained. Based on the coordinates of the first target reference station, the coordinates of the second target reference station, the orbital parameters of the first target satellite and the orbital parameters of the second target satellite, the double-difference tropospheric delay term is obtained; Based on the pseudorange observations with double-difference and no ionospheric combination, the double-difference satellite-to-ground distance, and the double-difference tropospheric delay term, the pseudorange observation interference error is obtained.

9. The wide-lane ambiguity resolution system based on measured accuracy according to claim 8, characterized in that, The process of obtaining the double-difference tropospheric delay term based on the coordinates of the first target reference station, the coordinates of the second target reference station, the orbital parameters of the first target satellite, and the orbital parameters of the second target satellite includes: Based on the coordinates of the first target reference station and the second target reference station, the tropospheric zenith delay of the first target reference station and the tropospheric zenith delay of the second target reference station are obtained. Based on the coordinates of the first target reference station, the coordinates of the second target reference station, the orbital parameters of the first target satellite and the orbital parameters of the second target satellite, the tropospheric delay mapping function of the first target reference station and the tropospheric delay mapping function of the second target reference station are obtained. Based on the tropospheric zenith delay of the first target reference station, the tropospheric delay mapping function of the first target reference station, the tropospheric zenith delay of the second target reference station, and the tropospheric delay mapping function of the second target reference station, the double-difference tropospheric delay term is obtained.

10. The wide-lane ambiguity resolution system based on measured accuracy according to claim 9, characterized in that, The process of obtaining the double-difference tropospheric delay term based on the tropospheric zenith delay of the first target reference station, the tropospheric delay mapping function of the first target reference station, the tropospheric zenith delay of the second target reference station, and the tropospheric delay mapping function of the second target reference station includes: Based on the tropospheric zenith delay of the first target reference station and the tropospheric delay mapping function of the first target reference station, the tropospheric delay difference of the first target reference station is obtained; Based on the mapping function of the tropospheric zenith delay of the second target reference station and the tropospheric delay of the second target reference station, the tropospheric delay difference of the second target reference station is obtained. Based on the tropospheric delay difference between the first target reference station and the second target reference station, the double-difference tropospheric delay term is obtained.

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