Un-calibrated phase delay estimation method, apparatus, device, medium and program product

Abstract

The present disclosure relates to the technical field of position, and particularly provides a non-calibration phase delay estimation method, device, equipment, medium and program product. The method comprises: obtaining floating point wide lane ambiguity of reference satellites and non-reference satellites, the reference satellites and the non-reference satellites belong to Beidou second generation satellites and Beidou third generation satellites; obtaining an UPD estimation model, the UPD estimation model is constructed based on a function relationship between satellite end wide lane UPD, receiver end wide lane UPD and decimal residual error of floating point wide lane ambiguity, wherein the receiver end wide lane UPD of the non-reference satellite is represented by the receiver end wide lane UPD of the reference satellite and a first inter-system bias parameter, and the first inter-system bias parameter represents the inter-system bias of the receiver end wide lane UPD between the non-reference satellite and the reference satellite; and determining the wide lane UPD by using the UPD estimation model based on the floating point wide lane ambiguity and the first inter-system bias parameter. The technical scheme of the present disclosure can improve the UPD estimation efficiency.

Description

Technical Field

[0001] This disclosure relates to the field of location technology, and in particular to an uncalibrated phase delay estimation method, apparatus, device, medium, and program product. Background Technology

[0002] Global Navigation Satellite System (GNSS) ambiguity fixing can effectively shorten the convergence time of Precise Point Positioning (PPP) and improve PPP positioning accuracy. However, in traditional PPP floating-point positioning, ambiguity absorbs hardware delays at both the satellite and receiver ends, causing it to lose its integer characteristics. To restore the integer characteristics of ambiguity, an external uncalibrated phase delay (UPD) product is needed for correction, ensuring that the ambiguity is correctly fixed and thus achieving high-precision PPP solution.

[0003] Currently, in the estimation of UPD (Unified Probability of Disturbance) for the BeiDou-2 and BeiDou-3 systems, inconsistencies in UPD between the two systems prevent a direct unified estimation. Therefore, current UPD estimation methods treat BeiDou-2 and BeiDou-3 as two independent systems, performing separate UPD estimations for each. However, this significantly reduces data processing efficiency, resulting in inefficient UPD estimation and impacting the real-time performance and accuracy of subsequent PPP (Public-Private Partnership) ambiguity fixing. Summary of the Invention

[0004] This disclosure is made in view of the above-mentioned problems. This disclosure provides an uncalibrated phase delay estimation method, apparatus, device, medium, and program product.

[0005] According to one aspect of this disclosure, an uncalibrated phase delay estimation method is provided for estimating an uncalibrated phase delay UPD, the method comprising:

[0006] Obtain the floating-point wide-lane ambiguity of reference satellites and non-reference satellites, wherein the reference satellites and non-reference satellites belong to BeiDou-2 and BeiDou-3 satellites, respectively;

[0007] A UPD estimation model is obtained, which is constructed based on the functional relationship between satellite-end wide lane UPD, receiver-end wide lane UPD and the fractional residual of floating-point wide lane ambiguity. The receiver-end wide lane UPD of the non-reference satellite is represented by the receiver-end wide lane UPD of the reference satellite and a first inter-system deviation parameter. The first inter-system deviation parameter characterizes the inter-system deviation of the receiver-end wide lane UPD between the non-reference satellite and the reference satellite.

[0008] Based on the floating-point wide-lane ambiguity and the first system-to-system deviation parameter, the wide-lane UPD is estimated using the UPD estimation model.

[0009] Furthermore, according to an uncalibrated phase delay estimation method of one aspect of this disclosure, the functional relationship is an equation relating the fractional residual of the floating-point wide-lane ambiguity to the target difference, wherein the target difference is the difference between the satellite-end wide-lane UPD and the receiver-end wide-lane UPD.

[0010] Furthermore, according to the uncalibrated phase delay estimation method of one aspect of this disclosure, the constraints of the UPD estimation model include:

[0011] The sum of the wide lane UPDs of all satellites is zero;

[0012] Furthermore, the sum of the first inter-system deviation parameters for all stations is zero.

[0013] Furthermore, according to one aspect of the uncalibrated phase delay estimation method of this disclosure, the method further includes:

[0014] Based on the joint precise point positioning model of the reference satellite and the non-reference satellite, the floating-point ionospheric ambiguity of the reference satellite and the non-reference satellite is calculated. The joint precise point positioning model is a precise point positioning model that introduces a second inter-system deviation parameter. The second inter-system deviation parameter is used to characterize the clock bias reference deviation and the difference in pseudorange hardware delay at the receiver end between the reference satellite and the non-reference satellite.

[0015] Calculate the floating-point narrow-lane ambiguity based on the floating-point wide-lane ambiguity and the floating-point ionosphere-free ambiguity;

[0016] The narrow alleyway UPD is determined based on the floating-point narrow alleyway ambiguity.

[0017] Furthermore, according to the uncalibrated phase delay estimation method of one aspect of this disclosure, the satellite clock bias of the non-reference satellite in the joint precise point positioning model is represented by a combination of the satellite clock bias of the reference satellite and the second inter-system bias.

[0018] Furthermore, according to an uncalibrated phase delay estimation method of one aspect of this disclosure, determining the narrow-lane UPD based on the floating-point narrow-lane ambiguity includes:

[0019] Based on the floating-point narrow alley ambiguity, the narrow alley UPD is determined using the narrow alley UPD estimation model;

[0020] The narrow lane UPD estimation model is constructed based on the functional relationship between the satellite-side narrow lane UPD, the receiver-side narrow lane UPD, and the fractional residual of the floating-point narrow lane ambiguity.

[0021] According to another aspect of this disclosure, an uncalibrated phase delay estimation apparatus is provided, comprising:

[0022] The first acquisition module is used to acquire the floating-point wide-lane ambiguity of the reference satellite and the non-reference satellite, which belong to the Beidou-2 and Beidou-3 satellites respectively.

[0023] The second acquisition module is used to acquire the UPD estimation model. The UPD estimation model is constructed based on the functional relationship between the satellite-end wide lane UPD, the receiver-end wide lane UPD and the fractional residual of the floating-point wide lane ambiguity. The receiver-end wide lane UPD of the non-reference satellite is represented by the receiver-end wide lane UPD of the reference satellite and the first inter-system deviation parameter. The first inter-system deviation parameter characterizes the inter-system deviation of the receiver-end wide lane UPD between the non-reference satellite and the reference satellite.

[0024] The UPD estimation module is used to determine the wide lane UPD based on the floating-point wide lane ambiguity and the first system-to-system deviation parameter using the UPD estimation model.

[0025] According to another aspect of this disclosure, an electronic device is provided, including a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of any of the methods described above.

[0026] According to another aspect of this disclosure, a computer-readable storage medium is provided that stores a computer program / instructions thereon, which, when executed by a processor, implement the steps of any of the methods described above.

[0027] According to another aspect of this disclosure, a computer program product is provided, including a computer program / instructions that, when executed by a processor, implement the steps of any of the methods described above.

[0028] As will be described in detail below, the uncalibrated phase delay estimation method, apparatus, device, medium, and program product according to embodiments of this disclosure determine the estimated wide-lane UPD based on the floating-point wide-lane ambiguity and a first inter-system deviation parameter used to characterize the inter-system deviation of the receiver-side wide-lane UPD of a non-reference satellite relative to a reference satellite using a UPD estimation model. The UPD estimation model is constructed based on the functional relationship between the satellite-side wide-lane UPD, the receiver-side wide-lane UPD, and the fractional residual of the floating-point wide-lane ambiguity. Furthermore, the receiver-side wide-lane UPD of the non-reference satellite is represented by a combination of the receiver-side wide-lane UPD of the reference satellite and the first inter-system deviation parameter. This allows for joint UPD estimation of the BeiDou-2 and BeiDou-3 satellite systems as a single system, while independent UPD estimation relative to the BeiDou-2 and BeiDou-3 satellite systems, thus improving the efficiency of UPD estimation.

[0029] It should be understood that both the foregoing general description and the following detailed description are exemplary and intended to provide further illustration of the claimed technology. Attached Figure Description

[0030] The above and other objects, features, and advantages of this disclosure will become more apparent from the more detailed description of the embodiments thereof in conjunction with the accompanying drawings. The drawings are provided to further illustrate the embodiments of this disclosure and form part of the specification. They are used together with the embodiments of this disclosure to explain the disclosure and do not constitute a limitation thereof. In the drawings, the same reference numerals generally represent the same components or steps.

[0031] Figure 1 This is a flowchart illustrating an uncalibrated phase delay estimation method according to an embodiment of the present disclosure.

[0032] Figure 2 This is a flowchart illustrating narrow-lane UPD estimation in an uncalibrated phase delay estimation method according to an embodiment of the present disclosure.

[0033] Figure 3 This is a block diagram illustrating an uncalibrated phase delay estimation apparatus according to an embodiment of the present disclosure.

[0034] Figure 4 This is a schematic diagram illustrating a computer program product according to an embodiment of the present disclosure.

[0035] Figure 5 This is a hardware block diagram illustrating an electronic device according to an embodiment of the present disclosure. Detailed Implementation

[0036] To make the objectives, technical solutions, and advantages of this disclosure more apparent, exemplary embodiments according to this disclosure will now be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of this disclosure, and not all embodiments of this disclosure. It should be understood that this disclosure is not limited to the exemplary embodiments described herein.

[0037] See Figure 1 An uncalibrated phase delay estimation method is provided for estimating the uncalibrated phase delay UPD. The method includes:

[0038] S101 obtains the floating-point wide-lane ambiguity of reference satellites and non-reference satellites, which belong to Beidou-2 and Beidou-3 satellites respectively.

[0039] In this embodiment, the reference satellite and the non-reference satellites represent BeiDou-2 and BeiDou-3 satellites, respectively. If the reference satellite is chosen as a BeiDou-2 satellite, then the non-reference satellites should be BeiDou-3 satellites; conversely, if the reference satellite is chosen as a BeiDou-3 satellite, then the non-reference satellites should be BeiDou-2 satellites. For example, a BeiDou-3 satellite can be used as the reference satellite, and a BeiDou-2 satellite as the non-reference satellite; or a BeiDou-2 satellite can be used as the reference satellite, and a BeiDou-3 satellite as the non-reference satellite. The specific choice between using a BeiDou-2 or BeiDou-3 satellite as the reference satellite can be determined based on actual needs.

[0040] In step S101, the floating-point wide-lane ambiguity can be calculated using the MW (Melbourne-Wubeena combination, a combined observation algorithm) method to obtain the floating-point wide-lane ambiguity.

[0041] For example, the following formula can be used to calculate floating-point width ambiguity:

[0042]

[0043] In the formula, This represents the floating-point wide-lane ambiguity, and is the non-difference wide-lane ambiguity.

[0044] This represents the pseudorange observation at frequency i;

[0045] This represents the pseudorange observation at frequency j;

[0046] This represents the phase observation at frequency i;

[0047] This represents the phase observation at frequency j;

[0048] fi and f j This represents the frequencies of the two original frequency points.

[0049] S102, Obtain the UPD estimation model. The UPD estimation model is constructed based on the functional relationship between the satellite-end wide lane UPD, the receiver-end wide lane UPD, and the fractional residual of the floating-point wide lane ambiguity. The receiver-end wide lane UPD of the non-reference satellite is represented by the combination of the receiver-end wide lane UPD of the reference satellite and the first inter-system deviation parameter. The first inter-system deviation parameter characterizes the inter-system deviation of the receiver-end wide lane UPD between the non-reference satellite and the reference satellite.

[0050] In this embodiment, the UPD estimation model is constructed based on the functional relationship between the fractional residual of the floating-point wide-lane ambiguity, the satellite-end wide-lane UPD, and the receiver-end wide-lane UPD. It may include this functional relationship or other relationships based on it. Specifically, this functional relationship may be an equation relating the fractional residual of the floating-point wide-lane ambiguity to the target difference, where the target difference is the difference between the satellite-end wide-lane UPD and the receiver-end wide-lane UPD.

[0051] In this embodiment of the disclosure, the fractional residual of the floating-point wide-lane ambiguity is the difference between the floating-point wide-lane ambiguity and the integer wide-lane ambiguity (which can be directly rounded from the floating-point wide-lane ambiguity).

[0052] One expression for the functional relationship is as follows:

[0053]

[0054] In the formula, Indicates the floating-point width ambiguity;

[0055] Indicates the ambiguity of the entire width alley;

[0056] UPD r,WL Indicates satellite-side wide lane UPD;

[0057] UPD s,WL This indicates the receiver-side wide lane UPD.

[0058] One expression for the functional relationship is as follows:

[0059]

[0060] This expression is a general expression. In this embodiment of the disclosure, the receiver-side wide lane UPD of the non-reference satellite is characterized by a combination of the receiver-side wide lane UPD of the reference satellite and the first inter-system deviation parameter, which is the receiver-side wide lane UPD inter-system deviation.

[0061] Taking the reference satellite as a BeiDou-3 satellite and the non-reference satellite as a BeiDou-2 satellite as an example, one expression of the functional relationship is as follows:

[0062]

[0063] In the formula, The fractional residual representing the floating-point wide-lane ambiguity of the BeiDou-2 satellite;

[0064] This indicates the floating-point wide-lane ambiguity of the Beidou-2 satellite;

[0065] This indicates the integer wide-lane ambiguity of the BeiDou-2 satellite.

[0066] This indicates the wide lane UPD at the receiver end of the Beidou-3 satellite;

[0067] This indicates the satellite-end wide lane UPD of the Beidou-2 satellite;

[0068] The receiver-side wide lane UPD system deviation between BeiDou-2 and BeiDou-3 satellites, also known as the first system deviation parameter;

[0069] The decimal residual represents the floating-point width ambiguity of BeiDou-3 satellites;

[0070] This indicates the floating-point wide-lane ambiguity of BeiDou-3 satellites;

[0071] This indicates the integer wide-lane ambiguity of BeiDou-3 satellites;

[0072] This refers to the satellite-end wide lane UPD of the Beidou-3 satellite.

[0073] In this embodiment of the disclosure, the inter-system deviation of the receiver-side wide-lane UPD, namely the first inter-system deviation parameter, is used to overcome the influence of the difference in hardware delay at the receiver-side on the BeiDou wide-lane UPD.

[0074] It should be understood that the embodiments of this disclosure optimize the UPD estimation model, enabling the UPD estimation model to jointly estimate the wide-lane UPD of BeiDou-2 and BeiDou-3 satellites. Compared to independent estimation, this reduces the computational load and improves the estimation efficiency of wide-lane UPD. Narrow-lane UPD can be calculated based on wide-lane UPD; therefore, improving the estimation speed of wide-lane UPD is equivalent to improving the estimation speed of narrow-lane UPD as well.

[0075] S103, based on the floating-point wide-lane ambiguity and the first system-to-system deviation parameter, the wide-lane UPD is determined using the UPD estimation model.

[0076] In this embodiment, the wide-lane UPD is determined using a UPD estimation model based on the floating-point wide-lane ambiguity and the first inter-system bias parameter (ISB). The floating-point wide-lane ambiguity refers to the various floating-point wide-lane ambiguities obtained in step S101, the UPD estimation model is the model obtained in step S102, and the first inter-system bias parameter is a parameter in the UPD estimation model. When determining the wide-lane UPD using the UPD estimation model, related methods can be referenced for estimation; the main difference is that this embodiment uses the aforementioned UPD estimation model.

[0077] In one example, assuming there are n stations at the same time, and each station can observe m satellites, the observation equation of the BeiDou wide-span UPD estimation model can be expressed as:

[0078]

[0079] In the formula, The fractional residual represents the floating-point wide-lane ambiguity of the first satellite at the first station;

[0080] The fractional residual represents the floating-point wide-lane ambiguity of the m-th satellite at the first station.

[0081] The fractional residual represents the floating-point wide-lane ambiguity of the m-th satellite at the n-th station.

[0082] This indicates the receiver-side wide lane UPD of the BeiDou-3 satellite in the first station, which can be used as the reference receiver-side wide lane UPD;

[0083] This indicates the inter-system deviation between the receiver-end wide lane UPD system and the BeiDou-2 and BeiDou-3 satellites in the first station, which is also the first inter-system deviation parameter;

[0084] The satellite-end wide lane UPD of the first Beidou-3 satellite;

[0085] This represents the satellite-end width UPD of the m-th Beidou-3 satellite.

[0086] First, obtain a set of initial values ​​for BeiDou wide-lane UPD. The method for determining these values ​​is as follows:

[0087] a) Assume that the BeiDou wide-lane UPD at the receiver of a certain station is zero, then directly round the wide-lane ambiguity to obtain the integer ambiguity, and use the above formula to calculate the satellite-end UPD of all satellites related to this station.

[0088] b) With the fixed satellite-end UPD, calculate the wide-lane UPD for the next station. First, subtract the known satellite-end UPD from the wide-lane ambiguity related to the station to be calculated, resulting in a new floating-point ambiguity. The decimal part of this new floating-point ambiguity is the corresponding station's UPD. This process can be repeated to calculate a receiver UPD for each wide-lane ambiguity. Theoretically, these UPDs should be consistent, but in practice, there may be a difference of ±1 week. Therefore, the difference between these UPDs can be controlled within 0.5 weeks (adjusted by +1 or -1 week), and then averaged to obtain a better initial receiver UPD value. Then, substitute the receiver UPD into each ambiguity to check, ensuring that the result after subtracting the satellite-end and receiver-end UPDs is very close to an integer. At this point, it is also necessary to assign values ​​to satellites that do not yet have initial UPD values. Repeat this step until all satellites and receivers have a good initial value.

[0089] c) Substitute the initial value directly into each floating-point ambiguity and round it down to obtain the integer ambiguity. Subtract the integer ambiguity from the floating-point ambiguity to obtain an accurate fractional part of the ambiguity. At this point, these fractional parts no longer have the ±1 cycle problem. According to the above formula, the final UPD can be calculated by setting the UPD of a certain station or a certain satellite to 0 or the sum of the UPDs of all satellites to 0.

[0090] After obtaining the accurate initial value of the wide-lane UPD, additional benchmark constraint equations are needed to eliminate the rank deficiency of the normal equations in order to make the equations solvable. In the embodiments of this disclosure, the constraints of the UPD estimation model include that the sum of the wide-lane UPDs of all satellites is zero, and that the sum of the first inter-system deviation parameters of all stations is zero. The rank deficiency of the normal equations is eliminated using these constraint equations.

[0091] In one embodiment, see Figure 2 Uncalibrated phase delay estimation methods also include:

[0092] S201, based on the joint precise point positioning model of reference satellites and non-reference satellites, calculates the floating-point ionospheric ambiguity of reference satellites and non-reference satellites. The joint precise point positioning model is a precise point positioning model that introduces a second inter-system deviation parameter. The second inter-system deviation parameter is used to characterize the clock bias reference deviation between reference satellites and non-reference satellites and the difference in pseudorange hardware delay at the receiver end.

[0093] In this embodiment of the disclosure, the satellite clock bias of the non-reference satellite in the joint precise point positioning model is represented by a combination of the satellite clock bias of the reference satellite and the inter-system bias of the second system, so that the joint precise point positioning model can jointly estimate the floating-point ionospheric ambiguity of the reference satellite and the non-reference satellite.

[0094] In one example, with the reference satellite being a BeiDou-3 satellite and the non-reference satellite being a BeiDou-2 satellite, the Joint Precise Point Positioning (PPP) model is as follows:

[0095]

[0096]

[0097] In the formula, This represents the ionospheric pseudorange observation value of Beidou-2.

[0098] This represents the phase observation value of the BeiDou-2 system.

[0099] This indicates the ionospheric pseudorange of the BeiDou-3 system.

[0100] This represents the phase observation value of the BeiDou-3 system;

[0101] This indicates the distance between the satellite and the ground in the BeiDou-2 system.

[0102] This indicates the distance between the satellite and the ground in the BeiDou III system.

[0103] This indicates the satellite clock bias of the BeiDou-2 satellites;

[0104] This indicates the satellite clock bias of the BeiDou-3 satellites;

[0105] Indicates receiver clock bias;

[0106] ISB stands for Inter-System Bias between the BeiDou-2 and BeiDou-3 systems.

[0107] M s Represents a mapping function;

[0108] Indicates tropospheric delay;

[0109] λ IF Indicates wavelengths without ionospheric ambiguity;

[0110] This indicates ionospheric ambiguity.

[0111] As can be seen from the formula, an ISB parameter is introduced into the pseudorange and phase observation equations of the BeiDou-2 satellite, and the receiver clock bias adopts the receiver clock bias of the BeiDou-3 satellite. This ISB parameter mainly includes two parts: (1) the clock bias reference deviation between the BeiDou-2 and BeiDou-3 satellite clock bias products published by various analysis centers of the International GNSS Service (IGS); (2) the difference in pseudorange hardware delay at the receiver end between BeiDou-2 and BeiDou-3. By introducing this ISB parameter into the PPP model, the consistency of the estimated BeiDou UPD products can be guaranteed.

[0112] S202, Calculate the floating-point narrow-lane ambiguity based on the floating-point wide-lane ambiguity and the floating-point ionosphere-free ambiguity.

[0113] After estimating the wide-lane UPD, the floating-point wide-lane ambiguity can be directly rounded to obtain the integer-circumference wide-lane ambiguity. Then, the floating-point narrow-lane ambiguity is calculated based on the integer-circumference wide-lane ambiguity and the floating-point ionosphere-free ambiguity, expressed as:

[0114]

[0115] In the formula,

[0116] Indicates floating-point narrow alley ambiguity;

[0117] λ IF Indicates the carrier phase combination wavelength without ionospheric combination;

[0118] Indicates floating-point ionosphere-free ambiguity;

[0119] λ NL The wavelength representing the narrow alley combination;

[0120] λ i This represents the carrier phase wavelength corresponding to the i-th frequency signal;

[0121] λ j This represents the carrier phase wavelength corresponding to the j-th frequency signal;

[0122] This indicates the ambiguity of the entire width of the alley.

[0123] S203, determine the narrow alleyway UPD based on the floating-point narrow alleyway ambiguity.

[0124] After determining the floating-point narrow-lane ambiguity, the narrow-lane UPD can be calculated and determined using a method similar to that in step 201. This determined narrow-lane UPD is an estimate of the narrow-lane UPD. The narrow-lane UPD can be determined based on the floating-point narrow-lane ambiguity using a narrow-lane UPD estimation model. This model is constructed based on the functional relationship between the satellite-end narrow-lane UPD, the receiver-end narrow-lane UPD, and the fractional residuals of the floating-point narrow-lane ambiguity. For the joint narrow-lane UPD estimation of the BeiDou-2 and BeiDou-3 systems, since the ISB parameter was introduced during PPP, it is not necessary to additionally estimate the inter-system deviation of the narrow-lane UPD between the receiver-end BeiDou-2 and BeiDou-3 systems.

[0125] See Figure 3 An uncalibrated phase delay estimation device, comprising:

[0126] The acquisition module 301 is used to acquire the floating-point wide-lane ambiguity of the reference satellite and the non-reference satellite, which belong to the Beidou-2 and Beidou-3 satellites respectively.

[0127] The second acquisition module 302 is used to acquire the UPD estimation model. The UPD estimation model is constructed based on the functional relationship between the satellite-end wide-lane UPD, the receiver-end wide-lane UPD, and the fractional residual of the floating-point wide-lane ambiguity. The receiver-end wide-lane UPD of the non-reference satellite is represented by the receiver-end wide-lane UPD of the reference satellite and the first inter-system deviation parameter. The first inter-system deviation parameter characterizes the inter-system deviation of the receiver-end wide-lane UPD between the non-reference satellite and the reference satellite. The UPD estimation module 303 is used to determine the wide-lane UPD based on the floating-point wide-lane ambiguity and the first inter-system deviation parameter using the UPD estimation model.

[0128] In one embodiment, the functional relationship is an equation relating the fractional residual of the floating-point wide-lane ambiguity to the target difference, where the target difference is the difference between the satellite-end wide-lane UPD and the receiver-end wide-lane UPD.

[0129] In one embodiment, the constraints of the UPD estimation model include: the sum of the wide-lane UPDs of all satellites is zero; and the sum of the first inter-system bias parameters of all stations is zero.

[0130] In one embodiment, the UPD estimation module is further configured to:

[0131] Based on the joint precise point positioning model of reference satellites and non-reference satellites, the floating-point ionospheric ambiguity of reference satellites and non-reference satellites is calculated. The joint precise point positioning model is a precise point positioning model that introduces a second inter-system deviation parameter. The second inter-system deviation parameter is used to characterize the clock bias reference deviation between reference satellites and non-reference satellites and the difference in pseudorange hardware delay at the receiver end.

[0132] Calculate the floating-point narrow-lane ambiguity based on the floating-point wide-lane ambiguity and the floating-point ionosphere-free ambiguity;

[0133] Narrow alleyway UPD is determined based on floating-point narrow alleyway ambiguity.

[0134] In one embodiment, the satellite clock bias of the non-reference satellite in the joint precise point positioning model is represented by a combination of the satellite clock bias of the reference satellite and the inter-system bias of the second system.

[0135] In one embodiment, when the UPD estimation module is used to determine the narrow lane UPD based on the floating-point narrow lane ambiguity, it is specifically used to determine the narrow lane UPD based on the floating-point narrow lane ambiguity using the narrow lane UPD estimation model; wherein, the narrow lane UPD estimation model is constructed based on the functional relationship between the satellite-end narrow lane UPD, the receiver-end narrow lane UPD and the fractional residual of the floating-point narrow lane ambiguity.

[0136] Exemplary embodiments of this disclosure also provide an electronic device, including: at least one processor; and a memory communicatively connected to the at least one processor. The memory stores a computer program executable by the at least one processor, which, when executed by the at least one processor, causes the electronic device to perform a method according to an embodiment of this disclosure.

[0137] Exemplary embodiments of this disclosure also provide a non-transitory computer-readable storage medium storing a computer program, wherein the computer program, when executed by a computer's processor, is used to cause the computer to perform a method according to embodiments of this disclosure.

[0138] refer to Figure 4 The present disclosure also provides a computer program product 400, including a computer program 401, wherein the computer program, when executed by a computer's processor, is used to cause the computer to perform a method according to an embodiment of the present disclosure.

[0139] refer to Figure 5 The present invention describes a structural block diagram of an electronic device 500 that can serve as a server or client of the present disclosure, which is an example of a hardware device that can be applied to various aspects of the present disclosure. The electronic device is intended to represent various forms of digital electronic computer devices, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0140] Electronic device 500 includes a computing unit 501, which can perform various appropriate actions and processes according to a computer program stored in read-only memory (ROM) 502 or a computer program loaded into random access memory (RAM) 503 from storage unit 508. The RAM 503 may also store various programs and data required for device operation. The computing unit 501, ROM 502, and RAM 503 are interconnected via bus 504. An input / output (I / O) interface 505 is also connected to bus 504.

[0141] Multiple components in electronic device 500 are connected to I / O interface 505, including: input unit 506, output unit 507, storage unit 508, and communication unit 509. Input unit 506 can be any type of device capable of inputting information to electronic device 500. Input unit 506 can receive input digital or character information and generate key signal inputs related to user settings and / or function control of electronic device. Output unit 507 can be any type of device capable of presenting information and may include, but is not limited to, a display, speaker, video / audio output terminal, vibrator, and / or printer. Storage unit 508 may include, but is not limited to, disk and optical disk. Communication unit 509 allows electronic device 500 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks, and may include, but is not limited to, modems, network cards, infrared communication devices, wireless communication transceivers and / or chipsets, such as Bluetooth™ devices, WiFi devices, WiMax devices, cellular communication devices, and / or the like.

[0142] The computing unit 501 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 501 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 501 performs the various methods and processes described above. For example, in some embodiments, the methods of the embodiments of this disclosure can be implemented as a computer software program tangibly contained in a machine-readable medium, such as storage unit 508. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 500 via ROM 502 and / or communication unit 509. In some embodiments, the computing unit 501 can be configured to perform the methods of the embodiments of this disclosure by any other suitable means (e.g., by means of firmware).

[0143] The basic principles of this disclosure have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in this disclosure are merely examples and not limitations, and should not be considered as essential features of each embodiment of this disclosure. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the scope of this disclosure to the necessity of employing the aforementioned specific details for implementation.

[0144] The block diagrams of devices, apparatuses, devices, and systems disclosed herein are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, devices, and systems can be connected, arranged, and configured in any manner. Words such as “comprising,” “including,” “having,” etc., are open-ended terms meaning “including but not limited to,” and are used interchangeably with them. The terms “or” and “and” as used herein refer to the terms “and / or,” and are used interchangeably with them unless the context clearly indicates otherwise. The term “such as” as used herein refers to the phrase “such as but not limited to,” and is used interchangeably with it.

[0145] Additionally, as used herein, the “or” used in a list of items beginning with “at least one” indicates a separate list, such that a list of, for example, “at least one of A, B, or C” means A or B or C, or AB or AC or BC, or ABC (i.e., A and B and C). Furthermore, the word “exemplary” does not imply that the described example is preferred or better than other examples.

[0146] It should also be noted that in the systems and methods of this disclosure, the components or steps can be decomposed and / or recombined. These decompositions and / or recombinations should be considered as equivalent solutions to this disclosure.

[0147] Various changes, substitutions, and modifications can be made to the technology described herein without departing from the teachings defined by the appended claims. Furthermore, the scope of the claims of this disclosure is not limited to the specific aspects of the processes, machines, manufactures, events, means, methods, and actions described above. Currently existing or later-developed processes, machines, manufactures, events, means, methods, or actions that perform substantially the same function or achieve substantially the same result as the corresponding aspects described herein can be utilized. Therefore, the appended claims include such processes, machines, manufactures, events, means, methods, or actions within their scope.

[0148] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use this disclosure. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of this disclosure. Therefore, this disclosure is not intended to be limited to the aspects shown herein, but rather to be carried out within the widest scope consistent with the principles and novel features disclosed herein.

[0149] The above description has been given for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of this disclosure to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations therein.

Claims

1. A method for estimating uncalibrated phase delay, characterized in that, The method for estimating the uncalibrated phase delay UPD includes: Obtain the floating-point wide-lane ambiguity of reference satellites and non-reference satellites, wherein the reference satellites and non-reference satellites belong to BeiDou-2 and BeiDou-3 satellites, respectively; A UPD estimation model is obtained, which is constructed based on the functional relationship between satellite-end wide lane UPD, receiver-end wide lane UPD and the fractional residual of floating-point wide lane ambiguity. The receiver-end wide lane UPD of the non-reference satellite is represented by the receiver-end wide lane UPD of the reference satellite and a first inter-system deviation parameter. The first inter-system deviation parameter characterizes the inter-system deviation of the receiver-end wide lane UPD between the non-reference satellite and the reference satellite. Based on the floating-point wide-lane ambiguity and the first system-to-system deviation parameter, the wide-lane UPD is determined using the UPD estimation model.

2. The method according to claim 1, characterized in that, The functional relationship is an equation relating the fractional residual of the floating-point wide-lane ambiguity to the target difference, where the target difference is the difference between the satellite-end wide-lane UPD and the receiver-end wide-lane UPD.

3. The method according to claim 1, characterized in that, The constraints of the UPD estimation model include: The sum of the wide lane UPDs of all satellites is zero; Furthermore, the sum of the first inter-system deviation parameters for all stations is zero.

4. The method according to claim 1, characterized in that, The method further includes: Based on the joint precise point positioning model of the reference satellite and the non-reference satellite, the floating-point ionospheric ambiguity of the reference satellite and the non-reference satellite is calculated. The joint precise point positioning model is a precise point positioning model that introduces a second inter-system deviation parameter. The second inter-system deviation parameter is used to characterize the clock bias reference deviation and the difference in pseudorange hardware delay at the receiver end between the reference satellite and the non-reference satellite. Calculate the floating-point narrow-lane ambiguity based on the floating-point wide-lane ambiguity and the floating-point ionosphere-free ambiguity; The narrow alleyway UPD is determined based on the floating-point narrow alleyway ambiguity.

5. The method according to claim 4, characterized in that, The satellite clock bias of the non-reference satellite in the joint precise point positioning model is represented by a combination of the satellite clock bias of the reference satellite and the inter-system bias of the second system.

6. The method according to claim 4, characterized in that, The step of determining the narrow-lane UPD based on the floating-point narrow-lane ambiguity includes: Based on the floating-point narrow alley ambiguity, the narrow alley UPD is determined using the narrow alley UPD estimation model; The narrow lane UPD estimation model is constructed based on the functional relationship between the satellite-side narrow lane UPD, the receiver-side narrow lane UPD, and the fractional residual of the floating-point narrow lane ambiguity.

7. An uncalibrated phase delay estimation device, characterized in that, include: The first acquisition module is used to acquire the floating-point wide-lane ambiguity of the reference satellite and the non-reference satellite, which belong to the Beidou-2 and Beidou-3 satellites respectively. The second acquisition module is used to acquire the UPD estimation model. The UPD estimation model is constructed based on the functional relationship between the satellite-end wide lane UPD, the receiver-end wide lane UPD and the fractional residual of the floating-point wide lane ambiguity. The receiver-end wide lane UPD of the non-reference satellite is represented by the receiver-end wide lane UPD of the reference satellite and the first inter-system deviation parameter. The first inter-system deviation parameter characterizes the inter-system deviation of the receiver-end wide lane UPD between the non-reference satellite and the reference satellite. The UPD estimation module is used to determine the wide lane UPD based on the floating-point wide lane ambiguity and the first system-to-system deviation parameter using the UPD estimation model.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory, characterized in that, The processor executes the computer program to implement the steps of the method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program / instructions stored thereon, characterized in that, When the computer program / instructions are executed by the processor, they implement the steps of the method described in any one of claims 1 to 6.

10. A computer program product, comprising a computer program / instructions, characterized in that, When the computer program / instructions are executed by the processor, they implement the steps of the method described in any one of claims 1 to 6.

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