189 results about "Clock error" patented technology

The invention provides a model and data driven low-orbit navigation enhanced satellite clock error forecasting method and equipment, and the method comprises the steps: carrying out the preprocessing of original clock error data of a low-orbit satellite: converting clock error time domain data into frequency domain data through time-frequency conversion, and employing a quartile method to recognize and eliminate frequency domain outliers and corresponding time domain abnormal values; constructing a frequency domain energy model and extracting periodic terms, including performing power spectral density analysis on the preprocessed clock error frequency domain data, and adaptively extracting significant periodic components of the low earth orbit satellite clock error through a threshold value; establishing a polynomial low earth orbit satellite clock error forecasting model considering periodic term correction and forecasting a clock error sequence to obtain a corresponding fitting residual error sequence and a clock error forecasting value; and normalizing the fitting residual error sequence, inputting the fitting residual error sequence into the gating circulation unit neural network, training and forecasting by adopting a window sliding input mode, and outputting a residual error prediction result. According to the method, the interpretability of the forecasting result can be effectively improved while the low earth orbit satellite clock error forecasting precision and stability are improved.

The invention belongs to the technical field of time service, and relates to a Beidou time service delay processing method and device based on PPP-B2b. The method comprises the following steps: acquiring a navigation signal of a current epoch to obtain an observation value, a broadcast ephemeris and precise point positioning service information; obtaining a precision satellite position and a precision satellite clock error according to the broadcast ephemeris and the precision single-point positioning service information; forecasting to obtain a forecast value; calculating a difference value between the forecast value and the observation value, when the difference value does not exceed a preset threshold value, establishing a satellite pseudo-range and carrier phase ionosphere-free combination observation equation, establishing an antenna position constraint virtual observation equation, and performing resolving according to the combination observation equation and the virtual observation equation to obtain a receiver clock error result; and correcting the pulse per second according to a clock error result of the receiver so as to carry out delay time service. According to the invention, accurate time service can be realized, interference and environmental influence are avoided, and the convergence speed is high.

The invention relates to the cross technical field of satellite navigation and wireless positioning technology, in particular to a real-time dynamic high-precision positioning method based on Beidou and UWB tight coupling, which solves the problem that in the prior art, error coupling in Beidou and UWB observation data is not fully solved, and especially in a high-speed dynamic scene, the positioning accuracy is greatly improved. The mutual influence of the Beidou receiver clock error, the UWB base station clock error and the multi-path error causes the continuous accumulation of the error and the significant reduction of the positioning precision. The invention discloses a real-time dynamic high-precision positioning method based on Beidou and UWB tight coupling. A data preprocessing and space-time alignment module, an error joint estimation model, an ambiguity fast fixing algorithm, a geometric constraint enhanced positioning engine module and a dynamic coordinate conversion and fusion output module are included. According to the mode provided by the invention, a highly integrated multi-model Kalman filtering architecture is adopted, so that synchronous and accurate compensation of the clock error of the Beidou receiver, the time delay of the UWB base station and the multi-path effect is realized.

The invention belongs to the technical field of satellite positioning, and particularly discloses a high-precision PPP (Point-to-Point Protocol) positioning method based on SSR (Simple Sequence Repeat) correction prediction, which comprises the following steps that: a receiver receives and stores an SSR correction in real time to obtain an SSR sequence; inputting the stored SSR sequence into a pre-trained prediction model, and outputting an SSR correction number prediction value in a future time period; the broadcast ephemeris is corrected through the predicted SSR correction number, and a precise satellite orbit and clock correction are obtained; and constructing an ionosphere-free combination model based on the double-frequency observation value, and resolving the position of the receiver through Kalman filtering in combination with the corrected satellite orbit and clock correction. According to the method, long-time-sequence prediction is carried out on the SSR correction number through the prediction model, the problem of positioning precision jump caused by satellite correction data interruption is effectively solved, it is guaranteed that PPP positioning continuously outputs centimeter-level precision results under the scenes of signal shielding, network delay and the like, and the limitation that traditional PPP strongly depends on real-time SSR data is broken through.

The invention discloses a segmented positioning measurement method and device for seismic data transmission delay, and belongs to the technical field of measurement. The method comprises the following steps: receiving a first data packet sent by a target data collector and a second data packet sent by a reference data collector; the reference data collector is deployed according to the deployment mode of the target data collector, and a collection port of the reference data collector is connected with a pulse signal; calculating by using the first data packet to obtain a first measurement delay, and calculating by using the second data packet to obtain a second measurement delay and an internal clock difference of the reference data collector; wherein the measurement delay is the total delay of the data on the whole transmission path; and determining the internal clock difference of the target data collector by using the internal clock difference of the reference data collector, the first measurement delay and the second measurement delay. According to the invention, segmented positioning measurement of transmission delay can be realized.

The invention discloses a whole network reference unified Beidou B2b constant deviation estimation method, which comprises the following steps of: firstly, performing Beidou B2b clock error reference transformation by applying Beidou B2b service DCB information to realize constant deviation parameterization separation; secondly, adding a single-station virtual reference, and constructing a constant deviation full-rank estimation model based on a single station; then, the constant deviation information of the whole network is integrated, the reference difference of a plurality of single station solutions is eliminated, and B2b constant deviation estimation with the unified reference of the whole network is achieved; and finally, under the constant deviation constraint of the unified reference, the performance of terminal positioning convergence speed, precision and the like is improved. According to the method, constant deviation estimation based on the whole network is realized, the stability and availability of Beidou B2b constant deviation estimation are improved, the problems of to-be-estimated parameter hopping and even filtering divergence possibly caused when a user side adopts constant deviations of different references are avoided, and then rapid convergence and instantaneous horizontal decimeter-level positioning of a terminal user are guaranteed.

The invention relates to an ephemeris broadcast and time synchronization method for Beidou pseudolite deformation monitoring, and belongs to the technical field of satellite positioning. The method comprises the following steps: constructing a linearization error equation based on a pseudo-range observation value, and solving a clock error correction amount in combination with a robust iterative algorithm to improve the time synchronization precision; analyzing ephemeris parameters of the Beidou GEO satellite, calculating earth-fixed coordinates of the Beidou GEO satellite, and rotating and adapting the earth-fixed coordinates; establishing an affine transformation relationship between the pseudo-satellite coordinates and GEO ephemeris, and generating optimized pseudo-satellite ephemeris data; and a time synchronization protocol is designed, and clock skew is compensated through bidirectional timestamp interaction of the main base station and the pseudo satellite. According to the method, nanosecond synchronization of the pseudo-satellite and the real satellite is realized, the ephemeris parameter redundancy problem of the static pseudo-satellite is optimized, multi-system cooperative work is supported, and the deformation monitoring reliability and precision under the complex terrain are remarkably improved.

The invention discloses an underwater navigation positioning method and system based on supercontinuum laser intensity correlation. The system comprises a master control system, a transmitting end underwater base station and a receiving end underwater carrier. The method comprises the following steps: firstly, a main control system generates a super-continuum laser signal with pseudo-random code information, the super-continuum laser signal is separated into optical signals of different wavelength channels through a light splitting module, and the optical signals are respectively sent to underwater base stations uniquely corresponding to the wavelength channels and are emitted; then the underwater carrier receives optical signals from a plurality of base stations, identifies a signal source base station according to wavelength identification, performs correlation operation with a locally copied pseudo-random code sequence, determines signal arrival time TOA and calculates a pseudo-range; and finally, resolving the three-dimensional coordinate and local clock error result of the underwater carrier by combining the pseudo-ranges, absolute positions and transmission delays of the underwater carrier and the at least four base stations. According to the invention, high-precision and high-robustness absolute positioning of the underwater environment is realized, and the reliability of long-time positioning and navigation of the underwater robot is enhanced.

The invention provides a portable mobile base station data service and management method and system, and relates to the technical field of satellite navigation and high-precision positioning, and the method comprises the steps: analyzing broadcast ephemeris and clock error parameters according to an interface control file protocol; an RTCM SSR data stream is obtained; decoding the RTCM SSR data stream to obtain an SSR correction number; based on the GNSS observation value, the satellite navigation message and the SSR correction number, calculating to obtain an accurate coordinate of the base station; the convergence state of the accurate coordinates of the reference station is evaluated in real time, and parameter configuration is carried out; the GNSS observation value is packaged into an RTCM MSM4 telegraph text, and the RTCM MSM4 telegraph text and an RTCM 1005 telegraph text packaged by the accurate coordinates of the reference station are combined and coded to generate a real-time RTCM differential data stream; and according to the NTRIP protocol, the RTCM differential data stream is broadcasted to each terminal through a TCP / IP interface. According to the invention, high-precision reference station positioning and multi-terminal service are realized.

The invention relates to a data extraction processing method and system for multi-modal simulation of diagnosis and treatment behaviors. The method and system are mainly applied to large-scale, high-frequency and multi-source data processing in a medical scene. Physical connection and protocol adaptation are established through edge computing nodes, diagnosis and treatment equipment and sensors, and data such as physiological parameters, diagnosis and treatment behaviors and case information are collected through a multi-protocol analysis engine. And then constructing a distributed clock synchronization network to carry out cross-device clock calibration, and processing the clock drift problem by adopting a dynamic buffer adjustment strategy. Thirdly, performing three-stage filtering processing and a tensor slicing strategy on the acquired data to realize intra-modal partitioning operation; and finally, integrating multi-dimensional results through a differentiable voting mechanism, and defining a confidence fusion function to calculate a weight coefficient. According to the invention, the problems of clock error between devices, processing capability limitation, algorithm optimization and the like in the prior art can be solved, and the accuracy and high efficiency of data processing are ensured.

The invention discloses a Beidou reference station operation state AI diagnosis and remote maintenance method, and belongs to the technical field of satellite navigation system operation and maintenance. The method comprises the following steps: acquiring reference station operation data including satellite signal quality, equipment temperature, voltage, clock error and the like, and performing exception elimination, missing value filling and de-noising processing; key features such as signal intensity fluctuation, temperature change trend and power supply stability are extracted; training a deep learning model fusing the LSTM and the CNN to perform operation state prediction; fault diagnosis and anomaly detection are carried out based on model output, and a threshold value is dynamically set; formulating a maintenance scheme according to a diagnosis result, and executing remote maintenance operation through an MQTT protocol of TLS1. 2 + bidirectional authentication; and the maintenance feedback is used for model optimization and online learning updating. According to the method, the fault identification accuracy of the reference station can be improved, the maintenance response time is shortened, and the intelligent and autonomous remote operation and maintenance capability is realized.

The invention relates to a PPP-B2b satellite clock correction value abnormal jump processing method and system, and the method comprises the steps: carrying out the calculation of a reference variation when a GPS reference satellite of a current epoch and a GPS reference satellite of a previous epoch are switched, and correcting a clock correction value; superposing the clock error correction values of the GPS satellite and the BDS-3 satellite to a broadcast ephemeris, and recovering to obtain a precise satellite clock error; calculating a precision satellite clock difference value of each satellite; when the precision satellite clock difference value of the target satellite is greater than a preset threshold value, determining that abnormal jump exists; if the target satellite is not the reference satellite, initializing clock error exception processing parameters in a positioning observation equation of the target satellite; if the satellite is the reference satellite, initializing clock error exception processing parameters in the positioning observation equations of all satellites of the current epoch; therefore, the abnormal jump part of the clock correction value is absorbed. The real-time PPP positioning result jump caused by the clock error abnormal value is avoided, and the continuity and reliability of the PPP-B2b precision positioning result are improved.

The invention discloses a blind separation and time-frequency noise reduction combined comprehensive pulsar time establishing method. The method comprises the following steps: selecting a pulsar meeting a preset requirement; processing the timing residual error of the selected pulsar; establishing a mixed signal model, iteratively solving an anti-mixing matrix through an approximate negentropy contrast function, and separating independent components from the multi-dimensional features; carrying out Pearson correlation analysis on each separated independent component and reference time; and performing multi-scale decomposition on the selected common-mode clock difference signal by adopting a plurality of wavelet bases, and performing Bayesian soft threshold processing to obtain the final comprehensive pulsar time. According to the method, the long-term stability of the comprehensive pulsar is improved, the common problems of aliasing and modal mixing in a high-noise environment in the prior art are solved, and the extracted signal is more stable.

The invention discloses a video clock recovery method and device, a storage medium and electronic equipment, and the method comprises the steps: extracting a video time sequence parameter from an auxiliary information packet when the auxiliary information packet transmitted by a transmitting end is received; configuring a phase-locked loop according to the video time sequence parameter, and generating a video clock; when the video data is received, counting the actual clock number of each video line by using a video clock so as to obtain the current clock error of each video line; performing coarse adjustment on the video clock according to the current clock error until the video clock is initially converged; and performing fine adjustment on the video clock after preliminary convergence until the video clock reaches a stable state. According to the invention, the precision of video clock recovery can be improved.

The invention discloses a self-adaptive control system for Qbv and clock synchronization cooperative adjustment in a TSN, which comprises a dynamic gating adjustment module and a stability guarantee mechanism module, and realizes closed-loop cooperative control of Qbv gating scheduling and gPTP clock synchronization in the TSN by constructing a dynamic gating adjustment system and a stability guarantee mechanism. According to the method, the problem of gating trigger time offset caused by Qbv static scheduling and gPTP clock synchronous decoupling in the TSN is solved, the scheduling window is corrected in real time through dynamic feedback clock errors, and the influence of mu s level deviation on deterministic transmission is eliminated.

The invention discloses a Beidou PTP master clock device based on chip atomic clock timekeeping, which integrates a chip atomic clock and a Beidou satellite time service signal, and comprises the following steps: firstly, receiving a Beidou satellite signal through a satellite receiving module, and generating an accurate 1PPS signal, a TOD signal and a 10MHz frequency signal based on the satellite signal; high-precision time-frequency reference is provided for equipment, and the problem that clock precision is insufficient in a traditional clock synchronization system is solved through the design. Secondly, the first clock board and the second clock board carry chip atomic clocks, and the high stability and low power consumption characteristics of the chip atomic clocks enable the equipment to maintain high precision of clock signals during long-time operation, so that clock errors caused by crystal oscillator frequency drift and aging in a traditional system are avoided. Moreover, the communication core board is connected with the upper computer, so that instructions can be received in real time, and the clock board and the logic control board can be controlled to work, and therefore, the system can quickly respond to the instructions of the upper computer, and accurate time control can be realized.

The invention provides a troposphere delay correction method and system, electronic equipment and a storage medium, and the method comprises the steps: extracting troposphere delay of a reference station through a non-difference combination observation value method according to the obtained real-time reference station observation data, broadcast ephemeris, ultra-fast orbit and clock correction, carrying out the adjustment of observation values of a plurality of satellites, and carrying out the adjustment of the observation values of a plurality of satellites; the zenith troposphere delay of the base station is obtained; the zenith troposphere level of the base station after normalization processing is interpolated to the position of the moving station through an inverse distance weighted interpolation method, zenith troposphere delay of the moving station is obtained according to a pre-constructed elevation normalization model, and the elevation normalization model is constructed based on ERA5 horizontal atmospheric layer meteorological data. According to the method, the adaptability of the model to complex terrains can be improved, so that the model precision is improved, the precision single-point positioning convergence time of the moving station is effectively shortened, and the precision single-point positioning precision is improved.

The invention discloses a satellite clock error resolving method considering signal distortion deviation, and belongs to the technical field of satellite navigation and positioning. According to the method, a signal distortion deviation parameterization model is constructed, and the satellite clock error and the signal distortion deviation are solved in a combined mode. The method specifically comprises the following steps: selecting a global or regional reference station network to obtain double-frequency observation data; classifying the receivers and unifying the distortion delay of the same kind of signals; and introducing signal distortion deviation modeling based on an ionosphere elimination combination observation equation, combining precise satellite orbit data, and resolving satellite clock correction and signal distortion deviation parameters through least square or Kalman filtering adjustment. When a terminal user uses a satellite clock error product for positioning, the terminal user can directly use or dynamically estimate the signal distortion deviation according to the type of a receiver, and the positioning precision is improved. By compensating the system error, the limitation that the signal distortion deviation is not modeled in the traditional method is solved, the satellite clock error is accurately estimated, and reliable support is provided for high-precision positioning, navigation and time service.

The invention discloses a clock correction prediction method based on multi-scale feature extraction and dynamic attention fusion. The used prediction model comprises a multi-scale feature extraction layer, a double-branch time sequence modeling layer and a dynamic attention fusion layer; the multi-scale feature extraction layer extracts low-frequency features, transition features and high-frequency features of the input sequence, further generates three different features, and splices all the different features with the low-frequency features, the transition features and the high-frequency features in a channel dimension to obtain multi-scale fusion features; the multi-scale fusion features sequentially pass through channel attention and space attention, then pass through an adaptive gating network to generate two dynamic weight coefficients, and are subjected to weighted fusion to obtain input features of a high-frequency branch and a low-frequency branch; the double-branch time sequence modeling layer generates short-term fluctuation features and long-term trend features, and the dynamic attention fusion layer generates long and short-term fusion features. According to the method, the analysis capability of the model on the complex sudden change mode in the clock error data is remarkably improved, and the prediction precision is further remarkably improved.

The application discloses a kind of laser SLAM positioning method and system of fusion GNSS observation information.The method comprises: obtaining the laser radar data of target space inner carrier, inertial sensor data and GNSS data;Inertial sensor data is constructed based on inertial sensor data constraint factor;Laser radar data is constructed based on laser radar constraint factor;Doppler data constraint factor, code pseudorange constraint factor and clock error constraint factor are constructed based on GNSS data;The constraint factor is optimized based on sliding window optimization method, and the positioning information of target space inner carrier is obtained.The application combines GNSS / IMU and laser SLAM by the above method, utilizes the high-precision positioning advantage of laser SLAM in short time, and GNSS provides global coordinate, and there is no error accumulation characteristics.The application fuses the observation data of GNSS, inertial measurement sensor and laser radar three kinds of sensors, and carries out real-time indoor and outdoor seamless high-precision positioning.

The invention discloses a satellite-ground enhanced signal conversion method and a satellite-ground enhanced signal conversion model based on PPP-RTK, which are used for solving the problems that conventional RTK in a ground-free network area fails, and satellite-based PPP-RTK depends on a special terminal and is slow in convergence. Generating an RTCM-OSR correction number by analyzing the SSR correction number, fusing the orbital clock correction, ionosphere and troposphere correction and performing weighted interpolation; the ambiguity is solved in combination with the observation value of the base station, dual-path verification and weighted fusion are carried out in combination with M-W and LAMBDA algorithms, and the wide lane ambiguity fixing reliability is improved; and when the ground-based signal is interrupted for more than 1 second, inheriting and maintaining Kalman filtering continuity by using the state vector and generating a switching identifier. The model integrates a signal processing module, a correction generation module, an ambiguity verification module and a switching control module, so that a conventional RTK terminal obtains centimeter-level positioning (level 2.3 cm and elevation 4.1 cm) without a public network, the interruption recovery is less than or equal to 1.5 seconds, and the scene upgrading cost of power inspection, power transmission monitoring, wind power plant monitoring and the like is reduced.

The invention relates to a time synchronization method and system based on satellite common-view and multi-source fusion, and belongs to the technical field of satellite clock error prediction. Comprising the following steps: acquiring original time signals of a plurality of external clock sources, and executing preprocessing operation; based on a preset anti-cheat detection rule, rejecting an untrusted part in the preprocessed original time signal to obtain a trusted time signal; calculating the credibility weight of the credible time signal; based on the credibility weight, calculating a local credible time reference by adopting an adaptive fusion algorithm; calibrating a local clock device by using a local trusted time reference, and outputting a time synchronization signal; and carrying out abnormity monitoring on the time signal in the previous step, and reporting alarm information when an abnormity is detected. According to the invention, time synchronization can be carried out through time signals from multiple sources, the influence caused by deception interference is effectively reduced, and the accuracy and safety of the time synchronization process are improved.

The invention relates to the technical field of satellite navigation and time synchronization, in particular to a satellite clock error time sequence prediction method and system based on deep reinforcement learning. According to the method, a noise gating convolution module is adopted to extract features, and the features comprise a data path, a gating path and a noise sensing path; the noise sensing path is used for extracting local frequency jitter of the historical clock error sequence and performing weighted statistics to obtain background noise intensity; generating a self-adaptive gating coefficient by combining the gating path with the background noise intensity; and the data path is used for performing expansion convolution processing on the historical clock error sequence to obtain convolution features, and multiplying the convolution features by the adaptive gating coefficient to obtain effective features as output of the noise gating convolution module. According to the invention, the background noise intensity of satellite clock error data can be sensed in real time; by dynamically adjusting the gating threshold, false features can be filtered in a strong noise environment, tiny clock difference features can be reserved in a low noise environment, and the anti-noise capability in a non-stationary environment is improved.

The invention relates to the technical field of electric power systems, and discloses an electric power measurement data management system and method based on an intelligent terminal and an RPA, and the method comprises the steps: obtaining clock synchronization topological structure data, an original timestamp sequence and measurement data of intelligent terminals of a whole network; extracting a clock synchronization dependency relationship of the terminal based on a graph structure analysis algorithm, and generating a directed dependency graph; inputting the timestamp sequence and the dependency graph into a causal discovery algorithm, and identifying a clock error propagation path and causal intensity; constructing a graph neural network, taking an intervention effect prediction matrix as node feature input, and predicting a whole network cascade correction effect by minimizing a weighted square error between a corrected inter-node timestamp difference value and a reference difference value; according to the invention, systematic elimination of clock drift cascade influence in a power system is realized, and time sequence consistency of whole network measurement data is ensured.

The invention provides a PPS signal correction method and device of a satellite receiver, the satellite receiver, a computer readable medium and a computer program product. The method comprises the following steps: receiving a navigation constellation signal; judging whether positioning of the satellite receiver is effective or not, and determining an effective moment and an ineffective moment of the satellite receiver; obtaining an effective point receiver clock error corresponding to the effective moment of the satellite receiver, and correcting and outputting a PPS signal of the satellite receiver based on the effective point receiver clock error; acquiring a real-time counting mean value corresponding to the clock error of the receiver at the effective point, and determining an effective compensation counting value of the satellite receiver based on the real-time counting mean value; in response to an invalid moment of the satellite receiver, determining a counting correction value at the invalid moment based on the effective compensation counting value; and correcting and outputting the PPS signal of the satellite receiver based on the counting correction value. According to the invention, the problems of high cost and low efficiency of the PPS signal correction method of the satellite receiver in the prior art are solved.

The application discloses a precise satellite navigation data processing method, device and equipment and a storage medium. The method comprises the following steps: acquiring reference station data corresponding to a plurality of reference stations in a target test area, wherein the target test area is pre-set; calling a preset carrier phase observation model to process the reference station data corresponding to the plurality of reference stations respectively to obtain phase bias data corresponding to the plurality of reference stations, wherein the phase bias data is used for representing phase delay error, satellite orbit error and satellite clock error; and performing fusion processing on the phase bias data to obtain target area phase bias. The application calculates the phase bias data by using the reference stations in a specific area, so that the satellite ephemeris error is fused in the phase bias data of the satellite, the phase bias data can resist the error from the satellite orbit in the use process of a PPP-RTK server, and the positioning accuracy of the PPP-RTK server is improved.

The present invention relates to a secure time transfer system and method based on bidirectional quantum key distribution. The transfer system may include a transmission channel between a communication terminal A and a communication terminal B, wherein communication terminals A and B may send single-photon signals to each other according to a quantum key distribution protocol and respectively detect the arriving single-photon signals; communication terminal A records the emission time t of the single-photon signal based on a local clock A. SA and arrival time t RA , the communication terminal B records the emission time t of the single photon signal based on the local clock B SB and arrival time t RB ; The communication terminal A also encrypts the transmission time t SA and arrival time t RA Transmitted to communication terminal B; communication terminal B according to the transmission time t SA Arrival time t RA , launch time t SB , and arrival time t RB Calculate the clock difference T between clocks A and B AB ; and, according to the clock error T AB Clock B is adjusted to compensate for the clock difference between clocks B and A, thereby achieving time transfer.

The application discloses a link time delay calibration result uncertainty modeling evaluation method and device and a medium, and relates to the technical field of satellite navigation high-precision timing. The method comprises the following steps: selecting a time laboratory station and specifying a reference station, constructing a time transfer link, solving the receiver clock error based on an ionosphere-free combination model, and inversely deducing the hardware time delay of a station to be calibrated through clock error difference; the distribution is discriminated through time delay residual statistical characteristics, a model is matched to calculate a type B uncertainty, and an empirical type B uncertainty is obtained through weighted summation; a standard deviation of a calibration time sequence is calculated to obtain a type A standard uncertainty estimation value; a synthetic expanded uncertainty is calculated by fusing the empirical type B uncertainty and the type A standard uncertainty estimation value, the calibration result reliability is evaluated, and uncertainty quantitative analysis of time delay calibration is realized. The application provides a clear and reliable evaluation framework for link calibration error, and significantly improves the reliability and interpretability of the calibration result.

The application relates to the cross-technology field of satellite navigation and wireless positioning technology, in particular to a real-time dynamic high-precision positioning method based on tight coupling of Beidou and UWB, solves the problem that error coupling in Beidou and UWB observation data is not fully solved in the prior art, and in particular under a high-speed dynamic scene, the mutual influence of Beidou receiver clock error, UWB base station clock error and multipath error leads to continuous accumulation of errors, and the positioning precision is significantly reduced. A real-time dynamic high-precision positioning method based on tight coupling of Beidou and UWB comprises a data preprocessing and space-time alignment module, an error joint estimation model, a rapid ambiguity fixing algorithm, a geometric constraint enhanced positioning engine module and a dynamic coordinate conversion and fusion output module. The method disclosed in the application adopts a highly integrated multi-model Kalman filter architecture to realize synchronous and accurate compensation of Beidou receiver clock error, UWB base station time delay and multipath effect.

The invention discloses a satellite phase deviation resolving method considering signal distortion deviation, and relates to the technical field of satellite navigation and positioning. The method comprises the following steps: selecting a GNSS base station network to obtain double-frequency observation data; classifying receiver types and unifying same-kind signal distortion delay; signal distortion modeling is introduced based on an MW combined observation equation, and wide-lane satellite phase deviation is obtained through adjustment and ambiguity fixed solution in combination with a precise orbit and clock correction; and based on the ionosphere-free combination observation equation, combining the solved wide-lane deviation, and obtaining the narrow-lane satellite phase deviation and the ionosphere-free combination signal distortion deviation through adjustment and ambiguity fixation. According to whether the receiver type is calibrated or not, the signal distortion deviation is directly applied or estimated in real time, more comprehensive error compensation is achieved in an observation equation, and the positioning precision and the convergence speed are improved. According to the method, synchronous separation and accurate estimation of the wide-lane and narrow-lane phase deviation and the signal distortion deviation of the satellite are realized, and the estimation accuracy and physical consistency of the phase deviation are effectively improved.