408 results about "Pseudorange" patented technology

The invention provides a regional interference signal detection method and device based on a Beidou router, and the method comprises the steps: obtaining reference broadcast ephemeris data of a network platform and local ephemeris data received by the Beidou router, carrying out the data integrity calculation, and judging whether the local ephemeris data are missing or not; performing same-epoch data comparison on the reference broadcast ephemeris data and the local ephemeris data, and judging whether the local ephemeris data has deception signals or not; calculating a visible satellite integrity rate in a fixed time window based on the observation data of the Beidou router, and judging whether interference signals exist in the observation data or not; analyzing by utilizing the cycle slip ratio and the carrier-to-noise ratio of the observation data, and judging whether interference signals exist in the observation data or not; under the condition that local ephemeris data do not have missing and deception signals and the observation data do not have interference, whether the observation data have the deception signals or not is judged based on pseudo-range single-point positioning and inter-epoch carrier phase difference velocity measurement, and the method can improve the reliability of Beidou signal interference detection.

The invention discloses a positioning method and device based on fusion of single Beidou navigation and a high-precision RTK technology, a medium and equipment in the technical field of satellite positioning. The positioning method comprises the following steps: determining single Beidou navigation information generated by a target receiver based on a single Beidou positioning device; extracting a pseudo-range observation value and a carrier phase observation value of the B1 / B2 frequency point; extracting a satellite number, epoch time, an ionosphere delay coefficient and a troposphere delay coefficient; determining delay deviation correction data of the Beidou satellite signal; total delay deviation in the signal transmission process is measured, and whether delay deviation correction is carried out or not is judged based on the dynamic delay threshold value model and the total delay deviation in the signal transmission process; and fusing the pseudo-range observation value of the receiver and the delay deviation correction data of the Beidou satellite signal, executing double-difference carrier phase calculation, and outputting a centimeter-level positioning result. According to the method, various transmission errors can be effectively eliminated, the positioning precision is remarkably improved, and the positioning continuity and stability are ensured.

The invention discloses a satellite navigation positioning method and device based on scene recognition, electronic equipment and a storage medium, and belongs to the technical field of satellite navigation positioning, and the method comprises the steps: determining the geometric space characteristics of each satellite according to the observation time, the satellite number of each satellite and preset satellite ephemeris information; according to the observation time, the satellite pseudo-range of each satellite and the satellite distance change rate of each satellite, determining the signal quality characteristics of each satellite; determining a satellite observation feature set based on the geometric space features of the satellites and the signal quality features of the satellites; inputting the satellite observation feature set and the satellite signal-to-noise ratio of each satellite into a preset scene recognition model to generate a scene category; and determining the positioning coordinate of the satellite navigation receiver according to the scene category in combination with the satellite signal-to-noise ratio of each satellite and the satellite pseudo-range of each satellite. According to the invention, the problem that satellite navigation positioning is not accurate enough in the prior art can be solved.

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 discloses an adaptive filtering Beidou navigation and inertial navigation positioning and attitude determination method and device, and the method comprises the steps: constructing a short-baseline carrier phase and pseudo-range double-difference observation equation through BDS satellite second pulse signals received by a first BDS receiver and a second BDS receiver, and solving the short-baseline carrier phase and pseudo-range double-difference observation equation to obtain the positioning information of a carrier where a second antenna is located; assigning the positioning information of the carrier to the inertial navigation system as an initial positioning value, carrying out positioning and attitude determination on the carrier through the inertial navigation system based on the initial positioning value, and outputting the latest positioning and attitude determination information of the carrier; carrying out Kalman filtering processing on the positioning information of the carrier and the latest positioning and attitude determination information of the carrier, and outputting the optimal attitude and positioning information of the carrier; the Kalman filtering is used for adaptively adjusting noise by using a carrier state vector through innovation analysis; the state vector is constructed by using the positioning information of the carrier and the latest positioning and attitude determination information of the carrier. The problem of error accumulation in the navigation process can be effectively solved, and the positioning precision is improved.

The invention discloses a PPP / INS / vision / LIDAR tight coupling navigation method based on multi-system real-time precision service, and belongs to the technical field of navigation and positioning. In order to solve the problem of insufficient real-time positioning precision and reliability in a complex urban environment, the invention provides a hierarchical fusion architecture: firstly, by using original data of an inertial navigation system, a visual sensor and a laser radar, high-precision and high-frequency local pose estimation is generated through tight coupling factor graph optimization; the accumulative error of inertial navigation is effectively inhibited; then, taking the local attitude as observation information, and performing tight coupling factor graph optimization on the observation information, a precise orbit obtained by PPP enhanced service decoding and a GNSS original observation value after clock correction, namely a pseudo range and a carrier phase; multi-source information is deeply fused on the observation value level, the complementary advantages of the sensors are fully played, and finally continuous and reliable centimeter-level high-precision positioning in the urban complex environment is achieved.

The invention discloses a low-altitude aircraft accurate positioning method based on Beidou satellite data, and the method comprises the following steps: collecting the multi-source data of Beidou positioning, IMU, barometer and altimeter in the flight process, and generating an original positioning data set; after multi-source data are aligned, a fusion data sequence is constructed; carrying out error modeling by adopting zero offset correction, drift compensation and scale normalization, and outputting a calibrated data sequence; an improved FGO algorithm is input, factors such as Beidou satellite pseudo-range, IMU integration and process prior are processed in a combined mode, track combined optimization is executed, and a preliminary positioning result is output; performing error correction by combining a ground differential base station and satellite-based enhanced data, and outputting a high-precision positioning result sequence; and abnormal point elimination and trajectory smoothing are realized through consistency discrimination and confidence evaluation, and a final positioning result is obtained. The method improves the positioning precision and robustness of the low-altitude aircraft, and is suitable for high-precision positioning application in a complex environment.

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 satellite navigation and wireless communication, and discloses an indoor positioning method and system based on feeder multiplexing Beidou double-frequency, and the method comprises the steps: receiving outdoor B1I and B2a signals through a high-gain Beidou double-frequency receiving antenna, carrying out the frequency separation and signal conditioning through a double-frequency separation filter, and carrying out the positioning of the B1I and B2a signals; and transmitting the B1I signal to an indoor distributed antenna for broadcasting through the existing communication feeder network, and transmitting the B2a signal to a central directional antenna to establish a time synchronization reference. A mobile terminal receives a dual-frequency signal, capturing and tracking are carried out through digital signal processing, and pseudo-range and carrier phase observation values are extracted. And performing pairing processing on observation data of the same antenna, calculating a dual-frequency pseudo-range difference value, eliminating system errors, and performing position calculation by adopting a weighted least square method and Kalman filtering. The method solves the problem that the traditional GPS signal cannot cover the indoor environment, and has a good application prospect in the scenes of underground commercial complexes, tunnels, parking lots and the like.

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.

A Global Navigation Satellite System (GNSS) receiver receives band-limited composite signals corresponding to respective satellites in the GNSS. The composite signal is composed of a direct path signal and a multipath signal. For chip edge hopping of a pseudo-random code, the receiver obtains correlation samples (I (t) samples and Q (t) samples) of the composite signal and compares them with predetermined filter characteristics (SR (t) samples) corresponding to a filter for band-limiting the composite signal. Based on the comparison, the receiver determines a phase and / or a response time error of the chip edge hopping due to the multipath signal. The receiver adjusts a pseudo-range measurement for the respective satellite and / or adjusts a carrier phase measurement for the respective satellite in accordance with the determined and / or adjusted pseudo-range measurement for the respective satellite. The receiver performs a navigation function using the adjusted pseudo-range and / or carrier phase measurements for the respective satellites.

The invention relates to a Beidou / GNSS full-frequency-point clock difference and signal deviation estimation system and method, and the system comprises a full-frequency-point pseudo-range deviation estimation module which is used for estimating pseudo-range deviation products on a plurality of frequency points and / or a plurality of signals of a Beidou / GNSS system; the double-frequency phase clock / phase deviation estimation module is used for estimating a phase clock / phase deviation product on the reference double frequency of the Beidou / GNSS system; the full-frequency-point phase deviation estimation module is used for estimating phase deviation products on frequencies except the reference frequency of the Beidou / GNSS system; and the full-frequency-point phase clock / phase deviation alignment module is used for aligning the clock deviation reference of the product with the clock deviation reference of the product in the previous day based on the product, so as to maintain the day boundary continuity of the product. Therefore, the problem that due to the fact that precision products have diversity and lack a unified modeling framework on the whole, effective information sharing and combined processing are difficult to achieve between different precision products, and the positioning precision is affected is solved.

The invention relates to a double-antenna BDS-R real-time water level monitoring method and an integrated device, and belongs to the technical field of GNSS remote sensing. The method comprises the following steps: data acquisition; data processing: firstly decoding the received data, and extracting a double-frequency pseudo range and a carrier phase observation value; a second step of performing quality control on the decoded data, including constraint of an elevation angle and an azimuth angle, cycle slip detection and the like, and eliminating non-water-surface reflection signals and abnormal data; a third step of establishing a double-difference observation equation based on the pseudo-range and carrier phase observation value, introducing a horizontal baseline constraint into the observation equation, and enhancing the resolving stability through virtual observation quantity; fourthly, Kalman filtering is used for achieving per-epoch baseline estimation, and a least square ambiguity decorrelation adjustment (LAMBDA) method is used for solving a baseline fixed solution; and finally calculating the water level of the current epoch by using the baseline vector. And transmitting data. According to the invention, the problems of poor real-time performance, complex deployment and high cost in the existing water level monitoring technology are solved.

The invention provides a to-be-tested antenna positioning method and an antenna test system, and the method comprises the steps: carrying out the calibration compensation of a test pseudo-range between each test probe and a to-be-tested antenna at different test points through a calibration compensation value between each test probe, which is obtained through a time difference of arrival method; therefore, the calibrated and compensated test pseudo-range of each test probe between different test points and the to-be-tested antenna is obtained, the position of the to-be-tested antenna is calculated according to the calibrated and compensated test pseudo-range, the accuracy of the finally calculated position information of the to-be-tested antenna is good, and the to-be-tested antenna can be accurately positioned.

The embodiment of the invention provides a bridge monitoring satellite data quality control method based on signal-to-noise ratio grid comparison, and belongs to the technical field of satellites. The method comprises the following steps: carrying out pseudo-range single-point positioning calculation according to an observation value file and a broadcast ephemeris file to obtain observation data of each satellite; performing grid division on the satellite sky map according to a preset elevation angle interval and an azimuth angle interval to obtain a standard grid; on the basis of a standard grid, independently stacking observation data of each observation station to obtain a signal-to-noise ratio grid model corresponding to each observation station; performing preferential fusion according to the signal-to-noise ratio grid models of all the observation stations to obtain a high-quality grid model; performing data comparison on the signal-to-noise ratio grid model of each observation station and the high-quality grid model to obtain an available data area of each observation station; and performing quality control on the current observation data according to the available data area to obtain high-quality data. According to the invention, the observation area which is not subjected to interspersed shielding interference can be identified, and data quality control is realized.

The invention provides a frequency point GNSS observation value determination method and device, and a storage medium. The method comprises the following steps: determining a satellite-ground distance difference value between a first frequency point of a known observation value and a second frequency point of an unknown observation value; according to the satellite-to-earth distance difference value between the first frequency point and the second frequency point, the observation value of the first frequency point, the state space representation correction number of the satellite and the center frequencies of the first frequency point and the second frequency point, the pseudo-range observation value of the second frequency point and / or the phase observation value of the second frequency point are / is determined, on one hand, the satellite-to-earth distance difference between different frequency points is fully considered; on the one hand, the precision of pseudo-range observation and / or phase observation values of the recovered frequency points is higher, the requirements for the first frequency point and the second frequency point are reduced, the universality of the method is improved, on the other hand, high-precision ionized layer delay in the SSR correction number and pseudo-range hardware delay and phase hardware delay of a satellite end are effectively utilized for error compensation, and the error compensation accuracy is improved. The implementation difficulty is reduced, and the feasibility of the method is improved.

The invention discloses a carrier ring auxiliary code delay phase-locked loop tracking method, system and device and a medium, and belongs to the technical field of signal tracking, and the method comprises the steps: obtaining a digital intermediate frequency signal, and constructing a code loop model; executing code tracking through the code loop model to obtain a code phase error measurement value, and determining a relationship between a carrier-to-noise ratio and a noise covariance; a measurement noise covariance matrix model is obtained through combination of a code phase error measurement value and a carrier-to-noise ratio dynamic state and is used for first adjustment of a filter. According to the invention, a measurement noise covariance matrix is dynamically adjusted based on real-time carrier-to-noise ratio estimation, so that the filter can accurately adapt to signal quality change, fully trust an accurate measurement value when a signal is strong, greatly reduce tracking jitter, achieve higher pseudo-range measurement precision, and automatically reduce dependence on the measurement value under noise interference when a signal is weak. In turn, the method depends on smooth prior model prediction.

Disclosed in the present disclosure are a deep learning model training method and a positioning method. The training method comprises: acquiring an observed pseudo-range and a theoretical pseudo-range of a target GNSS satellite at a target historical moment; determining a target measurement noise value on the basis of the observed pseudo-range and the theoretical pseudo-range; and then, using a training sample, with the target measurement noise value as a loss truth value, to train a deep learning model, until a predicted measurement noise value of the target GNSS satellite outputted by the deep learning model and a loss value outputted by a loss function corresponding to the target measurement noise value meet preset conditions, so as to complete the training of the deep learning model. Since the theoretical pseudo-range (a pseudo-range truth value) is calculated on the basis of a positioning result with the positioning accuracy meeting preset accuracy requirements, constructing a measurement noise truth value on the basis of the observed pseudo-range and the theoretical pseudo-range of the target GNSS satellite at the target historical moment can provide reliable truth value data for training the deep learning model, thereby ensuring the accuracy of measurement noise outputted by the trained deep learning model.

The invention discloses an anti-interference GNSS / INS (Global Navigation Satellite System / Inertial Navigation System) integrated positioning optimization algorithm for an unmanned aerial vehicle, particularly relates to the technical field of satellite positioning and navigation, and is used for solving the problem that the positioning precision is reduced due to inaccurate interference identification of an existing integrated navigation system in a complex electromagnetic environment. The positioning precision is improved by constructing a multi-dimensional interference characteristic analysis system; the method comprises the following steps: firstly, carrying out subset division on visible satellites, calculating credibility factors, analyzing pseudo-range residual error distribution characteristics to identify interference source types when the credibility is insufficient, and extracting spectrum characteristics of position sequences at the same time; then, based on the matching relationship between the interference mechanism and the spectrum characteristic, allocating an evaluation weight, and generating a reliability index; and finally, adaptively adjusting a measurement noise covariance matrix of the Kalman filter according to the index, and realizing optimal fusion of GNSS observation data and INS sensor data, thereby keeping the positioning precision and stability of the integrated navigation system in a strong interference environment.

The invention relates to the technical field of navigation and positioning, and discloses a Beidou signal error compensation positioning correction method and system in a complex urban environment, and the method comprises the steps: synchronously collecting Beidou satellite original observation data, inertial navigation data and environmental point cloud data through a multi-source sensor array; performing real-time signal quality evaluation on the Beidou original observation data and extracting a composite error feature vector; inputting the composite error feature vector into a pre-trained adaptive deep neural network model, and outputting a positioning error compensation amount; and in a final positioning calculation link, systematic correction is carried out on an original pseudo-range and carrier phase observation value through an extended Kalman filtering algorithm, and high-precision position coordinates are calculated. The invention aims to solve the problems of insufficient adaptability, multi-source error comprehensive compensation capability and real-time performance in a complex urban environment in the prior art.

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 an anti-interference strong-robustness high-precision differential positioning method which is applied to real-time dynamic differential positioning of a Beidou No.3 receiver in a complex electromagnetic environment. Comprising the following steps: step 1, performing gross error combined processing: a, forming an LI combined observation value and an MW combined observation value by using double-difference phase observation values and double-difference pseudo-range observation values on B1 and B3 respectively; according to the method, a staged combined processing strategy is innovatively adopted, in the preprocessing stage, large gross errors are accurately eliminated through a median method (with the formula: XiM formula > k * MAD as the criterion, k = 5), and interference can be reduced from the source; in the parameter calculation stage, robust estimation iteration is only carried out on the residual small gross error, limitation of a single standard is avoided, the calculation amount is greatly reduced, balance of gross error processing effectiveness and real-time performance is achieved, and support is provided for efficient operation of an embedded processor.

The invention relates to the technical field of satellite navigation meteorological remote sensing, and discloses a water vapor ionized layer snow depth integrated detection method and system. The method comprises the steps that direct and reflected signals of a Beidou satellite are received through fusion antenna array differentiation, carrier phase and pseudo-range observation values are obtained through carrier tracking loop synchronous demodulation, the total atmospheric rainfall amount and the total ionosphere electron content are extracted through a troposphere and ionosphere combined calculation algorithm, the snow depth is inverted through reflection path geometric difference, and the snow depth is calculated. And carrying out space-time synchronization constraint processing on the extended Kalman filter to realize multi-parameter integrated detection. The problems of low efficiency, insufficient precision and lack of cooperative processing caused by independent observation of water vapor, ionized layer and accumulated snow parameters in the prior art are solved, and the observation efficiency and the measurement precision of multi-parameter integrated detection are improved.

The invention discloses a PPP observation quality control method fusing inter-system mutual verification and residual feedback, and belongs to the technical field of satellite navigation high-precision positioning. The method comprises the following steps: firstly, acquiring current epoch multi-system multi-frequency original observation data and corresponding prior state information; secondly, performing gross error detection and elimination on the pseudo-range observation value by adopting an RANSAC method, and constructing a pseudo-range healthy satellite subset; then, carrier phase anomaly detection and cycle slip repair are carried out based on the subset, and an inter-system mutual verification mechanism and a dynamic weight adjustment strategy are introduced to further improve the reliability of an observation value; and finally, performing PPP calculation by using the high-quality observation data subjected to multi-level verification, and outputting a steady positioning result. According to the method, the problems that in a traditional method, due to pseudo-range gross error interference, carrier phase cycle slip misjudgment or missing detection is caused, and the anomaly detection capacity is insufficient in a multi-satellite simultaneous fault scene are effectively solved, the robustness and positioning precision of PPP in a complex environment are enhanced, and technical support is provided for high-reliability GNSS application.

The invention discloses an RTK and inertial navigation fused intelligent brake shoe accurate positioning algorithm, and particularly relates to the technical field of GNSS and inertial navigation system fusion. According to the algorithm, a double-difference observation model is constructed based on GNSS pseudo-range and carrier phase observation values, and high-precision fusion positioning is realized through extended Kalman filtering in combination with IMU acceleration and angular velocity data; a direction scattering factor DSF and a gait stability factor GSI are introduced, a GNSS signal environment and a user motion state are dynamically evaluated, an observation noise covariance matrix is adjusted, and weight adaptive optimization is realized; a positioning credibility score is calculated according to the DSF and the GSI, positioning state grades are divided, and when the score is lower than a threshold value, an inertial navigation priority mode is triggered or an abnormal alarm is given; the method improves the stability and safety of a positioning system in a complex environment, and has a high engineering application value.

The invention discloses a satellite navigation anti-spoofing method and system for multi-dimensional cooperative detection, and the method comprises the steps: completing the prediction and detection of satellite visibility based on the position and time information of a receiver in combination with a satellite almanac; calculating a satellite pseudo-range rate and comparing the satellite pseudo-range rate with a predicted value to realize pseudo-range rate detection; a double-star pseudo-range difference model is constructed, and detection is completed by observing the residual error of the pseudo-range difference and the theoretical pseudo-range difference; deriving a receiver clock drift value based on adjacent epoch pseudo-range data, and completing detection through clock drift change characteristics; and according to the four-dimensional detection result, cooperatively judging a deception signal, triggering an alarm and eliminating the signal. According to the scheme of the invention, through cooperative verification of a multi-dimensional detection mechanism, the problems of easy missing detection and weak anti-interference capability of a single detection method are solved, the method can be realized only by a single receiver, the compatibility is strong, the real-time performance is excellent, various types of deception signals can be effectively identified, and the navigation positioning precision is ensured.

The invention discloses a Beidou / GNSS differential service fault analysis method and system, and relates to satellite positioning. The method comprises the following steps: carrying out pseudo-range single-point positioning on Beidou / GNSS observation data to obtain a general position; reporting the approximate position to a Beidou / GNSS differential service platform to request Beidou / GNSS differential data of the current position; carrying out observation data quality analysis on the Beidou / GNSS observation data, wherein observation data quality analysis indexes comprise an integrity rate, a satellite number, a carrier-to-noise ratio, multiple paths, pseudo-range noise, carrier noise, a cycle slip ratio and a PDOP value; differential data quality analysis is carried out on the Beidou / GNSS differential data; rTK calculation is carried out on the Beidou / GNSS observation data and the Beidou / GNSS differential data; calculating a troposphere residual error and an ionosphere residual error; and performing fault detection according to the data. Aiming at the problem that Beidou / GNSS differential service fault positioning precision is low in the prior art, accurate identification and positioning of differential service faults are realized.

The invention provides a ground GNSS differential data correction method and device, and the method comprises the steps: obtaining a pseudo range and a carrier phase, calculating a whole cycle jump value of the carrier phase through employing an M-W combination function and an ionosphere delay change rate, and correcting a carrier phase value through employing the calculated whole cycle jump value of the carrier phase. The influence of station-satellite geometric distance is eliminated, the influence of ionosphere change is considered, and the method is suitable for cycle slip detection in a dynamic environment; according to the method, a self-adaptive threshold model is constructed on the basis of Turbo Edit cycle slip detection in a flight dynamic observation environment, cycle slip misjudgment at a low satellite elevation angle is reduced, and the influence of too low sampling rate on GF combined cycle slip detection performance is weakened to a certain extent; and a technical guarantee is provided for applying the GNSS differential data to the flight test.

The application belongs to the field of GPS positioning, and relates to a dynamic GPS signal interference influence evaluation method and system, which comprises the following steps: calculating the instantaneous position vectors and velocity vectors of visible satellites, a receiver and an interference source in the Earth-Centered Earth-Fixed coordinate system; obtaining the directional gain of a receiving antenna to multiple visible satellite signals and multiple interference signals respectively; calculating the noise power spectral density, the power of multiple visible satellite signals and the power of multiple interference signals arriving at the radio frequency front end of the receiver; modeling the equivalent carrier-to-noise ratio to obtain the equivalent carrier-to-noise ratio of multiple visible satellites; simulating the influence of the visible satellites on the code tracking loop of the receiver to obtain the pseudorange measurement error of multiple visible satellites; and performing positioning solution through a weighted matrix least square method to obtain the positioning accuracy, so that the interference effect can be accurately, real-timely and quantitatively evaluated.

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.