114 results about "Integer ambiguity" patented technology

The invention discloses a satellite navigation positioning method and device and a storage medium. The positioning method comprises the steps that observation parameters collected by a mobile terminal in a preset epoch are obtained, the observation parameters comprise GNSS parameters and inertial navigation correlation parameters, and the GNSS parameters comprise GNSS prior parameters and GNSS posterior parameters; the observation parameters are input into a preset positioning precision evaluation model, a precision evaluation value is obtained, and the positioning precision evaluation model is obtained based on training of historical observation parameters collected by multiple epochs; determining whether the positioning information represented by the current observation parameter is accurate based on the precision evaluation value; when it is determined that the positioning information is inaccurate, a positioning result is determined based on a floating point solution of integer ambiguity; and when the positioning information is determined to be accurate, determining a positioning result based on the fixed solution of the integer ambiguity. The method has the technical effect of improving the positioning precision and the positioning reliability of the global satellite navigation system.

The invention relates to a combined attitude determination technology, in particular to a high-precision combined attitude determination method based on a multi-antenna GNSS (Global Navigation Satellite System) and an INS (Inertial Navigation Satellite System), which comprises the following steps of: S1, fixing a GNSS receiver and the INS on a carrier; s2, calculating carrier position information and carrier speed information, and establishing a double-difference carrier phase observation model; s3, calculating a baseline vector predicted value between the antennas; s4, an LAMBDA algorithm model based on INS attitude information constraint is constructed; resolving the IC-LAMBDA algorithm model by using a least square method to obtain an optimal integer solution of the integer ambiguity; s5, calculating a baseline vector between the antennas; carrier attitude information is solved; and S6, fusing the GNSS navigation information and the INS navigation information by using an extended Kalman filter. The method solves the problems of low attitude measurement precision and poor scene adaptability of the existing integrated navigation technology, and is suitable for the fields of unmanned aerial vehicle control, unmanned vehicle driving, unmanned agricultural machinery seeding, marine navigation surveying and mapping and the like.

The embodiment of the invention discloses a precision positioning acceleration method and device based on a low earth orbit satellite / LSTM neural network. The method comprises the steps that a terminal obtains a wide lane phase decimal deviation product, a narrow lane phase decimal deviation product and a first GNSS combination observation value which are generated by a server based on an LSTM method and are subjected to coding processing; determining a first GNSS wide lane real number ambiguity according to the first GNSS wide lane real number Based on a precise point positioning algorithm, determining initial GNSS ionosphere elimination combination real ambiguity and other parameters; performing inter-satellite single difference on the first GNSS wide-lane real number ambiguity, and obtaining the integer ambiguity by combining wide-lane phase decimal deviation product fixation; performing inter-satellite single difference on the initial GNSS ionosphere-free combination real ambiguity, determining a first GNSS narrow-lane real ambiguity by combining the wide-lane integer ambiguity, and fixing the first GNSS narrow-lane real ambiguity by using a narrow-lane phase decimal deviation product through a partial ambiguity fixing method to obtain the integer ambiguity of the narrow-lane phase decimal deviation product; and calculating a user coordinate fixed solution in combination with related parameters.

The invention relates to the technical field of Beidou reference correction, in particular to a Beidou-based space-time reference dynamic correction method. The method comprises the following steps: firstly, collecting Beidou multi-frequency-point observation data, and preprocessing by adopting a Kalman filtering algorithm; then, based on the preprocessed data, a base station network time synchronization mechanism is established by using Beidou satellite signal propagation time difference, spatial reference data of different base stations are integrated through a multi-sensor fusion algorithm and a least square method, and smoothing processing is performed by using a spatial interpolation algorithm; thirdly, selecting an optimal baseline combination based on a space-time synchronization result, constructing a difference observation equation of a Beidou multi-frequency carrier phase and a pseudo range, fixing integer ambiguity by adopting an LAMBDA algorithm, and establishing a unified space-time reference model; and finally, resolving the clock error of the high-precision receiver by utilizing the double-difference integer ambiguity constraint, generating a correction parameter, and dynamically adjusting and updating the correction parameter by adopting a model algorithm. According to the invention, high-precision dynamic correction of the space-time reference is realized.

The invention relates to the technical field of GNSS high-precision positioning, and provides a BIE-based real-time dynamic positioning integer ambiguity resolving method and system, and the method comprises the steps: obtaining a preliminary ambiguity subset through the screening of a satellite elevation angle and a carrier-to-noise ratio, and carrying out the correlation reduction processing; a multi-level screening mechanism is adopted and comprises three stages of dynamic optimization of coarse screening, fine screening and candidate group generation; a weight distribution model is improved based on Laplacian distribution to calculate candidate solution weights and probability weighted fusion is carried out; in combination with an ILS and BIE mixed fixing strategy, BIE weighted averaging is adopted when ILS fixing fails; a positioning result is optimized through dynamic satellite screening and multi-system data fusion, and a jump detection threshold value is set to realize abnormal recalculation. The method improves the reliability of real-time dynamic positioning, and guarantees the continuous and stable operation of the system in a signal shielding or multi-path interference scene through a jump detection and recalculation mechanism.

The invention discloses a partial ambiguity resolving method and device, a medium and equipment, and relates to the technical field of satellite navigation and positioning. Based on the concept that in the partial ambiguity resolving process, after multiple-dimensional ambiguity corresponding parameters are removed, the more accurate the whole-cycle ambiguity resolving based on the remaining ambiguity related parameters is, the more stable the resolving of partial parameters corresponding to partial-dimensional ambiguity subsets is, the invention proposes that in each round of partial ambiguity resolving process, the more accurate the whole-cycle ambiguity resolving is, and the more accurate the whole-cycle ambiguity resolving is, the more stable the resolving of partial parameters corresponding to partial-dimensional ambiguity subsets is. According to the current ambiguity related parameters and the integer ambiguity, and different parameter parts corresponding to ambiguity subsets of different dimensions in the current ambiguity related parameters and the integer ambiguity, respectively solving baseline fixed solutions for multiple times to obtain multiple groups of baseline fixed solutions; the difference between the maximum value and the minimum value in the multiple groups of baseline fixed solutions is compared with the preset threshold value, the stability of the integer ambiguity solution is judged, and the accuracy and the reliability of the partial ambiguity solution are improved by utilizing the statistical characteristics of the ambiguity integer solution.

The invention relates to the cross technical field of satellite navigation, satellite dynamics and the like, in particular to a dynamic orbit determination method based on integer ambiguity fixation, which can obviously improve orbit determination and extrapolation precision, and comprises the following steps: establishing a dynamic orbit determination model, establishing a GPS observation model, and then performing integer ambiguity fixation IAR, a single-difference IAR method adopting single receiver ambiguity correction specifically comprises the steps that firstly, GPS carrier phase observation is divided into continuous tracking segments for processing, for each tracking segment, an average Hatch-Melbourne-Wubbena (HMW) combination is constructed by means of double-frequency pseudo-range and carrier phase data, then cross-segment inconsistency is corrected, integers of wide lane ambiguity are achieved, and a single-receiver ambiguity correction result is obtained. And the corrected wide lane ambiguity is combined with an IF ambiguity floating point estimation value obtained by a least square method for use, and finally, the IF ambiguity difference is constrained as an integer value to realize the fixation of the single-difference ambiguity, and compared with the prior art, the orbit determination precision can be remarkably improved.

The invention discloses a joint correction method and system for GNSS (Global Navigation Satellite System) non-structural deformation and a storage medium. According to the method, GNSS pseudo-range and carrier phase observation data and precise products such as a precise orbit and clock correction are obtained, a three-component displacement time sequence caused by a non-tidal atmospheric load, a non-tidal ocean load and a land hydrological load and a temperature-driven thermoelastic displacement time sequence are constructed, and the three-component displacement time sequence and the temperature-driven thermoelastic displacement time sequence are unified to a reference frame and a time system consistent with GNSS calculation. After interpolating the non-structural displacement vector to an observation epoch according to time, converting the non-structural displacement vector to a geocentric rectangular coordinate system from a site local coordinate system ENU, and projecting the non-structural displacement vector to a sight line direction from a satellite to an observation station reference point to form an equivalent geometric distance correction item; the correction terms are respectively applied to pseudo-range observation and carrier phase equivalent meter domain observation in the form of the same domain as observation, and then GNSS daily arc precise calculation is performed to output a coordinate time sequence, and preferably, the method can be used for a precise single-point positioning integer ambiguity fixing technology.

The application discloses a ground absolute microwave ranging method and system based on double-path echo and RTK differential measurement, which can apply carrier phase ranging to absolute ranging. The system adopts RTK differential measurement to solve the phase integer ambiguity, especially simultaneously differentiates the observation values of two ends of the ranging main terminal, solves the extra error introduced by the traditional RTK double difference in the two-point transfer differential value, and finally compensates the error by using an atmospheric refraction correction structure model, so that the sub-millimeter level precision is achieved under the kilometer level measurement distance.

This invention discloses a GNSS integer ambiguity fixing method integrating intelligent optimization algorithms and VIB strategies, belonging to the field of satellite navigation and positioning technology. This method combines the advantages of VIB strategies and swarm intelligence fusion optimization algorithms. By directionally grouping the ambiguity floating-point solution covariance structure, the ambiguities are guided into groups. The PSOAF and AWDE intelligent optimization algorithms are used to perform parallel searches on the grouped ambiguities, improving search efficiency and positioning accuracy. Simultaneously, the probability assessment and fixing judgment of the integer solutions of each sub-block ambiguity and the overall ambiguity ensure the reliability of the ambiguity solutions, making it suitable for complex and dynamic GNSS positioning scenarios.

The application provides a method and device for determining wide-lane integer ambiguity, electronic equipment and VRS system. After the first single-difference wide-lane float ambiguity of a satellite is calculated, the trend error of the single-difference wide-lane float ambiguity is used to correct the first single-difference wide-lane float ambiguity, so as to reduce the error caused by the multipath effect on the first single-difference wide-lane float ambiguity. The corrected first single-difference wide-lane float ambiguity is used to determine the wide-lane integer ambiguity of the satellite in the first time period, so as to suppress the influence of the multipath effect on the observation accuracy of the reference station, improve the correctness of the calculated wide-lane integer ambiguity, and further improve the accuracy of the subsequent positioning and other related calculations through the wide-lane integer ambiguity.

A method of determining an integer ambiguity search space includes: obtaining, at an apparatus, a code phase measurement of a satellite vehicle signal comprising a pseudorandom noise code and a carrier signal; obtaining, at the apparatus, spatial information corresponding to a wireless terrestrial signal transferred between the apparatus and a terrestrial base station; determining, at the apparatus, a satellite positioning system carrier phase integer ambiguity search space based on the code phase measurement; and constraining a size of the satellite positioning system carrier phase integer ambiguity search space based on the spatial information.

The present invention relates to a method for solving floating-point solution coordinates of a modified RTK mobile station differential equation, characterized in that the method comprises the following steps: (1) obtaining the moving speed of a receiver by using Doppler frequency shift velocity measurement; (2) calculating the average moving speed of the receiver between the last solution time and the current time by using the fixed solution coordinates obtained in the previous solution and the floating-point solution coordinates of the current RTK mobile station differential equation; and (3) correcting the floating-point solution coordinates of the current differential equation by using the difference between the moving speed of the receiver obtained in step (1) and the average moving speed calculated in step (2). The present invention uses Doppler frequency shift velocity measurement to obtain the precise speed of the receiver, and uses the difference between the two speeds to correct the floating-point solution coordinates of the current differential equation, so that the floating-point solution coordinates are closer to the fixed solution coordinates, thereby improving the efficiency of solving integer ambiguity.

The application provides a method for determining integer ambiguity candidate solutions, comprising the following steps: determining integer ambiguities that meet a predetermined condition in an ambiguity search space; calculating a weight corresponding to each integer ambiguity; and determining a weight proportion function value corresponding to each integer ambiguity according to the weight, and screening out a predetermined number of integer ambiguities that meet the condition as ambiguity candidate solutions.

The present invention provides a block unwrapping method for a large-scale interseismic interference pattern and related equipment, which divides the interseismic interference pattern of a study area into several sub-blocks with overlapping areas; inputs each sub-block into a trained neural network for integer ambiguity prediction to obtain the integer ambiguity and confidence of each pixel point in each sub-block, takes the average of the confidence of all pixels in each sub-block to obtain the confidence of each sub-block, and re-unwraps the corresponding sub-block or corrects the integer ambiguity of each pixel point in the corresponding sub-block according to the size of the confidence of each sub-block to obtain the updated integer ambiguity of each pixel point in each sub-block; splices the updated integer ambiguity of each pixel point in each sub-block to obtain the integer ambiguity map of the interseismic interference pattern, and obtains the unwrapping interference pattern based on the integer ambiguity map and the interseismic interference pattern, thereby greatly improving the unwrapping accuracy of the isolated island area.

The application relates to the positioning field and discloses a GNSS integer ambiguity confirmation method and device. The method comprises the following steps: constructing a double-difference observation equation based on original observation and solving the double-difference observation equation to obtain a floating-point solution; searching for an ambiguity based on the floating-point solution to obtain optimal ambiguity and suboptimal ambiguity; respectively solving the optimal ambiguity and the suboptimal ambiguity to obtain corresponding optimal fixed solutions and suboptimal fixed solutions; respectively inversely calculating double-difference ambiguities of carriers by using the optimal fixed solutions and the suboptimal fixed solutions; and confirming whether the optimal fixed solution is a correct fixed solution according to comparison of decimal parts of the double-difference ambiguities. The optimal fixed solution and the suboptimal fixed solution are obtained by searching for the ambiguity, then the decimal parts of the double-difference ambiguities of all carriers inversely calculated by the optimal fixed solution and the suboptimal fixed solution are compared to confirm whether the optimal fixed solution searched at present is correct, a fixed threshold does not need to be set, and therefore the reliability of ambiguity confirmation is improved.

The invention discloses a ground PNT system high-precision positioning method based on a carrier phase observation value, and relates to the technical field of satellite navigation, and the method comprises the steps: obtaining a measurement pseudo range through a code phase technology, and obtaining an integer ambiguity floating point solution of a carrier phase through the combination of a carrier wavelength; determining a search interval of the integer ambiguity according to the pseudo-range measurement error; traversing the integer ambiguity integer solution combination in the search interval, combining the integer ambiguity integer solution combination with the decimal part of the carrier phase observation value, and multiplying with the carrier wavelength to obtain a carrier phase observation pseudo-range; all base station coordinates and corresponding carrier phase observation pseudo-ranges are obtained, a plurality of positioning equations are constructed and solved, and a combination with the minimum positioning residual error is screened out to serve as a positioning result to be output. According to the method, centimeter-level and even millimeter-level high-precision positioning of the ground PNT system can be realized without depending on cooperation of a differential station, assistance of multi-frequency signals and calculation of a carrier phase error covariance matrix.

The invention provides a multi-dimensional collaborative anomaly detection method and device after calculation of a satellite integer clock. The method comprises the following steps: acquiring distribution characteristics of observation residual errors after calculation of the satellite integer clock; determining the stability degree of the UPD along with the time change and the whole cycle ambiguity fixed rate change condition; constructing a detection model for detecting the abnormal deviation of the satellite clock error based on the distribution characteristics of the observation residual error, the stability degree and the change condition of the integer ambiguity fixed rate; carrying out PPP floating point solution based on an integer clock product of the satellite, carrying out gross error detection, and counting the number of times that each satellite is marked as gross error; on the basis of the detection model and the number of times that each satellite is marked as gross error, constructing a PPP expansion model considering clock error deviation parameters; and performing inter-satellite single difference and integer ambiguity fixed solution on the UPD product to obtain a PPP fixed solution, and detecting a satellite integer clock with fixed abnormality. According to the invention, the problem of insufficient robustness caused by only dependence on a single observation station in the existing satellite integer clock anomaly detection method can be solved.

The invention discloses a factor graph optimization-based integer ambiguity fixing method and a storage device. According to the method, observation factors are obtained based on different observation models according to GNSS observation data and broadcast ephemeris data which can be obtained and observation data of other selected sensors; constructing an ambiguity single-node graph optimization model based on the selected GNSS carrier phase observation value processing form, and adding an observation factor; creating a multivariate ambiguity penalty factor based on the ambiguity function model, determining the weight of the ambiguity penalty factor by the ambiguity covariance matrix, and adding the weight of the ambiguity penalty factor into the ambiguity single-node graph optimization model; and constructing a graph optimization solver, and carrying out optimization problem solving on the to-be-estimated parameters through iterative optimization and dynamic weight determination, so that the factor graph optimization-based integer ambiguity fixing method can be realized. According to the method, the positioning precision and stability are improved, the calculation process is simplified, and the calculation efficiency is improved.

The present invention provides a real-time adjustment method for the random walk variance of the BDS PPP ionospheric delay, which relates to the technical field of GNSS satellite navigation and positioning. This method constructs a random walk form of the ionospheric delay, utilizes the parameter correlation between the epoch-to-epoch ionospheric delay EDI change value and the true ionospheric delay in the short term, weakens the noise in the ionospheric observations, calculates the power spectral density PSD of the ionospheric delay, and then combines the relationship between the PSD and the random walk variance to adjust the variance constraint value in real time, thereby effectively shortening the integer ambiguity fixing time and improving the positioning accuracy. The present invention realizes the real-time adjustment based on the random model of the BDS ionospheric parameters, effectively improves the positioning accuracy, and has strong practical application value.

The invention discloses a GNSS integer ambiguity fixing method fusing an intelligent optimization algorithm and a VIB strategy, and relates to the technical field of satellite navigation positioning, the method fuses the advantages of the VIB strategy and a swarm intelligent fusion optimization algorithm, directivity grouping is carried out on an ambiguity floating point solution covariance structure, ambiguity is subjected to guiding grouping, and the ambiguity is subjected to guiding grouping. The PSOAF and AWDE intelligent optimization algorithms are adopted to perform parallel search on the grouped ambiguity, so that the search efficiency and the positioning precision are improved. Meanwhile, probability evaluation and fixed judgment of real solutions are carried out on integer solutions of the ambiguity of each sub-block and the overall ambiguity, the reliability of the ambiguity solutions is ensured, and the method is suitable for GNSS positioning scenes in complex and dynamic environments.

The present invention belongs to the field of mobile communication technology, and specifically is a fusion positioning method based on 5G carrier phase. The present invention integrates DL-TDOA and carrier phase measurement technology; at least four 5G base stations (BS) are deployed within the accessible range of the UE. The BS sends a positioning signal modulated by OFDM to the UE, and uses the DL-TDOA positioning method to solve the low-precision spatial position of the UE on the UE side, and obtain the straight-line distance between the UE and each BS; on the UE side, the positioning signal of each BS is used to calculate the carrier phase, and the distance obtained by DL-TDOA is combined to establish a constraint equation, and the three-dimensional spatial coordinates of the UE are solved to achieve high-precision positioning of the UE. The present invention utilizes the characteristics of 5G large bandwidth, increases the equivalent carrier wavelength by combining subcarriers, and reduces the difficulty of solving the carrier integer ambiguity.

The application discloses a real-time fusion positioning method of a satellite formation system, and belongs to the technical field of space-based navigation and positioning and satellite formation. The application solves the problem of low positioning precision of the existing satellite formation positioning method based on pseudo-range observation values. The main technical scheme of the method is as follows: step one, the baseline observation values are preprocessed by using Kalman filtering to determine the integer ambiguity, and then the integer ambiguity is substituted into the baseline observation equation to obtain the preprocessed baseline observation values; step two, the pseudo-range observation values are preprocessed by using nonlinear Kalman filtering to obtain the initial estimation result of the user satellite position; and step three, the final estimation result of the user satellite position is obtained according to the preprocessed baseline observation values in step one and the initial estimation result in step two. The method can be applied to the real-time positioning task of the satellite formation system.

The application discloses a multi-ground ranging instrument positioning method based on carrier and pseudo-range, and utilizes the carrier and pseudo-range to combine the positioning of the multi-ground ranging instrument, and utilizes high-precision carrier phase observation to improve the DME positioning precision. m The technical scheme of the application comprises the following steps: positioning is performed by using the first to m ground ranging instruments DME1 to DME m ; observation equations of single-difference carrier phase and pseudo-range observation of DME1 and DME2 are constructed; the single-difference observation equations of all visible DMEs at the current time are solved to obtain the user position, wherein the single-difference integer ambiguity is obtained through orthogonal transformation. When the integer ambiguity of the carrier is solved, multi-epoch recursion is adopted to further improve the solving precision of the single-difference integer ambiguity, and meanwhile, the influence of the excessive calculation amount on the real-time performance of the algorithm is avoided.

The invention discloses a Beidou-based high-precision differential positioning adjustment system and method, and relates to the technical field of satellite navigation and high-precision localization. Time-frequency analysis is carried out on a multi-frequency carrier phase observation sequence, signal-to-noise ratio monitoring is combined, and a flicker identifier and a noise weight are constructed; the system can identify frequency points and observation sections which are seriously polluted by flicker at an epoch level, and the weight of the system is actively reduced at a combination stage; secondly, under the constraint of maintaining ambiguity integer characteristics, the coefficient combination takes equivalent noise variance and residual ionosphere high-order term error sensitivity as optimization targets, and considers the observation noise level and the suppression capability for high-order ionosphere residual errors, so that on one hand, the reliability of carrier phase integer ambiguity calculation is maintained, and on the other hand, the reliability of carrier phase integer ambiguity calculation is improved; and on the other hand, the sensitivity degree of combined observation to high-order ionosphere residual errors is reduced, so that high-precision differential positioning of a low-latitude region has higher robustness.

The application provides a two-dimensional DOA estimation method for arbitrary array single-base MIMO radar based on data rearrangement, and relates to the technical field of array sensor direction finding. The rank structure of a coherent signal covariance matrix is recovered by rearranging a received data matrix through arbitrary array element positions of a transmitting array and a receiving array; S2: eigenvalue decomposition is performed on the signal covariance matrix to obtain a signal subspace; S3: reliable rough estimation is obtained through rotation invariance; S4: an integer ambiguity vector corresponding to spatial phase ambiguity caused by array element spacing greater than half a wavelength is solved; S5: the phase of an array flow pattern with phase ambiguity is compensated, and an accurate estimation value of the 2D-DOA of the target is calculated; the high-precision 2D-DOA estimation problem in a complex scene of a coherent signal source, arbitrary array geometry and phase ambiguity caused by part of array element spacing greater than half a wavelength is solved, unambiguous and high-precision angle parameter estimation is realized, and the estimation accuracy and algorithm reliability are improved.

The invention provides a GNSS (Global Navigation Satellite System) multi-frequency multi-mode precise point positioning integer ambiguity part fixing method, which comprises the following steps of: carrying out multi-frequency multi-mode PPP (Point-to-Point Protocol) floating point solution positioning to obtain an N1 ambiguity variance and an L1 phase observation value residual error; determining a reference satellite according to the signal-to-noise ratio, the obtained N1 ambiguity variance and the L1 phase observation value residual error; obtaining inter-satellite single-difference ultra-wide lane ambiguity and an inter-satellite single-difference ultra-wide lane ambiguity residual error based on the determined reference satellite; screening the inter-satellite single-difference ultra-wide lane ambiguity by using the inter-satellite single-difference ultra-wide lane ambiguity residual error; the ambiguity parameter is updated by using the screened inter-satellite single-difference ultra-wide lane ambiguity; and carrying out secondary updating on the ambiguity parameter by utilizing the screened inter-satellite single-difference wide-lane ambiguity to obtain an inter-satellite single-difference wide-lane ambiguity fixed solution, and carrying out partial fixation by utilizing the inter-satellite single-difference narrow-lane ambiguity after the inter-satellite single-difference wide-lane ambiguity is fixed to obtain the fixed solution of the fixed inter-satellite single-difference narrow-lane ambiguity.

The application discloses a joint correction method and system of GNSS non-tectonic deformation and a storage medium. The method obtains GNSS pseudo-range and carrier phase observation data and precise orbit, clock error and other precise products, constructs three-component displacement time series caused by non-tidal atmospheric load, non-tidal ocean load and land hydrology load and temperature-driven thermal elastic displacement time series, and unifies to a reference frame and a time system consistent with GNSS solution. The non-tectonic displacement vector is interpolated to the observation epoch by time, converted from the local coordinate system ENU to the geocentric rectangular coordinate system, and projected to the line-of-sight direction of the satellite to the reference point of the station to form an equivalent geometric distance correction term; the correction term is applied to the pseudo-range observation and the carrier phase equivalent meter domain observation in the same domain as the observation, and then GNSS daily arc segment precise solution is performed to output the coordinate time sequence, which is preferably used for precise point positioning integer ambiguity fixing technology.

This invention discloses a satellite navigation enhancement method and system based on inertial navigation data. To address the problems of slow convergence, frequent cycle slips, easy loss of fixed solutions, and discontinuous or abrupt navigation outputs in real-time dynamic differential positioning and precise single-point positioning under highly dynamic and complex obstruction environments, this invention aligns the inertial measurement unit data with carrier phase and Doppler observation data in time, constructs a continuous-time state trajectory, establishes a Gaussian process prior, and performs tight-coupled joint estimation of trajectory state and carrier phase integer ambiguity within a sliding time window. Based on the carrier phase residual, it performs change point detection to determine cycle slips, triggers ambiguity reset, and performs re-initialization constraints based on inertial prediction state and uncertainty to complete the update estimation. This achieves the technical effects of robust cycle slip detection and rapid recovery, improved fixed solution preservation capability and switching smoothness, and enhanced continuity and stability of navigation solutions.

A multi-frequency ambiguity robust solving method and device based on semi-tight combination, equipment and storage medium, the method comprises the following steps: S1: using GNSS / INS combination to solve the real-time state information of the carrier; S2: acquiring satellite observation data of the reference station and the rover station; S3: constructing a multi-frequency ambiguity first solver, the first solver is obtained by a Kalman filter to obtain an ambiguity float solution; S4: constructing a multi-frequency ambiguity second solver, the second solver is obtained by multi-frequency observation combination to realize ambiguity hierarchical solution, to obtain double difference ambiguity of different frequency combination; S5: quality control is carried out on the integer ambiguity estimation value of the second solver; S6: using the second solver information, the state of the first solver is constrained, and the double difference ambiguity integer estimation value of all frequency bands is obtained; S7: quality control is carried out on the integer ambiguity estimation value of the first solver, and the solving result of the current epoch is obtained; S8: using the current epoch solving result to update the error of INS.