Positioning method and device based on medium-long baseline ambiguity fixing, equipment and medium
By determining the ambiguity of the wide and narrow lanes of the medium-long baseline step by step, and adjusting the position and geometrically unconstrained equation parameters, the problems of slow ambiguity convergence and low reliability in medium-long baseline RTK positioning are solved, achieving faster positioning speed and higher accuracy.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- SHANGHAI YICHEN TECH CO LTD
- Filing Date
- 2026-03-27
- Publication Date
- 2026-07-07
AI Technical Summary
Existing medium- and long-baseline RTK positioning technologies suffer from slow ambiguity convergence or low fixation reliability, especially when considering residual ionospheric error terms, which affects positioning accuracy and efficiency.
By acquiring observations and ephemeris data from the base station and rover, the ambiguities of wide and narrow lanes are determined step by step. The parameters in the preset position constraints and geometrically unconstrained equations are adjusted, and filtering and search algorithms are used to solve for the position and ambiguity parameters, thereby improving the ambiguity convergence speed and fixation success rate.
It accelerates the convergence speed of medium- and long-baseline ambiguity, improves the fixation success rate of ambiguity search, and enhances positioning accuracy and speed.
Smart Images
Figure CN122345872A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of computer technology, and more specifically, to a positioning method, apparatus, device, and medium based on fixed mid-to-long baseline ambiguity. Background Technology
[0002] Global Navigation Satellite System (GNSS) technology is becoming increasingly widely used. Real-Time Kinematic (RTK) positioning technology, due to its simple model and mature, stable technology, is one of the most commonly used high-precision GNSS positioning technologies. RTK positioning technology is a technique that uses carrier phase observations from a base station and a rover for relative positioning. Its core is carrier phase ambiguity resolution, which has become a hot research topic.
[0003] In related technologies, conventional short-baseline RTK mathematical models generally assume no atmospheric residue, requiring only the estimation of position and ambiguity parameters. However, as baseline length increases, spatial correlation decreases, and the impact of ionospheric error residues becomes increasingly significant. Therefore, ionospheric error residue terms must be considered in medium- and long-baseline RTK mathematical models. For ambiguity resolution in medium- and long-baseline models, methods include adding filtering parameters to estimate the ionosphere or eliminating the ionosphere through ionosphere-free combinations.
[0004] However, the methods used in these technologies may result in slow ambiguity convergence or low reliability. Summary of the Invention
[0005] The purpose of this application is to provide a positioning method, apparatus, device, and medium based on medium-long baseline ambiguity fixing, in order to address the shortcomings of the prior art and solve the aforementioned technical problems in the related art.
[0006] To achieve the above objectives, the technical solutions adopted in the embodiments of this application are as follows: In a first aspect, embodiments of this application provide a positioning method based on fixed mid-to-long baseline ambiguity, the method comprising: Acquire the first observations from the base station, and the second observations and ephemeris data from the rover station; The wide-lane ambiguity is determined based on the first observation, the second observation, and the ephemeris data; Based on the first observation, the second observation, the ephemeris data, the wide alley ambiguity, and the preset ionospheric residual information, the parameters in the preset wide alley position constraint equation and the preset geometrically unconstrained equation are adjusted. The preset wide alley position constraint equation is used to characterize the relationship between the observation term, the wide alley ambiguity term, the position term, and the ionospheric residual term. The preset geometrically unconstrained equation is used to characterize the relationship between the observation term, the wide alley ambiguity term, the narrow alley ambiguity term, and the ionospheric residual term. The position term and the narrow alley ambiguity term are solved based on the preset wide alley position constraint equation and the preset geometrically unconstrained equation after parameter adjustment, and the narrow alley ambiguity parameter and the position parameter are determined. Based on the narrow alley ambiguity parameter and the location parameter, the target positioning position corresponding to the first observation value and the second observation value is calculated.
[0007] Optionally, determining the wide-lane ambiguity based on the first observation, the second observation, and the ephemeris data includes: Based on the first observation, the second observation, and the ephemeris data, an objective equation for the ultra-wide alleyway is established and solved to determine the ultra-wide alleyway ambiguity. The objective equation is used to characterize the combination of carrier observation and pseudorange observation. The wide alley ambiguity is determined based on the first observation, the second observation, the ephemeris data, and the ultrawide alley ambiguity.
[0008] Optionally, determining the wide-lane ambiguity based on the first observation, the second observation, the ephemeris data, and the ultra-wide-lane ambiguity includes: Based on the first observation, the second observation, and the ephemeris data, establish and solve the target equation for the wide alleyway to determine the first wide alleyway ambiguity. Based on the first observation, the second observation, the ephemeris data, and the ultra-wide alley ambiguity, an ionosphere-free constraint equation with a determined ultra-wide alley ambiguity is established. Based on the first observation, the second observation, and the ephemeris data, determine the pseudorange-free ionospheric combination equation; Solve the ionosphere-free constraint equation for the determined ultra-wide alleyway ambiguity and the pseudo-range ionosphere-free combination equation to obtain the second wide alleyway ambiguity; The wide alley ambiguity is determined based on the first wide alley ambiguity and the second wide alley ambiguity.
[0009] Optionally, the step of solving the ionosphere-free constraint equation for the determined ultra-wide alleyway ambiguity and the pseudorange ionosphere-free combination equation to obtain the second wide alleyway ambiguity includes: Using a preset filtering algorithm, the ionosphere-free constraint equation for the determined ultra-wide alleyway ambiguity and the pseudorange ionosphere-free combination equation are solved to determine the wide alleyway ambiguity parameters. A preset search algorithm is used to search for the second wide-lane ambiguity based on the first floating-point solution and the first variance-covariance in the wide-lane ambiguity parameters.
[0010] Optionally, adjusting the parameters in the preset wide-lane position constraint equation and the preset geometrically unconstrained equation based on the first observation, the second observation, the ephemeris data, the wide-lane ambiguity, and the preset ionospheric residual information includes: Based on the first observation, the second observation, the ephemeris data, the wide alley ambiguity, and the preset ionospheric residual information, adjust the parameters of the observation term, the wide alley ambiguity term, and the ionospheric residual term in the preset wide alley position constraint equation; Based on the first observation, the second observation, the ephemeris data, the wide alley ambiguity, and the preset ionospheric residual information, adjust the parameters of the observation term, the wide alley ambiguity term, and the ionospheric residual term in the preset geometrically unconstrained equation.
[0011] Optionally, the step of solving the position term and the narrow alley ambiguity term based on the preset wide alley position constraint equation and the preset geometrically unconstrained equation after parameter adjustment to determine the narrow alley ambiguity parameter and the position parameter includes: Based on the preset positioning observation equations, determine the pseudorange ionospheric equation and the carrier ionospheric equation; Solving the preset wide-lane position constraint equation, the preset geometrically unconstrained equation, the pseudorange ionosphere-free equation, and the carrier ionosphere-free equation after parameter adjustment yields the narrow-lane ambiguity parameter, the position parameter, and the zenith troposphere parameter.
[0012] Optionally, calculating the target location corresponding to the first observation and the second observation based on the narrow alley ambiguity parameter and the location parameter includes: A preset search algorithm is used to search based on the second floating-point solution and the second variance-covariance in the narrow alley ambiguity parameters to obtain a fixed narrow alley ambiguity. The target location is calculated based on the fixed narrow alley ambiguity, the location parameters, and the zenith tropospheric parameters.
[0013] Secondly, embodiments of this application also provide a positioning device based on medium-long baseline ambiguity fixing, the device comprising: The acquisition module is used to acquire the first observation value of the base station, and the second observation value and ephemeris data of the rover station; The first determining module is used to determine the wide-lane ambiguity based on the first observation value, the second observation value, and the ephemeris data; The adjustment module is used to adjust the parameters in the preset wide-lane position constraint equation and the preset geometrically unconstrained equation based on the first observation, the second observation, the ephemeris data, the wide-lane ambiguity, and the preset ionospheric residual information. The preset wide-lane position constraint equation is used to characterize the relationship between the observation term, the wide-lane ambiguity term, the position term, and the ionospheric residual term. The second determining module is used to solve the position term and the narrow alley ambiguity term according to the preset wide alley position constraint equation and the preset geometric constraint-free equation after parameter adjustment, and to determine the narrow alley ambiguity parameter and the position parameter. The calculation module is used to calculate the target positioning position corresponding to the first observation value and the second observation value based on the narrow alley ambiguity parameter and the position parameter.
[0014] Optionally, the first determining module is specifically used to establish and solve the target equation of the ultra-wide alleyway based on the first observation, the second observation, and the ephemeris data, and to determine the ultra-wide alleyway ambiguity, wherein the target equation is used to characterize the combination of carrier observation and pseudorange observation; and to determine the wide alleyway ambiguity based on the first observation, the second observation, the ephemeris data, and the ultra-wide alleyway ambiguity.
[0015] Optionally, the first determining module is specifically configured to: establish and solve the target equation for the wide alleyway based on the first observation, the second observation, and the ephemeris data to determine the first wide alleyway ambiguity; establish an ionospheric constraint equation with the determined ultra-wide alleyway ambiguity based on the first observation, the second observation, the ephemeris data, and the ultra-wide alleyway ambiguity; determine a pseudorange-ionospheric combination equation based on the first observation, the second observation, and the ephemeris data; solve the ionospheric constraint equation with the determined ultra-wide alleyway ambiguity and the pseudorange-ionospheric combination equation to obtain the second wide alleyway ambiguity; and determine the wide alleyway ambiguity based on the first wide alleyway ambiguity and the second wide alleyway ambiguity.
[0016] Optionally, the first determining module is specifically used to use a preset filtering algorithm to solve the ionosphere-free constraint equation for the determined ultra-wide alley ambiguity and the pseudorange ionosphere-free combination equation to determine the wide alley ambiguity parameters; and to use a preset search algorithm to search based on the first floating-point solution and the first variance-covariance in the wide alley ambiguity parameters to obtain the second wide alley ambiguity.
[0017] Optionally, the adjustment module is specifically used to adjust the parameters of the observation term, the wide alley ambiguity term, and the ionospheric residue term in the preset wide alley position constraint equation based on the first observation value, the second observation value, the ephemeris data, the wide alley ambiguity, and the preset ionospheric residue information; and to adjust the parameters of the observation term, the wide alley ambiguity term, and the ionospheric residue term in the preset geometrically unconstrained equation based on the first observation value, the second observation value, the ephemeris data, the wide alley ambiguity, and the preset ionospheric residue information.
[0018] Optionally, the second determining module is specifically used to determine the pseudorange ionospheric equation and the carrier ionospheric equation according to the preset positioning observation equation; and to solve the preset wide-lane position constraint equation, the preset geometric constraint-free equation, the pseudorange ionospheric equation and the carrier ionospheric equation after parameter adjustment to obtain the narrow-lane ambiguity parameter, the position parameter and the zenith troposphere parameter.
[0019] Optionally, the calculation module is specifically used to use a preset search algorithm to search based on the second floating-point solution and the second variance-covariance in the narrow alley ambiguity parameters to obtain a fixed narrow alley ambiguity; and to calculate the target positioning position based on the fixed narrow alley ambiguity, the position parameters, and the zenith tropospheric parameters.
[0020] Thirdly, embodiments of this application also provide a positioning device based on fixed mid-to-long baseline ambiguity, comprising: a memory and a processor, wherein the memory stores a computer program executable by the processor, and the processor executes the computer program to implement the positioning method based on fixed mid-to-long baseline ambiguity as described in any of the first aspects above.
[0021] Fourthly, embodiments of this application also provide a computer-readable storage medium storing a computer program, which, when read and executed, implements the positioning method based on fixed medium-long baseline ambiguity as described in any of the first aspects above.
[0022] The beneficial effects of this application are as follows: This application provides a positioning method, apparatus, device, and storage medium based on fixed mid-to-long baseline ambiguity. The method includes: acquiring a first observation value from a base station, and a second observation value and ephemeris data from a rover station; determining the wide-lane ambiguity based on the first observation value, the second observation value, and the ephemeris data; adjusting the parameters in a preset wide-lane position constraint equation and a preset geometrically unconstrained equation based on the first observation value, the second observation value, the ephemeris data, and the wide-lane ambiguity, wherein the preset wide-lane position constraint equation is used to characterize the relationship between the observation value term, the wide-lane ambiguity term, and the position term, and the preset geometrically unconstrained equation is used to characterize the relationship between the observation value term, the wide-lane ambiguity term, and the narrow-lane ambiguity term; solving for the position term and the narrow-lane ambiguity term based on the parameter-adjusted preset wide-lane position constraint equation and the preset geometrically unconstrained equation to determine the narrow-lane ambiguity parameter and the position parameter; and calculating the target positioning position corresponding to the first observation value and the second observation value based on the narrow-lane ambiguity parameter and the position parameter. By progressively determining the ambiguity of the wide alley and the narrow alley, the convergence speed of the ambiguity in the medium-to-long baseline is improved, and the success rate of ambiguity search and fixation is increased. Moreover, when determining the ambiguity of the wide alley, a preset wide alley position constraint equation and a preset equation without geometric constraints are introduced to enhance the model strength, accelerate the convergence speed of the narrow alley ambiguity in the medium-to-long baseline, and thus improve the positioning speed. Attached Figure Description
[0023] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.
[0024] Figure 1 A flowchart illustrating a positioning method based on fixed medium-long baseline ambiguity provided in this application embodiment. Figure 1 ; Figure 2 A flowchart illustrating a positioning method based on fixed medium-long baseline ambiguity provided in this application embodiment. Figure 2 ; Figure 3 A flowchart illustrating a positioning method based on fixed medium-long baseline ambiguity provided in this application embodiment. Figure 3 ; Figure 4 A flowchart illustrating a positioning method based on fixed medium-long baseline ambiguity provided in this application embodiment. Figure 4 ; Figure 5 A flowchart illustrating a positioning method based on fixed medium-long baseline ambiguity provided in this application embodiment. Figure 5 ; Figure 6 A flowchart illustrating a positioning method based on fixed medium-long baseline ambiguity provided in this application embodiment. Figure 6 ; Figure 7 A flowchart illustrating a positioning method based on fixed medium-long baseline ambiguity provided in this application embodiment. Figure 7 ; Figure 8 A complete flowchart illustrating a positioning method based on fixed medium-long baseline ambiguity provided in this application embodiment; Figure 9 A schematic diagram of a positioning device based on medium-long baseline ambiguity fixing provided in an embodiment of this application; Figure 10 This is a schematic diagram of a positioning device based on medium-long baseline ambiguity fixation, provided as an embodiment of this application. Detailed Implementation
[0025] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of this application, but not all embodiments.
[0026] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.
[0027] In the description of this application, it should be noted that if the terms "upper", "lower", etc. appear to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship that the product of this application is usually placed in, it is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.
[0028] Furthermore, the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Additionally, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.
[0029] It should be noted that, where there is no conflict, the features in the embodiments of this application can be combined with each other.
[0030] This application provides a positioning method based on fixed medium-long baseline ambiguity, which is applied to a positioning device based on fixed medium-long baseline ambiguity. The positioning device based on fixed medium-long baseline ambiguity can be a terminal device or a server. The terminal device can be any of the following: computer equipment, laptop computer, tablet computer, or smartphone.
[0031] The following explains a positioning method based on fixed medium-long baseline ambiguity provided in the embodiments of this application.
[0032] Figure 1 A flowchart illustrating a positioning method based on fixed medium-long baseline ambiguity provided in this application embodiment. Figure 1 ,like Figure 1 As shown, the method may include: S101. Obtain the first observation value from the base station, and the second observation value and ephemeris data from the rover station.
[0033] In some implementations, the base station acquires a first observation value, and the rover acquires a second observation value and ephemeris data; it receives the first observation value sent by the base station and the second observation value and ephemeris data sent by the rover.
[0034] It should be noted that a base station refers to a receiver whose coordinates are precisely known and which remains stationary, while a rover refers to a receiver whose coordinates are unknown. Both base stations and rover stations are used to receive satellite signals.
[0035] S102. Determine the wide aisle ambiguity based on the first observation, the second observation, and the ephemeris data.
[0036] In some implementations, the ultra-wide alley ambiguity is determined based on the first observation, the second observation, and ephemeris data; the wide alley ambiguity is determined based on the first observation, the second observation, ephemeris data, and the wide alley ambiguity.
[0037] In this embodiment, fixing the ultra-wide alley ambiguity and wide alley ambiguity step by step is beneficial to improving the convergence speed of medium- and long baseline ambiguity and increasing the success rate of ambiguity search determination.
[0038] S103. Based on the first observation, the second observation, ephemeris data, wide alley ambiguity, and preset ionospheric residual information, adjust the parameters in the preset wide alley position constraint equation and the preset geometrically unconstrained equation.
[0039] Among them, the preset wide-lane position constraint equation is used to characterize the relationship between the observation term, the wide-lane ambiguity term, the position term and the ionospheric residue term, and the preset geometrically unconstrained equation is used to characterize the relationship between the observation term, the wide-lane ambiguity term, the narrow-lane ambiguity term and the ionospheric residue term.
[0040] In some implementations, the first observation, the second observation, ephemeris data, wide-lane ambiguity, and preset ionospheric residual information are substituted into the corresponding terms in the preset wide-lane position constraint equation to adjust the parameters in the preset wide-lane position constraint equation; and the first observation, the second observation, ephemeris data, wide-lane ambiguity, and preset ionospheric residual information are substituted into the corresponding terms in the preset geometrically unconstrained equation to adjust the parameters in the preset geometrically unconstrained equation.
[0041] It should be noted that the parameters in the preset wide lane position constraint equation can be adjusted first, followed by the parameters in the preset non-geometric constraint equation; alternatively, the parameters in the preset non-geometric constraint equation can be adjusted first, followed by the parameters in the preset wide lane position constraint equation; or, the parameters in both the preset wide lane position constraint equation and the preset non-geometric constraint equation can be adjusted simultaneously. This application does not impose specific limitations on these methods.
[0042] It should be noted that introducing a preset wide-lane position constraint equation and a preset geometrically unconstrained equation to enhance model emphasis can accelerate the convergence speed of narrow-lane ambiguity in medium- and long-baselines.
[0043] S104. Solve for the position term and narrow lane ambiguity term based on the preset wide lane position constraint equation and the preset geometrically unconstrained equation after parameter adjustment, and determine the narrow lane ambiguity parameter and the position parameter.
[0044] Among them, the position term in the preset wide lane position constraint equation after parameter adjustment and the narrow lane ambiguity term in the preset geometrically unconstrained equation after parameter adjustment are both terms to be solved.
[0045] In some implementations, a preset filtering algorithm is used to solve the preset wide lane position constraint equation and the preset non-geometric constraint equation after parameter adjustment, solve the position term and narrow lane ambiguity term, and determine the narrow lane ambiguity parameter and the position parameter.
[0046] S105. Based on the narrow alley ambiguity parameter and the position parameter, calculate the target positioning position corresponding to the first observation value and the second observation value.
[0047] The target location is the user's location, that is, the user's location located by satellite. The target location can be longitude and latitude coordinates.
[0048] In some implementations, narrow alley ambiguity is calculated based on narrow alley ambiguity parameters; then, the target positioning position corresponding to the first and second observations is calculated based on the narrow alley ambiguity and the position parameters.
[0049] In summary, this application provides a positioning method based on fixed mid-to-long baseline ambiguity, comprising: acquiring a first observation value from a base station, and a second observation value and ephemeris data from a rover station; determining the wide-lane ambiguity based on the first observation value, the second observation value, and the ephemeris data; adjusting the parameters in a preset wide-lane position constraint equation and a preset geometrically unconstrained equation based on the first observation value, the second observation value, the ephemeris data, and the wide-lane ambiguity, wherein the preset wide-lane position constraint equation is used to characterize the relationship between the observation value term, the wide-lane ambiguity term, and the position term, and the preset geometrically unconstrained equation is used to characterize the relationship between the observation value term, the wide-lane ambiguity term, and the narrow-lane ambiguity term; solving for the position term and the narrow-lane ambiguity term based on the parameter-adjusted preset wide-lane position constraint equation and the preset geometrically unconstrained equation to determine the narrow-lane ambiguity parameter and the position parameter; and calculating the target positioning position corresponding to the first observation value and the second observation value based on the narrow-lane ambiguity parameter and the position parameter. By determining the ambiguity of the wide alley and the narrow alley step by step, the convergence speed of the ambiguity in the medium and long baseline is improved, and the success rate of ambiguity search and fixation is increased. Moreover, after determining the ambiguity of the wide alley, a preset wide alley position constraint equation and a preset geometric constraint-free equation are introduced to improve the model strength, accelerate the convergence speed of the ambiguity in the narrow alley of the medium and long baseline, and thus improve the positioning speed.
[0050] Optionally, Figure 2 A flowchart illustrating a positioning method based on fixed medium-long baseline ambiguity provided in this application embodiment. Figure 2 ,like Figure 2 As shown, the process of determining the wide-lane ambiguity based on the first observation, the second observation, and ephemeris data in S102 above may include: S201. Based on the first observation, the second observation, and ephemeris data, establish and solve the objective equation for the ultra-wide alleyway and determine the ambiguity of the ultra-wide alleyway.
[0051] The objective equation characterizes the combination of carrier observations and pseudorange observations. Specifically, it characterizes the combination of carrier observations and pseudorange observations at two frequency points. The objective equation is the MW equation, and the objective equation for ultra-wide lanes can be called the MW equation for ultra-wide lanes.
[0052] In some implementations, the objective equation for the ultra-wide alley can be expressed as:
[0053] in, For ultra-wide alley ambiguity, and These represent the carrier wavelengths at the first and second frequencies, respectively. , These represent the double-difference carrier observations at the first frequency point and the double-difference carrier observations at the second frequency point, respectively. , These represent the double-difference pseudorange observations at the first frequency point and the double-difference pseudorange observations at the second frequency point, respectively.
[0054] In some implementations, the first observation, the second observation, and ephemeris data are used to determine the... , , , , , The value of can be used to calculate the ultrawide ambiguity of the current epoch. The ultrawide ambiguity of multiple epochs can be smoothed and rounded to obtain the ultrawide ambiguity.
[0055] It should be noted that since the MW combination amplifies the measurement noise, especially the pseudorange measurement noise, the ultrawide ambiguity calculated in a single epoch may have errors. This invention uses at least 10 epochs for smoothing and then rounds to obtain the final ultrawide ambiguity.
[0056] In practical applications, different frequency combinations need to be selected for different GNSS systems to calculate the ultra-wide lane. Specifically, GPS (Global Positioning System) selects L2+L5 frequency points, GALILEO (Galileo Navigation System) selects E5a+E5b frequency points, BDS-2 (BeiDou Navigation Satellite System II) selects B2I+B3I frequency points, and BDS-3 (BeiDou Navigation Satellite System III) selects B2a+B3I frequency points.
[0057] S202. Determine the wide alley ambiguity based on the first observation, the second observation, ephemeris data, and the ultrawide alley ambiguity.
[0058] In the embodiments of this application, based on the first observation value, the second observation value, ephemeris data, and the ultra-wide alley ambiguity, two wide alley ambiguities are determined in two different ways, and the wide alley ambiguity is determined based on these two wide alley ambiguities.
[0059] It should be noted that for the solution of ambiguity in medium and long baselines, a multi-frequency combination method is used to fix the ultra-wide lane ambiguity, wide lane ambiguity, and narrow lane ambiguity step by step.
[0060] Optionally, Figure 3 A flowchart illustrating a positioning method based on fixed medium-long baseline ambiguity provided in this application embodiment. Figure 3 ,like Figure 3 As shown, the process of determining the wide-lane ambiguity based on the first observation, the second observation, ephemeris data, and the ultra-wide-lane ambiguity in S202 above may include: S301. Based on the first observation, the second observation, and ephemeris data, establish and solve the objective equation for the wide alleyway to determine the ambiguity of the first wide alleyway.
[0061] The objective equation for the wide lane can also be called the MW equation for the wide lane. The MW equation for the wide lane is similar to that for the ultra-wide lane, and will not be elaborated here.
[0062] In some implementations, the wide-lane MW equation is established and solved based on the first and second observations and ephemeris data of the current epoch to obtain the first wide-lane ambiguity of the current epoch. The first wide-lane ambiguity is then smoothed and rounded over multiple epochs to obtain the final first wide-lane ambiguity. Since the wavelength of the wide-lane ambiguity is significantly shorter than that of the ultra-wide-lane ambiguity, it is more susceptible to pseudorange noise. Therefore, when calculating the wide-lane ambiguity using the MW equation, at least 30 epochs of smoothing are employed, followed by rounding to obtain the final first wide-lane ambiguity.
[0063] It should be noted that when solving the MW equation for the wide lane, different frequency combinations need to be selected for different GNSS systems to calculate the first wide lane ambiguity. Specifically, GPS selects the L1+L2 frequency, GALILEO selects the E1+E5b frequency, BDS-2 selects the B1I+B3I frequency, and BDS-3 selects the B1I+B3I frequency.
[0064] S302. Based on the first observation, the second observation, ephemeris data, and the ultra-wide alley ambiguity, establish an ionosphere-free constraint equation with the determined ultra-wide alley ambiguity.
[0065] In some implementations, the ionosphere-free constraint equation for which the ultrawide alley ambiguity has been determined can be expressed as:
[0066]
[0067] in, , , These represent the carrier wavelengths at the first frequency point, the second frequency point, and the fifth frequency point, respectively. , , These represent the double-difference carrier observations at the first frequency point, the second frequency point, and the fifth frequency point, respectively. For ultra-wide alley ambiguity, For the wide alley ambiguity term, For position items, This is the residual error term in the troposphere. This is the noise term.
[0068] It should be noted that in the ionosphere-free constraint equation for ultra-wide alley ambiguity, the wide alley ambiguity term, the tropospheric residual error term, and the wide alley ambiguity term are terms to be solved.
[0069] S303. Based on the first observation, the second observation, and ephemeris data, determine the pseudorange-free ionospheric combination equation.
[0070] S304. Solve the ionosphere-free constraint equation and the pseudo-range ionosphere-free combination equation for the determined ultra-wide alleyway ambiguity to obtain the second wide alleyway ambiguity.
[0071] In some implementations, the ionosphere-free constraint equation and the pseudorange ionosphere-free combination equation with the determined ultra-wide alley ambiguity are solved to obtain the second wide alley ambiguity, and the tropospheric residual error and position parameters can also be obtained.
[0072] S305. Determine the width ambiguity based on the first width ambiguity and the second width ambiguity.
[0073] In this embodiment, the process of S301 above is to determine the first wide-lane ambiguity by using the MW multi-epoch smoothing rounding method. In order to quickly determine the wide-lane ambiguity, this application uses the filtering search method in the process of S302 to S304 above to determine the second wide-lane ambiguity.
[0074] In some implementations, the union of the first wide-lane ambiguity and the second wide-lane ambiguity is taken as the wide-lane ambiguity.
[0075] Optionally, Figure 4 A flowchart illustrating a positioning method based on fixed medium-long baseline ambiguity provided in this application embodiment. Figure 4 ,like Figure 4As shown, the process in S304 above of solving the ionosphere-free constraint equation and the pseudorange ionosphere-free combination equation for the determined ultra-wide alleyway ambiguity to obtain the second wide alleyway ambiguity may include: S401. Using a preset filtering algorithm, solve the ionosphere-free constraint equation and the pseudorange ionosphere-free combination equation with the determined ultra-wide alley ambiguity to determine the wide alley ambiguity parameters.
[0076] The preset filtering algorithm is the Kalman filter algorithm.
[0077] In some implementations, the Kalman filter algorithm is used to solve the ionosphere-free constraint equation and the pseudorange ionosphere-free combination equation with the determined ultra-wide alley ambiguity to obtain the wide alley ambiguity parameters. The wide alley ambiguity parameters include: the first floating-point solution and the first variance-covariance, wherein the first variance-covariance is a matrix containing the variance and the covariance.
[0078] S402. Using a preset search algorithm, the second wide-lane ambiguity is obtained by searching based on the first floating-point solution and the first variance-covariance in the wide-lane ambiguity parameters.
[0079] It should be noted that the preset search algorithm can be the LAMBDA (Least-squares AM Biguity Decorrelation Adjustment) algorithm.
[0080] Optionally, Figure 5 A flowchart illustrating a positioning method based on fixed medium-long baseline ambiguity provided in this application embodiment. Figure 5 ,like Figure 5 As shown, the process in S103 above, which adjusts the parameters in the preset wide-lane position constraint equation and the preset geometrically unconstrained equation based on the first observation, the second observation, ephemeris data, wide-lane ambiguity, and preset ionospheric residual information, may include: S501. Based on the first observation, the second observation, ephemeris data, wide alley ambiguity, and preset ionospheric residual information, adjust the parameters of the observation term, wide alley ambiguity term, and ionospheric residual term in the preset wide alley position constraint equation.
[0081] In some implementations, the preset wide lane position constraint equation can be expressed as:
[0082] in, , These represent the carrier wavelengths at the first and second frequency points, respectively. , These represent the double-difference carrier observations at the first frequency and the double-difference carrier observations at the second frequency, respectively. For the wide alley ambiguity term, For position items, This is the residual error term in the troposphere. For noise terms, This refers to the residual term of the ionosphere.
[0083] It should be noted that the preset wide-lane position constraint equations are adjusted based on the first observation, the second observation, and ephemeris data. , , , The parameters are adjusted in the preset width lane position constraint equation based on the width lane ambiguity. The parameters are adjusted in the preset width lane position constraint equation based on the preset ionospheric residual information. .
[0084] In this embodiment, the preset wide-lane position constraint equation can also be called the double-difference carrier wide-lane equation. In the preset wide-lane position constraint equation, tropospheric residual error is ignored. If the preset ionospheric residual information is non-zero, it indicates that historical ionospheric residual information is available. The preset ionospheric residual information is a priori ionospheric residual information, which is used for correction. The preset wide-lane position constraint equation is a wide-lane position constraint equation with added ionospheric residual information correction. If the preset ionospheric residual information is zero, it indicates that no historical ionospheric residual information is available. Adjust to 0 to ignore residual ionospheric error.
[0085] In practical applications, based on the preset wide lane position constraint equation, the approximate position with fixed wide lane ambiguity can be calculated using the least squares algorithm.
[0086] S502. Based on the first observation, the second observation, ephemeris data, wide-lane ambiguity, and preset ionospheric residual information, adjust the parameters of the observation term, wide-lane ambiguity term, and ionospheric residual term in the preset geometrically unconstrained equation.
[0087] Among them, the pre-defined equations without geometric constraints can also be called GF constraint equations.
[0088] In some implementations, the predefined equation without geometric constraints can be expressed as:
[0089] In the formula and The ambiguity equations for wide alley and narrow alley are expressed as follows:
[0090] in, , These represent the carrier wavelengths at the first and second frequency points, respectively. , These represent the double-difference carrier observations at the first frequency and the double-difference carrier observations at the second frequency, respectively. NL represents the wide-lane ambiguity term, and NL represents the narrow-lane ambiguity term. For noise terms, This refers to the residual term of the ionosphere.
[0091] It should be noted that the preset wide-lane position constraint equations are adjusted based on the first observation, the second observation, and ephemeris data. , , , The parameters are adjusted in the preset width lane position constraint equation based on the width lane ambiguity. The parameters are adjusted in the preset width lane position constraint equation based on the preset ionospheric residual information. .
[0092] In this embodiment, in the preset geometrically unconstrained equation, if the preset ionospheric residual information is non-zero, it indicates that historical ionospheric residual information exists and is available. The preset ionospheric residual information is prior ionospheric residual information and is used for correction. If the preset ionospheric residual information is zero, it indicates that no historical ionospheric residual information is available, and the preset ionospheric residual information is used for correction. Adjust to 0 to ignore residual ionospheric error.
[0093] Optionally, Figure 6 A flowchart illustrating a positioning method based on fixed medium-long baseline ambiguity provided in this application embodiment. Figure 6 ,like Figure 6 As shown, the process in S104 above, which involves solving for the position term and narrow alley ambiguity term based on the preset wide-alley position constraint equation and the preset geometrically unconstrained equation after parameter adjustment, and determining the narrow alley ambiguity parameter and the position parameter, may include: S601. Based on the preset positioning observation equation, determine the pseudorange ionospheric equation and the carrier ionospheric equation.
[0094] The preset positioning observation equation can be the original observation equation of GNSS, which can be expressed as:
[0095]
[0096] In the formula, This represents carrier phase observations in meters. This represents carrier phase observations in meters. Let represent the geometric distance from the satellite to the receiver, and c represent the speed of light constant. Indicates satellite clock bias, This indicates a hardware delay in the satellite clock. Indicates receiver clock bias. Indicates receiver clock hardware delay. Indicates tropospheric delay, Indicates ionospheric delay, Indicates satellite orbital error. Indicates wavelength. Indicates the carrier ambiguity parameter. This indicates measurement noise and other errors.
[0097] Based on the rover's ephemeris and observations, and the base station's coordinates and observations, a double-difference model is established. This model eliminates receiver and satellite clock errors and hardware delays, and also neglects residual orbital deviations for baselines within 100km. The specific model can be expressed as follows:
[0098]
[0099] In the formula, This represents the double-difference pseudorange observations from satellites i and j, rover station r, and base station b. This represents the double-difference geometric distance between the receiver and the satellite. This represents the residual error of double-difference tropospheric delay. This represents the residual error of ionospheric delay. This indicates the noise in the double-difference pseudorange measurement. This represents the double-difference carrier observations from satellites i and j, rover station r, and base station b. Indicates the carrier wavelength. This represents the double-difference ambiguity parameter. This indicates double-difference carrier measurement noise.
[0100] To further eliminate the influence of the ionosphere, a dual-frequency de-ionization combination is used to obtain an ionosphere-free double-difference model, which can be expressed as follows:
[0101]
[0102] In the formula, and These represent the double-difference pseudorange observations at the first frequency point and the double-difference pseudorange observations at the second frequency point, respectively. and These represent the double-difference carrier observations at the first frequency and the double-difference carrier observations at the second frequency, respectively. and These represent the carrier wavelengths at the first and second frequency points, respectively. and Let represent the double-difference ambiguity parameters at the first frequency point and the second frequency point, respectively. The combination coefficients are... and as follows:
[0103] It should be noted that in the ionosphere-free double-difference model, the first equation is the pseudorange ionosphere-free equation, and the second equation is the carrier ionosphere-free equation.
[0104] In the double-difference model without ionospheric assemblies, the estimated parameters include position parameters, tropospheric parameters, and ambiguity parameters. The ambiguity calculated by filtering the above equations includes double-difference ambiguities at the first and second frequencies. To separate the double-difference ambiguities at the first and second frequencies, an additional observation equation needs to be introduced. Generally, the above ambiguity parameters can be further expressed as a combination of wide-lane ambiguity and narrow-lane ambiguity as follows:
[0105]
[0106]
[0107] Where WL represents the wide alley ambiguity term and NL represents the narrow alley ambiguity term.
[0108] S602. Solve the preset wide-lane position constraint equation, preset geometric constraint-free equation, pseudorange ionospheric equation, and carrier ionospheric equation after parameter adjustment to obtain the narrow-lane ambiguity parameters, position parameters, and zenith tropospheric parameters.
[0109] In some implementations, the narrow alley ambiguity parameters, position parameters, and zenith tropospheric parameters are obtained by solving the preset wide alley position constraint equation, preset geometric constraint-free equation, pseudorange ionospheric-free equation, and carrier ionospheric-free equation after parameter adjustment using the Kalman filter algorithm.
[0110] Optionally, Figure 7 A flowchart illustrating a positioning method based on fixed medium-long baseline ambiguity provided in this application embodiment. Figure 7 ,like Figure 7 As shown, the process in S105 above, which calculates the target positioning position corresponding to the first and second observations based on the narrow alley ambiguity parameters and position parameters, may include: S701. Using a preset search algorithm, a search is performed based on the second floating-point solution and the second variance-covariance in the narrow alley ambiguity parameters to obtain a fixed narrow alley ambiguity.
[0111] Here, the second variance-covariance is a matrix containing both variance and covariance.
[0112] In some implementations, a mixed-integer least squares algorithm is used to search for a fixed narrow-lane ambiguity based on the second floating-point solution and the second variance-covariance in the narrow-lane ambiguity parameters. The mixed-integer least squares algorithm can be expressed as:
[0113]
[0114] in, Indicates the location and tropospheric parameter components. This represents the floating-point solution for the narrow alleyway ambiguity, i.e., the second floating-point solution. This represents a fixed solution for narrow-lane ambiguity, i.e., narrow-term ambiguity. This represents the covariance between the position and tropospheric parameters and the narrow alley ambiguity parameters, i.e., the second covariance. The variance representing the ambiguity of the narrow alleyway, i.e., the second variance, This represents the variance of location and the troposphere.
[0115] S702. Calculate the target location based on the fixed narrow alley ambiguity, location parameters, and zenith tropospheric parameters.
[0116] In this embodiment of the application, a hybrid integer least squares algorithm is used to calculate the target location based on the fixed narrow alley ambiguity, position parameters, and zenith tropospheric parameters.
[0117] In some implementations, the ionospheric residual information of each satellite at the current epoch is calculated using the GF constraint equation based on the first observation, the second observation, ephemeris data, wide-lane ambiguity, and fixed narrow-lane ambiguity, and the ionospheric residual information is stored for later use.
[0118] In summary, in this embodiment, after fixing the wide-lane ambiguity, a preset wide-lane position constraint equation and a preset geometrically unconstrained equation are introduced simultaneously to enhance model emphasis and accelerate the convergence speed of the narrow-lane ambiguity in medium-to-long baselines. Furthermore, when prior ionospheric residual information is available, this information is introduced to correct the preset wide-lane position constraint equation and the preset geometrically unconstrained equation, improving the accuracy of the constraint equations, thereby accelerating the convergence speed of the medium-to-long baseline ambiguity and increasing the success rate of ambiguity search and fixation.
[0119] For users with conventional medium-to-long baselines, who typically operate within a small area and experience minimal changes in the spatiotemporal characteristics of the baseline over short periods, the ionospheric error of the baseline can be assumed to be uniform within a certain range and time frame. Therefore, once a medium-to-long baseline ambiguity resolution is successful, the residual ionospheric error corresponding to each satellite of that baseline can be calculated and saved. When the user restarts the system or when signal lock is lost due to excessive obstruction and ambiguity needs to be re-fixed, the saved ionospheric error information can be used for correction, thereby accelerating the medium-to-long baseline ambiguity resolution process.
[0120] Figure 8 A complete flowchart illustrating a positioning method based on fixed medium-long baseline ambiguity is provided for embodiments of this application, as shown below. Figure 8 As shown, the following steps are performed: Base station observation data and coordinates (i.e., the first observation value) are acquired; rover station observation data (i.e., the second observation value) and ephemeris are acquired; MW multi-epoch smoothing and rounding are used to fix the ultra-wide lane ambiguity; ionospheric constraint equations for fixing the ultra-wide lane ambiguity are determined; pseudorange and power-free equations are established; Kalman filtering is used to solve for the floating-point solution of the wide lane ambiguity and its variance-covariance; LAMBDA is used to search for the fixed wide lane ambiguity; MW multi-epoch smoothing and rounding are used to fix the wide lane ambiguity segment, resulting in a fixed set of wide lane ambiguities. The carrier wide lane equation is established, and the fixed wide lane solution is obtained using least squares calculation. Based on the fixed wide lane solution, the multi-frequency GF constraint equation, the pseudorange and carrier ionospheric equations, Kalman filtering is used to solve for the floating-point solution of the narrow lane ambiguity and its variance-covariance; LAMBDA is used to search for the fixed narrow lane ambiguity; mixed integer least squares is used to calculate the fixed narrow lane solution. Ionospheric residual error is calculated based on the GF equation.
[0121] The following describes the positioning device, equipment, and storage medium based on medium-long baseline ambiguity fixing used to implement the positioning method based on medium-long baseline ambiguity fixing provided in this application. For the specific implementation process and technical effects, please refer to the relevant content of the positioning method based on medium-long baseline ambiguity fixing mentioned above, which will not be repeated below.
[0122] Figure 9 A schematic diagram of a positioning device based on medium-long baseline ambiguity fixation provided in this application embodiment is shown below. Figure 9 As shown, the device includes: The acquisition module 101 is used to acquire the first observation value of the base station, and the second observation value and ephemeris data of the rover station; The first determining module 102 is used to determine the wide-lane ambiguity based on the first observation value, the second observation value, and the ephemeris data; The adjustment module 103 is used to adjust the parameters in the preset wide-lane position constraint equation and the preset geometrically unconstrained equation based on the first observation value, the second observation value, the ephemeris data, the wide-lane ambiguity, and the preset ionospheric residual information. The preset wide-lane position constraint equation is used to characterize the relationship between the observation value term, the wide-lane ambiguity term, the position term, and the ionospheric residual term. The second determining module 104 is used to solve the position term and the narrow alley ambiguity term according to the preset wide alley position constraint equation and the preset geometric constraint-free equation after parameter adjustment, and to determine the narrow alley ambiguity parameter and the position parameter. The calculation module 105 is used to calculate the target positioning position corresponding to the first observation value and the second observation value based on the narrow alley ambiguity parameter and the position parameter.
[0123] Optionally, the first determining module 102 is specifically used to establish and solve the target equation of the ultra-wide alley based on the first observation, the second observation, and the ephemeris data, and to determine the ultra-wide alley ambiguity, wherein the target equation is used to characterize the equation of the combination of carrier observation and pseudorange observation; and to determine the wide alley ambiguity based on the first observation, the second observation, the ephemeris data, and the ultra-wide alley ambiguity.
[0124] Optionally, the first determining module 102 is specifically configured to: establish and solve the target equation for the wide alleyway based on the first observation, the second observation, and the ephemeris data to determine the first wide alleyway ambiguity; establish an ionospheric constraint equation with the determined ultra-wide alleyway ambiguity based on the first observation, the second observation, the ephemeris data, and the ultra-wide alleyway ambiguity; determine a pseudorange-ionospheric combination equation based on the first observation, the second observation, and the ephemeris data; solve the ionospheric constraint equation with the determined ultra-wide alleyway ambiguity and the pseudorange-ionospheric combination equation to obtain the second wide alleyway ambiguity; and determine the wide alleyway ambiguity based on the first wide alleyway ambiguity and the second wide alleyway ambiguity.
[0125] Optionally, the first determining module 102 is specifically used to use a preset filtering algorithm to solve the ionosphere-free constraint equation of the determined ultra-wide alley ambiguity and the pseudo-range ionosphere-free combination equation to determine the wide alley ambiguity parameters; and to use a preset search algorithm to search based on the first floating-point solution and the first variance-covariance in the wide alley ambiguity parameters to obtain the second wide alley ambiguity.
[0126] Optionally, the adjustment module 103 is specifically used to adjust the parameters of the observation term, the wide alley ambiguity term, and the ionospheric residue term in the preset wide alley position constraint equation according to the first observation value, the second observation value, the ephemeris data, the wide alley ambiguity, and the preset ionospheric residue information; and to adjust the parameters of the observation term, the wide alley ambiguity term, and the ionospheric residue term in the preset geometrically unconstrained equation according to the first observation value, the second observation value, the ephemeris data, the wide alley ambiguity, and the preset ionospheric residue information.
[0127] Optionally, the second determining module 104 is specifically used to determine the pseudorange ionospheric equation and the carrier ionospheric equation according to the preset positioning observation equation; and to solve the preset wide-lane position constraint equation, the preset geometric constraint-free equation, the pseudorange ionospheric equation and the carrier ionospheric equation after parameter adjustment to obtain the narrow-lane ambiguity parameter, the position parameter and the zenith troposphere parameter.
[0128] Optionally, the calculation module 105 is specifically used to use a preset search algorithm to search based on the second floating-point solution and the second variance-covariance in the narrow alley ambiguity parameters to obtain a fixed narrow alley ambiguity; and to calculate the target positioning position based on the fixed narrow alley ambiguity, the position parameters, and the zenith tropospheric parameters.
[0129] The above-described device is used to execute the method provided in the foregoing embodiments, and its implementation principle and technical effect are similar, so they will not be described again here.
[0130] These modules can be one or more integrated circuits configured to implement the above methods, such as one or more Application Specific Integrated Circuits (ASICs), one or more digital signal processors (DSPs), or one or more Field Programmable Gate Arrays (FPGAs). Alternatively, when a module is implemented using processing element scheduler code, the processing element can be a general-purpose processor, such as a Central Processing Unit (CPU) or other processor capable of calling program code. Furthermore, these modules can be integrated together as a system-on-a-chip (SOC).
[0131] Figure 10 A schematic diagram of a positioning device based on medium-long baseline ambiguity fixation is provided for an embodiment of this application, as shown below. Figure 10 As shown, the device includes: processor 201 and memory 202.
[0132] The memory 202 is used to store programs, and the processor 201 calls the programs stored in the memory 202 to execute the above method embodiments. The specific implementation and technical effects are similar, and will not be described in detail here.
[0133] Optionally, this application also provides a program product, such as a computer-readable storage medium, including a program that, when executed by a processor, performs the above-described method embodiments.
[0134] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.
[0135] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.
[0136] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or in a combination of hardware and software functional units.
[0137] The integrated units implemented as software functional units described above can be stored in a computer-readable storage medium. These software functional units, stored in a storage medium, include several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute some steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.
[0138] The above are merely preferred embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.
Claims
1. A positioning method based on fixed ambiguity of medium- and long baselines, characterized in that, The method includes: Acquire the first observations from the base station, and the second observations and ephemeris data from the rover station; The wide-lane ambiguity is determined based on the first observation, the second observation, and the ephemeris data; Based on the first observation, the second observation, the ephemeris data, the wide alley ambiguity, and the preset ionospheric residual information, the parameters in the preset wide alley position constraint equation and the preset geometrically unconstrained equation are adjusted. The preset wide alley position constraint equation is used to characterize the relationship between the observation term, the wide alley ambiguity term, the position term, and the ionospheric residual term. The preset geometrically unconstrained equation is used to characterize the relationship between the observation term, the wide alley ambiguity term, the narrow alley ambiguity term, and the ionospheric residual term. The position term and the narrow alley ambiguity term are solved based on the preset wide alley position constraint equation and the preset geometrically unconstrained equation after parameter adjustment, and the narrow alley ambiguity parameter and the position parameter are determined. Based on the narrow alley ambiguity parameter and the location parameter, the target positioning position corresponding to the first observation value and the second observation value is calculated.
2. The method according to claim 1, characterized in that, The step of determining the wide-lane ambiguity based on the first observation, the second observation, and the ephemeris data includes: Based on the first observation, the second observation, and the ephemeris data, an objective equation for the ultra-wide alleyway is established and solved to determine the ultra-wide alleyway ambiguity. The objective equation is used to characterize the combination of carrier observations and pseudorange observations. The wide alley ambiguity is determined based on the first observation, the second observation, the ephemeris data, and the ultrawide alley ambiguity.
3. The method according to claim 2, characterized in that, The step of determining the wide-lane ambiguity based on the first observation, the second observation, the ephemeris data, and the ultra-wide-lane ambiguity includes: Based on the first observation, the second observation, and the ephemeris data, establish and solve the target equation for the wide alleyway to determine the first wide alleyway ambiguity. Based on the first observation, the second observation, the ephemeris data, and the ultra-wide alley ambiguity, an ionosphere-free constraint equation with a determined ultra-wide alley ambiguity is established. Based on the first observation, the second observation, and the ephemeris data, determine the pseudorange-free ionospheric combination equation; Solve the ionosphere-free constraint equation for the determined ultra-wide alleyway ambiguity and the pseudo-range ionosphere-free combination equation to obtain the second wide alleyway ambiguity; The wide alley ambiguity is determined based on the first wide alley ambiguity and the second wide alley ambiguity.
4. The method according to claim 3, characterized in that, The process of solving the ionosphere-free constraint equation for the determined ultra-wide alleyway ambiguity and the pseudorange ionosphere-free combination equation to obtain the second wide alleyway ambiguity includes: Using a preset filtering algorithm, the ionosphere-free constraint equation for the determined ultra-wide alleyway ambiguity and the pseudorange ionosphere-free combination equation are solved to determine the wide alleyway ambiguity parameters. A preset search algorithm is used to search for the second wide-lane ambiguity based on the first floating-point solution and the first variance-covariance in the wide-lane ambiguity parameters.
5. The method according to claim 1, characterized in that, The step of adjusting the parameters in the preset wide-lane position constraint equation and the preset geometrically unconstrained equation based on the first observation, the second observation, the ephemeris data, the wide-lane ambiguity, and the preset ionospheric residual information includes: Based on the first observation, the second observation, the ephemeris data, the wide alley ambiguity, and the preset ionospheric residual information, adjust the parameters of the observation term, the wide alley ambiguity term, and the ionospheric residual term in the preset wide alley position constraint equation; Based on the first observation, the second observation, the ephemeris data, the wide alley ambiguity, and the preset ionospheric residual information, adjust the parameters of the observation term, the wide alley ambiguity term, and the ionospheric residual term in the preset geometrically unconstrained equation.
6. The method according to claim 1, characterized in that, The step of solving the position term and the narrow alley ambiguity term based on the preset wide alley position constraint equation and the preset geometrically unconstrained equation after parameter adjustment, to determine the narrow alley ambiguity parameter and the position parameter, includes: Based on the preset positioning observation equations, determine the pseudorange ionospheric equation and the carrier ionospheric equation; Solving the preset wide-lane position constraint equation, the preset geometrically unconstrained equation, the pseudorange ionosphere-free equation, and the carrier ionosphere-free equation after parameter adjustment yields the narrow-lane ambiguity parameter, the position parameter, and the zenith troposphere parameter.
7. The method according to claim 6, characterized in that, The step of calculating the target location corresponding to the first observation value and the second observation value based on the narrow alley ambiguity parameter and the location parameter includes: A preset search algorithm is used to search based on the second floating-point solution and the second variance-covariance in the narrow alley ambiguity parameters to obtain a fixed narrow alley ambiguity. The target location is calculated based on the fixed narrow alley ambiguity, the location parameters, and the zenith tropospheric parameters.
8. A positioning device based on medium-long baseline ambiguity fixation, characterized in that, The device includes: The acquisition module is used to acquire the first observation value of the base station, and the second observation value and ephemeris data of the rover station; The first determining module is used to determine the wide-lane ambiguity based on the first observation value, the second observation value, and the ephemeris data; The adjustment module is used to adjust the parameters in the preset wide-lane position constraint equation and the preset geometrically unconstrained equation based on the first observation, the second observation, the ephemeris data, and the wide-lane ambiguity. The preset wide-lane position constraint equation is used to characterize the relationship between the observation term, the wide-lane ambiguity term, and the position term. The preset wide-lane position constraint equation is used to characterize the relationship between the observation term, the wide-lane ambiguity term, and the narrow-lane ambiguity term. The second determining module is used to solve the position term and the narrow alley ambiguity term according to the preset wide alley position constraint equation and the preset geometric constraint-free equation after parameter adjustment, and to determine the narrow alley ambiguity parameter and the position parameter. The calculation module is used to calculate the target positioning position corresponding to the first observation value and the second observation value based on the narrow alley ambiguity parameter and the position parameter.
9. A positioning device based on medium-long baseline ambiguity fixation, characterized in that, include: The system includes a memory and a processor, wherein the memory stores a computer program executable by the processor, and the processor executes the computer program to implement the positioning method based on medium-long baseline ambiguity fixing as described in any one of claims 1-7.
10. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, which, when read and executed, implements the positioning method based on medium-long baseline ambiguity fixing as described in any one of claims 1-7.