Method, device, medium and product for determining location information of a flow station

Abstract

The application discloses a method, device, medium and product for determining position information of a flow station, and the method comprises the following steps: acquiring a time delay difference of a first frequency point and a second frequency point of a target satellite, a satellite position corresponding to the first frequency point, and a carrier phase of the second frequency point; determining a satellite position error vector caused by the time delay based on the time delay difference; determining a correction amount of the satellite position error vector based on a spatial geometric relationship between the flow station and the target satellite and the satellite position error vector; correcting the carrier phase of the second frequency point based on the correction amount of the satellite position error vector, so as to obtain a corrected carrier phase of the second frequency point; and determining the position information of the flow station according to the corrected carrier phase of the second frequency point and the satellite position corresponding to the first frequency point. The position information of the flow station is accurately determined by using a lower calculation amount.

Description

Technical Field

[0001] This application relates to the field of satellite measurement technology, specifically to a method, device, medium, and product for determining the location information of a rover. Background Technology

[0002] In satellite surveying, current technologies typically use pseudorange from a first frequency point to calculate the satellite's position, and then perform RTK (Real-Time Kinematic) calculations on both the first and second frequencies to determine the rover's location. However, in environments with interference, a significant time delay difference can exist between the first and second frequencies. In such cases, directly using pseudorange from the first frequency to calculate the satellite position for the second frequency introduces additional satellite position errors. The larger the time delay difference, the greater the satellite position error. When the satellite position error is too large, the ambiguity between the two frequencies cannot be fixed, making it impossible to accurately determine the rover's location.

[0003] Alternatively, the satellite positions corresponding to the two frequency points can be calculated separately. That is, the pseudorange of the first frequency point can be used to calculate the satellite position of the first frequency point, and the pseudorange of the second frequency point can be used to calculate the satellite position of the second frequency point. Then, the two frequency points can be used to perform RTK calculations using their respective corresponding satellite positions to determine the position information of the rover. However, this method involves a large amount of computation and requires an additional set of satellite position and velocity parameters to be stored. Summary of the Invention

[0004] The purpose of this application is to provide a method, device, medium, and product for determining the location information of a rover, so as to solve the technical defects of the prior art that cannot accurately determine the location information of a rover and has a large amount of computation.

[0005] To achieve the above objectives, the first aspect of this application provides a method for determining the location information of a mobile station, the method comprising: Obtain the time delay difference between the first and second frequency points of the target satellite, the satellite position corresponding to the first frequency point, and the carrier phase of the second frequency point; Based on the time delay difference, determine the satellite position error vector caused by the time delay; Based on the spatial geometric relationship between the rover and the target satellite and the satellite position error vector, the correction amount of the satellite position error vector is determined; The carrier phase of the second frequency point is corrected based on the correction amount of the satellite position error vector to obtain the corrected carrier phase of the second frequency point; The location information of the rover is determined based on the corrected carrier phase of the second frequency point and the satellite position corresponding to the first frequency point.

[0006] In this embodiment of the application, obtaining the time delay difference between the first frequency point and the second frequency point of the target satellite includes: Obtain the first pseudorange of the target satellite at the first frequency and the second pseudorange of the target satellite at the second frequency; Based on the first pseudorange and the second pseudorange, the time delay difference between the first frequency point and the second frequency point of the target satellite is determined.

[0007] In this embodiment of the application, determining the time delay difference between the first frequency point and the second frequency point of the target satellite based on the first pseudorange and the second pseudorange includes: Obtain the signal reception time when the rover simultaneously receives signals from the first frequency point and signals from the second frequency point; Based on the first pseudorange and the signal reception time, the first signal transmission time of the first frequency point is obtained; Based on the second pseudorange and the signal reception time, the second signal transmission time at the second frequency point is obtained; Based on the first signal transmission time and the second signal transmission time, the time delay difference between the first frequency point and the second frequency point of the target satellite is determined.

[0008] In this embodiment of the application, determining the satellite position error vector caused by the time delay based on the time delay difference includes: Based on the motion state and time delay difference of the target satellite within the target signal transmission duration, the satellite position error vector caused by the time delay is obtained, wherein the target signal transmission duration includes the time from the first signal transmission moment to the second signal transmission moment.

[0009] In this embodiment of the application, the target satellite is a medium-high orbit satellite.

[0010] In this embodiment of the application, the correction amount of the satellite position error vector is determined based on the spatial geometric relationship between the rover and the target satellite and the satellite position error vector, including: Obtain the position vector of the rover at the first frequency point relative to the target satellite; Based on the satellite position error vector and the position vector, determine the cosine value of the angle between the position vector and the satellite position error vector; The correction amount for the satellite position error vector is determined based on the cosine value of the angle between the satellite position error vector and the angle.

[0011] In this embodiment of the application, the location information of the rover is determined based on the corrected carrier phase of the second frequency point and the satellite position corresponding to the first frequency point, including: The modified dual-frequency carrier observation equation is obtained by modifying the carrier phase of the second frequency point and the satellite position corresponding to the first frequency point. The dual-frequency carrier observation equation includes a mathematical model established by the carrier phase of the first frequency point and the carrier phase of the second frequency point. Based on the modified dual-frequency carrier observation equation, double-difference processing is performed to obtain the dual-frequency double-difference observation equation after double-difference processing. Based on the dual-frequency double-difference observation equation, floating-point solution calculation and double-difference integer ambiguity search and fixation are performed to obtain the integer solution of double-difference integer ambiguity; The location information of the rover station is determined based on the integer solution of the double-difference integer ambiguity and the double-difference observation equation at the double frequency point.

[0012] A second aspect of this application also provides an electronic device, including: The memory is configured to store instructions; The processor is configured to retrieve instructions from memory and, when executing the instructions, to implement a method for determining the location information of the rover according to the first aspect described above.

[0013] A third aspect of this application also provides a machine-readable storage medium storing instructions that cause a machine to perform a method for determining the location information of a mobile station as provided in the first aspect above.

[0014] A fourth aspect of this application provides a computer program product, which includes a computer program that, when executed by a processor, implements a method for determining the location information of a mobile station as provided in the first aspect above.

[0015] The above technical solution obtains the time delay difference between the first and second frequency points of the target satellite, determines the satellite position error vector caused by the time delay, and the correction amount of the satellite position error vector. Then, the carrier phase of the second frequency point is corrected. This avoids the problem of the dual-frequency ambiguity being unable to be fixed when the satellite position corresponding to the first frequency point is shared due to the time delay difference between the first and second frequency points. At the same time, it is not necessary to calculate the satellite positions corresponding to the two frequency points separately. Thus, dual-frequency ambiguity fixation is achieved with a small amount of computation in environments with large time delays, and finally, the position information of the rover with centimeter-level accuracy is obtained.

[0016] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0017] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. In the drawings: Figure 1 The illustration shows a flowchart of a method for determining the location information of a mobile station according to an embodiment of this application; Figure 2This schematic diagram illustrates the spatial geometry of a rover and a target satellite according to an embodiment of this application. Figure 3 This schematic diagram illustrates the double-difference carrier phase of the B31 frequency point of the Beidou C01 satellite without the correction made using the embodiments of this application; Figure 4 This diagram illustrates the modified double-difference carrier phase of the B31 frequency point of the BeiDou C01 satellite using the embodiments of this application. Figure 5 This schematic diagram illustrates the double-difference carrier phase of the B31 frequency point of the BeiDou C06 satellite without the correction made in the embodiments of this application; Figure 6 This diagram illustrates the modified double-difference carrier phase of the B31 frequency point of the BeiDou C06 satellite using the embodiments of this application. Figure 7 This schematic diagram illustrates the double-difference carrier phase of the B31 frequency point of the BeiDou C12 satellite without the correction made using the embodiments of this application; Figure 8 This diagram illustrates the modified double-difference carrier phase of the B31 frequency point of the BeiDou C12 satellite using the embodiments of this application. Figure 9 A contrast diagram illustrating the ambiguity according to an embodiment of this application is shown schematically. Detailed Implementation

[0018] 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. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0019] It should be noted that the acquisition, transmission, storage, use, and processing of data in the technical solution of this application all comply with relevant laws and regulations. In the embodiments of this application, certain existing industry solutions such as software, components, and models may be mentioned. These should be considered exemplary, intended only to illustrate the feasibility of implementing the technical solution of this application, and do not imply that the applicant has already used or necessarily used such solutions.

[0020] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0021] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0022] Figure 1 The illustration shows a flowchart of a method for determining the location information of a mobile station according to an embodiment of this application. Figure 1 As shown in the figure, this application provides a method for determining the location information of a mobile station, which may include the following steps: Step S110: Obtain the time delay difference between the first frequency point and the second frequency point of the target satellite, the satellite position corresponding to the first frequency point, and the carrier phase of the second frequency point; Step S120: Based on the time delay difference, determine the satellite position error vector caused by the time delay; Step S130: Based on the spatial geometric relationship between the rover and the target satellite and the satellite position error vector, determine the correction amount of the satellite position error vector; Step S140: Correct the carrier phase of the second frequency point based on the correction amount of the satellite position error vector to obtain the corrected carrier phase of the second frequency point; Step S150: Determine the location information of the rover station based on the corrected carrier phase of the second frequency point and the satellite position corresponding to the first frequency point.

[0023] In step S110, the target satellite refers to a navigation satellite that the rover is receiving navigation signals from; the frequency point refers to the specific frequency number or value used to transmit and receive signals within a specific frequency band. For example, the first frequency point can be B1I of the BeiDou system, and the second frequency point can be B3I of the BeiDou system; the time delay difference refers to the difference between the time delay experienced by the signals of the two frequency points from satellite transmission to rover reception due to anti-interference and other modes, which can usually reach the millisecond level; the carrier phase is the phase observation value obtained by measuring the phase of the satellite carrier signal.

[0024] In step S120, the difference in satellite spatial position caused by the different signal transmission times of the first frequency point and the second frequency point is calculated. The satellite position error vector refers to the displacement vector of the actual position of the satellite at the time of signal transmission of the second frequency point relative to the position of the satellite at the time of signal transmission of the first frequency point. Due to the high speed of the satellite, this time delay difference will directly cause the target satellite to have a spatial position shift.

[0025] In step S130, the satellite position error vector in three-dimensional space is transformed into an actual influence on the ranging direction. Here, the rover station refers to the ground receiver to be positioned, and the spatial geometric relationship refers to the geometric triangular relationship formed by the approximate position of the rover station, the satellite position corresponding to the first frequency point, and the satellite position error vector. Using the spatial geometric relationship and the satellite position error vector, the correction amount for the satellite position error vector is calculated.

[0026] In step S140, the correction amount of the calculated satellite position error vector is applied to the carrier phase of the second frequency point to obtain the corrected carrier phase of the second frequency point. The corrected carrier phase of the second frequency point refers to the addition of the corrected carrier phase of the second frequency point to the geometric distance term of the original second frequency point carrier observation equation. This ensures that when the second frequency point shares the satellite position corresponding to the first frequency point for solution calculation, the additional satellite position error caused by time delay can be eliminated.

[0027] In step S150, RTK positioning is performed based on the corrected carrier phase of the second frequency point and the satellite position corresponding to the first frequency point. The position information of the rover refers to the three-dimensional coordinates of the rover with centimeter-level accuracy. After the carrier phase of the second frequency point is corrected, the two frequency points can share the satellite position corresponding to the first frequency point to determine the high-precision position coordinates of the rover.

[0028] This application embodiment obtains the time delay difference between the first and second frequency points of the target satellite and determines the satellite position error vector caused by the time delay and the correction amount of the satellite position error vector. Then, it corrects the carrier phase of the second frequency point. This avoids the problem of the dual-frequency ambiguity being unable to be fixed when the satellite position corresponding to the first frequency point is shared due to the time delay difference between the first and second frequency points. At the same time, it does not require calculating the satellite positions corresponding to the two frequency points separately. Thus, dual-frequency ambiguity fixation is achieved with a small amount of computation in environments with large time delays, and finally, the position information of the rover with centimeter-level accuracy is obtained.

[0029] Furthermore, the step S110 of this application embodiment, obtaining the time delay difference between the first frequency point and the second frequency point of the target satellite, may include the following steps: Step S111: Obtain the first pseudorange of the target satellite at the first frequency and the second pseudorange of the target satellite at the second frequency; Step S112: Based on the first pseudorange and the second pseudorange, determine the time delay difference between the first frequency point and the second frequency point of the target satellite.

[0030] In step S111, the first pseudorange refers to the pseudorange observation from the rover station to the target satellite at the first frequency point, and the second pseudorange refers to the pseudorange observation from the rover station to the target satellite at the second frequency point.

[0031] In step S112, since the signal reception time is the same, but the pseudoranges of the two frequency points are generally different, the difference in transmission delay from the first frequency point to the rover station is determined by the first pseudorange and the second pseudorange, and the delay difference between the first frequency point and the second frequency point can be obtained.

[0032] This application embodiment obtains the first pseudorange of the target satellite at the first frequency point and the second pseudorange at the second frequency point, and then determines the time delay difference between the first frequency point and the second frequency point of the target satellite, thereby realizing the accurate quantification of the time difference between the signal transmission times of the two frequency points using easily obtainable pseudorange observation values.

[0033] Furthermore, step S112 in this embodiment may include the following steps: Step S112a: Obtain the signal reception time when the rover simultaneously receives signals from the first frequency point and the second frequency point; Step S112b: Based on the first pseudorange and the signal reception time, obtain the first signal transmission time of the first frequency point; Step S112c: Based on the second pseudorange and the signal reception time, obtain the second signal transmission time at the second frequency point; Step S112d: Based on the first signal transmission time and the second signal transmission time, determine the time delay difference between the first frequency point and the second frequency point of the target satellite.

[0034] In step S112a, the signal reception time refers to the instant at which the antenna of the rover simultaneously receives the signal at the first frequency point and the signal at the second frequency point. This instant is the reference point for subsequently retrieving the signal transmission time.

[0035] In step S112b, the first signal transmission time refers to the time when the target satellite transmits the signal at the first frequency point, where the first signal transmission time equals the signal reception time. First pseudorange / speed of light.

[0036] In step S112c, the second signal transmission time refers to the time when the target satellite transmits the signal at the second frequency point, where the second signal transmission time equals the signal reception time. Second pseudorange / speed of light.

[0037] In step S112d, the time offset of signal transmission is calculated by time difference, wherein the time delay difference between the first frequency point and the second frequency point of the target satellite is equal to the second signal transmission time. The first signal transmission time.

[0038] The embodiments of this application reverse the precise time from a unified signal reception time to the actual signal transmission time, thereby accurately quantifying the time offset caused by the inconsistency between the first frequency point and the second frequency point at the same reception time due to the signal transmission time.

[0039] Furthermore, step S120 in this embodiment may include the following steps: Step S121: Based on the motion state and time delay difference of the target satellite within the target signal transmission duration, obtain the satellite position error vector caused by the time delay, wherein the target signal transmission duration includes the time from the first signal transmission moment to the second signal transmission moment.

[0040] In step S121 of this embodiment, the target satellite is a medium-high orbit satellite, and the target signal transmission duration includes the time from the first signal transmission time to the second signal transmission time. The motion state of the medium-high orbit satellite within a short time (millisecond level) of the target signal transmission duration can be approximated as uniform linear motion. That is, the motion of the satellite from the first signal transmission time to the second signal transmission time can be considered as uniform linear motion. Therefore, the satellite position error vector = satellite velocity vector × time delay difference.

[0041] Furthermore, step S130 in this embodiment may include the following steps: Step S131: Obtain the position vector of the first frequency point from the rover to the target satellite; Step S132: Based on the satellite position error vector and the position vector, determine the cosine value of the angle between the position vector and the satellite position error vector; Step S133: Determine the correction amount of the satellite position error vector based on the cosine value of the angle between the satellite position error vector and the angle.

[0042] In step S131, the position vector of the rover to the first frequency point of the target satellite is calculated using the satellite position calculated from the first frequency point and the approximate position of the rover. Figure 2 This schematic diagram illustrates the spatial geometry of the rover and the target satellite according to an embodiment of this application, as shown below. Figure 2As shown, R represents the approximate position of the rover, S1 represents the satellite position corresponding to the first frequency point, and RS1 represents the position vector from the rover R to the first frequency point S1 of the target satellite. The approximate position R of the rover is obtained through single-point positioning. Although the approximate position R of the rover obtained by single-point positioning is only an approximate coordinate with meter-level accuracy, since the satellite orbital altitude is as high as tens of thousands of kilometers, the approximate position R of the rover is sufficient to accurately calculate the position vector RS1 from the rover R to the first frequency point S1 of the target satellite.

[0043] In step S132, refer to Figure 2 S2 represents the satellite position corresponding to the second frequency point. Represents the satellite position error vector. Represents the position vector RS1 and the satellite position error vector The angle between them, and the cosine of the angle. This reflects the projection ratio of the satellite position error vector onto the direction of position vector RS1, through the satellite position error vector. The solution is obtained by dividing the dot product of the position vector RS1 and the position error vector by the product of the magnitudes of the two vectors. The formula for calculating the cosine of the angle between them includes:

[0044] In the formula, The magnitude of the satellite position error vector. The magnitude of the position vector from the rover to the first frequency point of the target satellite.

[0045] In step S133, refer to Figure 2 , This represents the correction amount for the satellite position error vector. (The satellite position error vector is used as the basis for this correction.) The cosine of the angle between them This allows us to obtain the correction amount for the satellite position error vector. The formula for calculating the correction amount of the satellite position error vector includes:

[0046] In this embodiment, the satellite position error vector in three-dimensional space is precisely projected onto the line of sight from the rover to the satellite, thereby accurately quantifying the impact of the satellite position error introduced by inter-frequency delay on the actual ranging direction.

[0047] Furthermore, step S150 in this embodiment may include the following steps: Step S151: Based on the corrected carrier phase of the second frequency point and the satellite position corresponding to the first frequency point, the dual-frequency carrier observation equation is corrected to obtain the corrected dual-frequency carrier observation equation. The dual-frequency carrier observation equation includes a mathematical model established by the carrier phase of the first frequency point and the carrier phase of the second frequency point. Step S152: Perform double-difference processing on the modified dual-frequency carrier observation equation to obtain the double-difference observation equation of the dual-frequency point. Step S153: Based on the dual-frequency double-difference observation equation, perform floating-point solution calculation and search and fix the double-difference integer ambiguity to obtain the integer solution of the double-difference integer ambiguity; Step S154: Determine the location information of the rover station based on the integer solution of the double-difference integer ambiguity and the double-difference observation equation of the double-frequency point.

[0048] In step S151, the dual-frequency point carrier observation equation includes:

[0049] In the formula, r represents the rover station. Indicates satellite, This indicates the carrier phase of the satellite at the first frequency point relative to the rover station. This indicates the geometric distance between the satellite's position at the first frequency and the rover station. Represents the speed of light. This indicates the clock bias of the rover receiver at the first frequency point. Indicates the satellite clock bias at the first frequency point. This represents the tropospheric delay in the carrier phase of the rover at the first frequency point. This represents the ionospheric delay at the first frequency point from the rover to the satellite. Indicates the carrier wavelength at the first frequency point. This indicates the non-difference integer-cycle ambiguity of the satellite at the first frequency point for the rover station. This represents the observation noise at the first frequency point. This indicates the rover's position relative to the satellite's carrier phase at the second frequency point. This indicates the geometric distance between the satellite's position at the second frequency point and the rover station. This indicates the clock bias of the rover receiver at the second frequency point. Indicates the satellite clock bias at the second frequency point. This represents the tropospheric delay in the rover carrier phase at the second frequency point. This represents the ionospheric delay at the second frequency point from the rover to the satellite. This indicates the carrier wavelength at the second frequency point. This indicates the non-difference integer-cycle ambiguity of the satellite at the second frequency point for the rover station. This represents the observation noise at the second frequency point.

[0050] The revised dual-frequency point carrier observation equations include:

[0051] In the formula, This indicates the corrected carrier phase of the rover at the second frequency point (i.e., the corrected carrier phase of the second frequency point). This represents the correction amount for the satellite position error vector.

[0052] In the original, uncorrected dual-frequency carrier observation equations, the geometric distance term between the satellite's position on the second frequency and the rover station uses the distance corresponding to the actual satellite position on the second frequency. The corrected dual-frequency carrier observation equations replace the geometric distance term between the satellite's position on the second frequency and the rover station with the geometric distance between the satellite's position on the first frequency and the rover station to obtain the corrected carrier phase on the second frequency. This results in a corrected set of equations that depends only on the satellite position on the first frequency but is equivalent to the actual situation.

[0053] In step S152, the modified dual-frequency carrier observation equations are subjected to inter-station and inter-satellite double-difference processing to obtain the dual-frequency double-difference observation equations after inter-station and inter-satellite double-difference processing. The relationship between the base station and the rover station is referred to as inter-station, and the relationship between two satellites is referred to as inter-satellite. Inter-station and inter-satellite double-difference processing refers to performing two differential operations on the carrier phase between the base station and the rover station, and between two satellites, thereby eliminating satellite clock errors and receiver clock errors. The dual-frequency double-difference observation equations after inter-station and inter-satellite double-difference processing include:

[0054] In the formula, Indicates the base station. Indicates a mobile station. Indicates inter-satellite single difference. Indicates the single difference between stations. This indicates the double-difference carrier phase at the first frequency point. Represents the double-difference geometric distance at the first frequency point. This indicates the double-difference tropospheric delay at the first frequency point. This indicates the double-difference ionospheric delay at the first frequency point. This represents the integer ambiguity of the double difference at the first frequency point. This represents the double-difference observation noise at the first frequency point. This indicates the double-difference carrier phase at the second frequency point. The double-difference correction amount represents the satellite position error vector. This indicates the double-difference tropospheric delay at the second frequency point. This indicates the double-difference ionospheric delay at the second frequency point. This indicates the double-difference integer ambiguity at the second frequency point. This represents the double-difference observation noise at the second frequency point.

[0055] In step S153, for short-baseline application scenarios during non-ionospheric active periods, the double-difference tropospheric delay and double-difference ionospheric delay can be ignored. Therefore, the only unknown parameters in the dual-frequency double-difference observation equation after inter-station and inter-satellite double-difference processing are the double-difference geometric distance and the double-difference integer ambiguity at the first frequency. Based on the dual-frequency double-difference observation equation, a Kalman filter algorithm is used to calculate the floating-point ambiguity. Based on the floating-point ambiguity, a search for the double-difference integer ambiguity is performed to obtain the integer solution. The double-difference integer ambiguity is the unknown integer number of cycles in carrier phase observation. Correctly fixing the double-difference integer ambiguity is a prerequisite for centimeter-level positioning. A search algorithm is used to search within the integer space to obtain the integer solution of the double-difference integer ambiguity. For example, the search algorithm can be the least-squares ambiguity reduction adjustment method.

[0056] In step S154, the double-difference integer ambiguity, which has been fixed as an integer solution, is substituted back into the double-difference observation equation of the two-frequency point. At this time, the double-difference geometric distance of the first frequency point in the double-difference observation equation can be solved. Since the double-difference geometric distance of the first frequency point is determined by the coordinates of the base station, the known satellite coordinates, and the coordinates of the rover, the position parameters of the rover can be calculated under the premise that the coordinates of the base station and the satellite coordinates are known, thereby obtaining the three-dimensional position information of the rover with centimeter-level accuracy.

[0057] This application embodiment achieves centimeter-level high-precision positioning of the rover station with extremely low computational load by modifying the dual-frequency carrier observation equation, performing inter-station and inter-satellite double-difference processing, and solving the integer solution of the double-difference integer ambiguity.

[0058] Furthermore, the method for determining the location information of a mobile station according to an embodiment of this application is illustrated with reference to the accompanying drawings: Figure 3 This schematic diagram illustrates the double-difference carrier phase of the B31 frequency point of the Beidou C01 satellite without the correction made using the embodiments of this application; Figure 4 This diagram illustrates the modified double-difference carrier phase of the B31 frequency point of the BeiDou C01 satellite using the embodiments of this application. Figure 5 This schematic diagram illustrates the double-difference carrier phase of the B31 frequency point of the BeiDou C06 satellite without the correction made in the embodiments of this application; Figure 6 This diagram illustrates the modified double-difference carrier phase of the B31 frequency point of the BeiDou C06 satellite using the embodiments of this application. Figure 7 This schematic diagram illustrates the double-difference carrier phase of the B31 frequency point of the BeiDou C12 satellite without the correction made using the embodiments of this application; Figure 8This schematic diagram illustrates the modified double-difference carrier phase of the B31 frequency point of the BeiDou C12 satellite using the embodiments of this application. Figures 3-8 It is known that the double-difference carrier phase without the correction using the embodiments of this application does not satisfy the integer cycle characteristic, while the double-difference carrier phase after correction using the embodiments of this application satisfies the integer cycle characteristic.

[0059] Figure 9 A contrast diagram illustrating the ambiguity according to an embodiment of this application is shown schematically, such as... Figure 9 As shown, the floating point represents the ambiguity without correction using the embodiments of this application, and the straight line represents the ambiguity after correction using the embodiments of this application. By comparison, it can be seen that the ambiguity without correction using the embodiments of this application is a floating point solution and is not fixed, while the ambiguity corrected using the embodiments of this application is a fixed solution.

[0060] This application also provides an electronic device, including: The memory is configured to store instructions; The processor is configured to retrieve instructions from memory and, when executing instructions, to implement a method for determining the location of the rover based on the location information of the rover as described above.

[0061] It is understood that the electronic device provided in this application embodiment can implement each process of the method for determining the location information of the mobile station in the above embodiments and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0062] This application also provides a machine-readable storage medium storing instructions that cause a machine to perform a method for determining the location information of a mobile station as described above.

[0063] It is understood that the machine-readable storage medium provided in the embodiments of this application can implement each process of the method for determining the location information of the rover in the above embodiments and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0064] This application also provides a computer program product, which includes a computer program that, when executed by a processor, implements a method for determining the location information of a mobile station as described above.

[0065] It is understood that the machine-readable storage medium provided in the embodiments of this application can implement each process of the method for determining the location information of the rover in the above embodiments and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0066] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0067] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0068] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0069] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0070] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0071] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0072] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0073] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0074] The above are merely embodiments of this application and are not intended to limit the scope of 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 scope of the claims of this application.

Claims

1. A method for determining the location information of a mobile station, characterized in that, The determination method includes: The time delay difference between the first and second frequency points of the target satellite, the satellite position corresponding to the first frequency point, and the carrier phase of the second frequency point are obtained. Based on the time delay difference, determine the satellite position error vector caused by the time delay; Based on the spatial geometric relationship between the rover and the target satellite and the satellite position error vector, the correction amount of the satellite position error vector is determined; The carrier phase of the second frequency point is corrected based on the correction amount of the satellite position error vector to obtain the corrected carrier phase of the second frequency point; Based on the corrected carrier phase of the second frequency point and the satellite position corresponding to the first frequency point, the dual-frequency carrier observation equation is corrected to obtain the corrected dual-frequency carrier observation equation, wherein the dual-frequency carrier observation equation includes a mathematical model established by the carrier phase of the first frequency point and the carrier phase of the second frequency point; Based on the modified dual-frequency carrier observation equation, double-difference processing is performed to obtain the dual-frequency double-difference observation equation after double-difference processing. Based on the dual-frequency double-difference observation equation, floating-point solution calculation and double-difference integer ambiguity search and fixation are performed to obtain the integer solution of the double-difference integer ambiguity; The location information of the rover station is determined based on the integer solution of the double-difference integer ambiguity and the double-difference observation equation at the double frequency point.

2. The determination method according to claim 1, characterized in that, The acquisition of the time delay difference between the first frequency point and the second frequency point of the target satellite includes: Obtain the first pseudorange of the target satellite at the first frequency and the second pseudorange of the target satellite at the second frequency; Based on the first pseudorange and the second pseudorange, the time delay difference between the first frequency point and the second frequency point of the target satellite is determined.

3. The determination method according to claim 2, characterized in that, The step of determining the time delay difference between the first frequency point and the second frequency point of the target satellite based on the first pseudorange and the second pseudorange includes: Obtain the signal reception time when the mobile station simultaneously receives signals from the first frequency point and the second frequency point; Based on the first pseudorange and the signal reception time, the first signal transmission time of the first frequency point is obtained; Based on the second pseudorange and the signal reception time, the second signal transmission time of the second frequency point is obtained; Based on the first signal transmission time and the second signal transmission time, the time delay difference between the first frequency point and the second frequency point of the target satellite is determined.

4. The determination method according to claim 3, characterized in that, The step of determining the satellite position error vector caused by the time delay based on the time delay difference includes: Based on the motion state of the target satellite within the target signal transmission duration and the time delay difference, a satellite position error vector caused by the time delay is obtained, wherein the target signal transmission duration includes the time from the first signal transmission moment to the second signal transmission moment.

5. The method according to claim 4, characterized in that, The target satellite is a medium-to-high orbit satellite.

6. The method according to claim 1, characterized in that, The determination of the correction amount for the satellite position error vector based on the spatial geometric relationship between the rover and the target satellite and the satellite position error vector includes: Obtain the position vector of the rover from the first frequency point of the target satellite; Based on the satellite position error vector and the position vector, determine the cosine value of the angle between the position vector and the satellite position error vector; The correction amount of the satellite position error vector is determined based on the satellite position error vector and the cosine value of the included angle.

7. An electronic device, characterized in that, include: The memory is configured to store instructions; The processor is configured to retrieve the instructions from the memory and, when executing the instructions, to implement the method for determining the location information of the rover according to any one of claims 1 to 6.

8. A machine-readable storage medium, characterized in that, The machine-readable storage medium stores instructions for causing the machine to perform a method for determining the location information of a rover according to any one of claims 1 to 6.

9. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, implements a method for determining the location information of a mobile station according to any one of claims 1 to 6.

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