757 results about "Pseudorange" patented technology

The invention relates to the technical field of satellite navigation and anti-interference, and discloses an unmanned aerial vehicle dynamic navigation anti-interference method and system based on a single Beidou satellite, and the method comprises the steps: an unmanned aerial vehicle receives a navigation signal through the single Beidou satellite, and carries out the initialization; and performing interference enhancement detection through a multi-frequency domain joint filtering technology. And analyzing a carrier phase tracking spectrum, and carrying out autonomous integrity monitoring on the single Beidou satellite. Deception signals are isolated, navigation parameters are corrected, and the dynamic navigation anti-interference effect of the unmanned aerial vehicle is achieved. According to the method, a carrier phase tracking spectrum is analyzed through a multi-frequency-domain joint filtering technology, a disguise deception signal of a submerged loop is identified under the condition that no strong interference signal exists, and the authenticity of a navigation signal is ensured. In combination with IMU data and historical pseudo-range changes, through real-time comparison of navigation data and IMU calculation data, deception signals are isolated, navigation parameters of the unmanned aerial vehicle are corrected, and it is ensured that the unmanned aerial vehicle can continuously, stably and dynamically fly.

The invention discloses a Doppler and pseudo-range fusion positioning method and system for low-orbit satellite conduction signals, and relates to satellite positioning. The method comprises the steps that a Doppler and pseudo-range observation equation is established; performing least square residual calculation on the calculated Doppler and pseudo-range theoretical values and the observed Doppler and pseudo-range measured values, and taking a grid center point coordinate corresponding to a two-norm minimum value as a receiver position initial value; performing Taylor series expansion on the Doppler and pseudo-range observation equation, and representing a state updating matrix by using the established state transition matrix and receiver position, clock error and frequency offset correction; the inverse matrix of the observation noise covariance is used as a weight matrix to be distributed to the state transition matrix; and iterating the initial position value of the receiver, updating the state updating matrix, and stopping iteration until the two-norm of the residual solution is smaller than a set threshold value, so as to obtain the position, clock error and frequency offset results of the receiver. According to the method, the low-orbit satellite positioning algorithm model can be optimized, the convergence time is shortened, and the positioning precision is improved.

The invention discloses a single-epoch GNSS-oriented PAR ambiguity precision factor determination method, and relates to the technical field of satellite navigation and positioning. Comprising the following steps: dividing pseudo-range and carrier wave observed quantities in a GNSS double-difference mathematical model into two groups, and constructing a function relationship between a floating point solution # imgabs1 # and a floating point solution # imgabs2 # variance-covariance matrix of an ambiguity vector # imgabs0 #; constructing a single-frequency single-epoch single-system P-ADOP expression and establishing a shrinkage factor k de-inversion transformation analytic expression, and simultaneously obtaining a single-frequency single-epoch single-system GNSS non-inverse transformation P-ADOP approximation formula; and performing analogy derivation on the single-frequency single-epoch single-system non-inverse transformation P-ADOP approximate formula to obtain a single-frequency multi-system or multi-frequency single-epoch GNSS non-inverse transformation P-ADOP general approximate formula. The method has important theoretical value and practical guiding significance for GNSS optimal ambiguity subset rapid selection and positioning and partial ambiguity fixing success rate influence mechanism analysis.

The invention discloses a high-precision train locomotive positioning method and system based on a GNSS (Global Navigation Satellite System) and INS (Inertial Navigation Satellite System) loose combination mode, and the method realizes the precise positioning of a train by combining the data of an IMU (Inertial Measurement Unit) and a GNSS (Global Navigation Satellite System). The method comprises the following steps: firstly, acquiring IMU data, performing error correction, and outputting corrected acceleration and angular velocity; meanwhile, a GNSS signal is obtained and a pseudo-range measurement value is extracted. Then, inertial navigation calculation is carried out, including attitude calculation, position and speed calculation and sensor deviation updating; through Kalman filtering fusion, state estimation and error correction are carried out by using complementary characteristics of the INS and the GNSS, so that the positioning precision is improved. In the initialization stage, the normal work of the system is ensured through the installation and parameter setting of the IMU and the GNSS. Finally, through Kalman filtering processing, accurate train position, speed, attitude and sensor deviation data are output, and reliable data support is provided for a train control system.

The invention provides a dual-antenna attitude and orientation and robust self-adaption method based on integrated navigation, which comprises the following steps: combining an INS (inertial navigation system) and a dual-antenna GNSS (global navigation satellite system), and enabling the system to output continuous and stable high-precision carrier attitude information when a GNSS signal is interfered by using dual-antenna integrated navigation. According to the method, most of satellite end clock correction, ionosphere and troposphere errors and receiver end clock correction are eliminated by using double-antenna GNSS pseudo-range and carrier phase double difference, robust statistics are calculated through heading prediction residual vectors to obtain robust factors, an observation noise covariance matrix is expanded to reduce the influence of system noise and observation noise, and the system performance is improved. A Mahalanobis distance based on a prediction residual vector is introduced to detect whether a system is abnormal or not, a state prediction covariance matrix is adjusted through a self-adaptive factor, weight reduction of an abnormal INS dynamic model is achieved, and the stability and reliability of system attitude information are improved through a noise covariance self-adaptive control mechanism.

The invention discloses a multi-path suppression positioning method and system for a banded sparse single Beidou CORS network, and relates to the technical field of satellite navigation positioning. According to the multi-path suppression positioning method for the banded sparse single Beidou CORS network, initial pseudo-range time sequence data are acquired, the time sequence data and regional state data are received, the pseudo-range data are corrected and analyzed, then, filtering processing is performed by using a preset filtering rule, a virtual base station is established, data fusion is performed, and the multi-path suppression positioning method for the banded sparse single Beidou CORS network is obtained. According to the method, the pseudo-range time sequence data of each satellite is dynamically corrected, and particularly, through comprehensive analysis of the reflecting surface information, the environment data and the signal arrival time difference, the accurate position information of the receiver is obtained. Errors caused by reflecting surface and environment changes can be recognized and corrected in real time, and the stability and precision of a positioning system in a complex environment are remarkably improved.

The invention discloses a multi-frequency multi-mode signal multi-path error weakening method, and relates to the technical field of precision positioning, and the method comprises the steps: constructing a multi-frequency multi-mode non-combination precision single-point positioning observation equation, separating multi-path errors in pseudo-range and phase observation values through the equation, and forming residual data; performing quality control on the residual error, and eliminating an abnormal value; feature extraction and judgment are carried out based on residual data, wherein time repeatability features, spatial distribution features and trend complexity features are extracted; selecting a correction model according to a feature judgment result, wherein the correction model comprises a fixed star daily filtering model, a multi-path hemispherical graph model and a trend surface analysis multi-path hemispherical graph model; and generating a multi-path error correction amount through a selected model, correcting an original observation value, and outputting a positioning result. The method solves the problem that the positioning precision is reduced due to multi-path errors, can effectively weaken the multi-path errors, improves the positioning precision and stability, adapts to a complex environment, and reduces data processing redundancy.

The invention discloses a low-orbit satellite measurement and control orbit determination method, device and equipment and a medium, and the method comprises the steps: obtaining a satellite-borne GNSS pseudo-range observation value and a GNSS broadcast ephemeris, and carrying out the calculation through a pseudo-range single-point positioning algorithm, and obtaining a self-positioning result of a low-orbit satellite; when the number of GNSS satellites used by pseudo-range single-point positioning is lower than a first threshold value, or a satellite space distribution characteristic value of a positioning epoch is greater than a second threshold value, removing a corresponding self-positioning result; polynomial fitting is carried out on the filtered self-positioning results by adopting a sliding window, the self-positioning results with fitting residual errors larger than a third threshold value are removed, then interpolation processing is carried out, and optimized self-positioning results are obtained; and orbit determination is carried out in combination with a dynamic fitting method, and a final low-orbit satellite measurement and control orbit is obtained. The method is low in calculation cost and good in real-time performance, gets rid of the dependence of a ground station, is less affected by low-orbit satellite orbit maneuver, and can reflect a more accurate satellite position.

The invention discloses a GNSS (Global Navigation Satellite System) / inertial navigation tightly integrated navigation method and system based on robust auto-velocity constraint factor graph optimization, and the method specifically comprises the following steps: extracting pseudo-range and Doppler observation data from original observation information of a GNSS satellite, and obtaining accelerometer and gyroscope data from an INS (Inertial Navigation System); constructing a pseudo-range residual block, a Doppler residual block, an inertial navigation pre-integration residual block and a speed constraint factor, and integrating into a sliding window estimator based on factor graph optimization; according to the size of a set sliding window, adding all residual blocks in the window to form an optimized objective function; performing a first round of factor graph optimization to obtain a preliminary state estimation result, and endowing the observed quantity containing gross error with a relatively low weight; and updating the prior weight matrix, and carrying out second round of optimization to obtain a joint optimal estimation result of a plurality of moment states in the current time window. According to the method, the influence of gross error-containing observation information on weight estimation and state estimation is suppressed, the positioning precision is high, the robustness is strong, and the reliability is high.

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.

In estimating a position of a vehicle utilizing a global navigation satellite system (GNSS), it is desirable to exclude outliner GNSS measurements due to navigation signals via non-light-of-sight paths from the GNSS to the vehicle, but it leads to a distorted satellite geometry distribution. Complementariness between low-lying visual landmarks and healthy but high-elevation satellite measurements is explored to improve the geometry constraint. Measurements of an inertial measurement unit, low-lying visual landmarks captured by a forward-looking camera onboard the vehicle, and healthy but high-elevation satellite measurements are tightly-coupled integrated via sliding window optimization of system states used in a factor graph. To improve estimation performance, good initial guesses of system states are important. As such, initial guesses of velocity set and position set inside a sliding window are estimated simultaneously based on data of Doppler measurement, double-differenced (DD) pseudorange measurement and DD carrier-phase measurement as obtained in GNSS measurements.

The invention belongs to the technical field of intelligent robot navigation and positioning, and discloses an intelligent robot autonomous mapping method in a GNSS rejection environment, which comprises the following steps of: monitoring a GNSS signal state in real time, and switching to pure laser SLAM mapping when detecting that the number of available satellites, PDOP or pseudo-range residual exceeds a threshold; the method comprises the following steps: acquiring three-dimensional point cloud data, filtering and denoising, obtaining a filtered and denoised current frame point cloud, performing laser radar mapping and positioning registration, selecting a key frame point cloud, constructing lightweight neural implicit scene representation, and training an MLP network; loopback detection is carried out, a sparse factor graph is constructed, key frame poses are corrected, then the key frame poses are applied to original three-dimensional point cloud data, and a two-dimensional grid map is generated. According to the invention, under the condition that the GNSS signal is blocked or fails, the environment map with high precision and low drift is continuously generated, and the real-time performance and robustness of autonomous mapping are remarkably improved.

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 mobile cellular signal ranging method and positioning system based on machine learning. The method comprises the following steps of: continuously receiving two paths of I / Q original signals sent by a base station, performing time synchronization so as to calculate frame starting positions, performing differential operation on the frame starting positions at previous and later moments, generating a clock skew data set, establishing a time sequence prediction model of the base station, and extracting clock skew information between the base station and a receiver from the time sequence prediction model. When a system starts to carry out distance measurement between a base station and a receiver, a pseudo range and a frame starting position which are obtained at a previous moment are utilized to carry out analysis and difference to serve as input of a time sequence prediction model, and the clock skew of the base station at a subsequent moment is accurately predicted. And the clock skew is compensated to the pseudo-range estimation process, so that the distance between the base station and the receiver is calculated. The invention provides a method for realizing accurate and sustainable distance measurement and positioning of a receiver on the basis of the existing mobile communication network infrastructure.

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 high-precision positioning method based on combination of a Beidou satellite and 5G-Mesh, and relates to the technical field of satellite positioning, and the method comprises the steps: receiving a navigation signal of the Beidou satellite and a communication signal of a 5G-Mesh network in real time; the topological structure change of the 5G-Mesh network is monitored in real time, and the connection relation between the nodes is dynamically adjusted in combination with network performance indexes; the receiver performs pseudo-range measurement on the signals of the visible satellites; a navigation message is demodulated from the received satellite signal, and the accurate position of each satellite at the current moment is calculated by using a satellite orbit calculation model; constructing a signal intensity fingerprint database; outputting a reference position having the highest similarity with the current signal strength characteristic to carry out error modeling on the Beidou satellite signal and the 5G-Mesh network signal; and fusing the two kinds of position information by adopting a weighted fusion algorithm. By fusing the technical advantages of the two positioning technologies, the positioning precision and reliability are improved, and the requirement for high-precision positioning in a complex scene is met.

The invention discloses a high-precision positioning method and system based on a multi-band single Beidou signal, and the method comprises the steps: receiving a multi-band signal from a single Beidou satellite, the multi-band signal comprises three bands B1I, B1C and B2a, extracting a pseudo-range measurement value and a carrier phase measurement value of the signal of each band, and calculating the pseudo-range measurement value and the carrier phase measurement value of the signal of each band according to the pseudo-range measurement value and the carrier phase measurement value; constructing an observation value model containing multi-path errors and ionosphere delay; performing wavelet transform decomposition on the multi-band observation value sequence to obtain signal characteristics on different frequency scales, and constructing a multi-path-ionosphere coupling separation discriminator using pseudo-range and carrier phase observation value characteristic difference and a frequency dependency relationship based on a wavelet decomposition result; the error dominant type is determined according to the size of the discriminant value output by the separation discriminator, the observation value is corrected by applying a corresponding error correction strategy, the corrected observation value is used for position calculation, and a high-precision positioning result is obtained.

The invention discloses a Beidou satellite intelligent positioning and communication method and system based on artificial intelligence. The method comprises the following steps: S1, receiving a satellite signal and a cooperative signal; s2, processing the received satellite signal by using a pseudo-range measurement and carrier phase difference technology, and performing preliminary positioning calculation in combination with the cooperative positioning data; s3, fusion is carried out, and a multi-modal data set is constructed; s4, dynamically adjusting weights of different data sources in the multi-modal data set according to real-time environment change by utilizing a dynamic environment perception model based on a graph neural network; s5, processing the multi-modal data set by adopting a self-adaptive Monte Carlo variational inference algorithm, and optimizing the positioning precision; s6, adjusting a filtering parameter and a signal processing strategy in real time through a self-adaptive signal processing module; and S7, dynamically optimizing the communication frequency and path by using a dominant actor-commentator algorithm. According to the invention, multi-modal data fusion and a dynamic optimization algorithm are utilized, so that the precision and stability of Beidou satellite positioning and communication are remarkably improved.

The invention discloses a high-precision Beidou satellite navigation and positioning data acquisition method and system, particularly relates to the technical field of satellite navigation and positioning processing, and is used for solving the problem of positioning error increase caused by receiver hardware delay drift in the prior art. Inverting the first dynamic reference value by using carrier phase integral displacement, and extracting a third-order intermodulation component through coherent demodulation to generate a second dynamic reference value; adopting mutual information entropy analysis to select an effective reference value to calculate a residual error; fitting a theoretical value according to the carrier phase change rate to calculate deviation; marking a hardware drift error when the time domain correlation continuously exceeds a threshold value; finally, the ionosphere residual error is dynamically compensated to generate a corrected observation value, effective separation of the hardware drift error and the ionosphere residual error is realized, and the precision and reliability of long-time observation in a dynamic environment are improved.

The invention provides a GNSS deception jamming joint detection system and method, and relates to the technical field of GNSS. GNSS navigation signals are received and processed through a baseband signal processing module, and advanced, instant and lagged related function values of an I path and a Q path are generated; a signal layer index unit calculates a moving variance of a code phase difference based on the correlation function value to generate a signal layer index; the information layer index unit calculates a code carrier difference value based on the pseudo-range, the carrier frequency and the integral carrier phase to generate an information layer index; and the spoofing detection module performs data fusion on the signal layer index and the information layer index to generate a joint detection index, and judges a spoofing state through a threshold value. The distortion of an IQ code correlation value integral signal is captured through a signal layer, and on the other hand, the inconsistency of a deception signal carrier, a pseudo-range relative measurement value and a real signal is captured through an information layer, so that the technical effect of rapid complementary detection of the signal layer and the information layer on deception interference is realized.

The invention relates to the technical field of radar information, in particular to a satellite clock performance evaluation method for constructing a reference time benchmark based on an inter-satellite link, which comprises the following steps of: 1, collecting GNSS inter-satellite bidirectional pseudo-range observation data, establishing a bidirectional pseudo-range observation equation, reducing to the same target moment to obtain an inter-satellite relative clock error, and calculating the inter-satellite relative clock error; reducing to a main clock on a selected main satellite to obtain a clock difference of each clock relative to the initial time reference; step 2, fitting a polynomial clock error parameter by using the accumulated satellite clock error data with a certain arc length, deducting the clock error parameter from the satellite clock error epochwise, and calculating to obtain a clock error residual error; step 3, the alron variance of each satellite clock is calculated by using the clock error residual error, the stability of each clock is evaluated, and then the weight of each satellite clock is determined; 4, constructing a space-based time reference based on the clock error residual error obtained in the step 2 and the satellite clock weight determined in the step 3; and step 5, evaluating the performance of the satellite clocks based on the clock difference of each satellite clock under the space-based time reference.

The invention provides a GNSS-based real-time positioning service stability improving method and system, and belongs to the field of satellite navigation and positioning services. According to the method, abnormal identification and elimination are carried out on monitoring receiver data with pseudo-range hopping and pseudo codes inconsistent with carriers, multiple receivers synchronous with a time reference are adopted to participate in clock correction calculation, the effectiveness of precise orbit determination and clock correction calculation is judged and identified, and meanwhile the consistency of calculation results is judged and repaired; estimating a satellite initial position vector and kinetic parameters, and forecasting a satellite orbit and a satellite clock error; and when the precise orbit determination solution and clock correction solution processing process is interrupted, the satellite orbit forecast result and the clock correction forecast result are output as a precise orbit and a clock correction, and the output robustness is guaranteed. According to the invention, the algorithm software of the system end is compensated, so that the calculation and storage burden of the user terminal is reduced, and the availability, continuity and stability of the real-time precise positioning service of the satellite navigation system are improved.

The invention relates to a Beidou single-frequency double-ionosphere model weighted least square SPP positioning method. The method comprises the steps of capturing a visible satellite, calculating an ionosphere puncture point of the captured satellite, if grid point information around the puncture point meets the use requirement of ionosphere delay calculation, preferentially using a grid ionosphere model to calculate ionosphere delay, otherwise, using a broadcast ionosphere model to calculate, and calculating the weight of each satellite by using the proposed weight models respectively corresponding to the two ionosphere models, constructing a combined weight matrix, and substituting the combined weight matrix into a pseudo-range observation equation to carry out weighted least square solution. And updating the weight ratio coefficient of the double-ionosphere model by using the positioning calculation result, comparing whether the weight ratio coefficients before and after two adjacent updates meet a stop condition, and outputting a final positioning result when the stop condition is met. By adopting the method, the positioning precision can be improved.

The invention relates to the technical field of positioning or existence detection adopting reflection or re-radiation of radio waves, in particular to a GNSS (Global Navigation Satellite System) positioning method and device based on random sampling and electronic equipment, and the method comprises the following steps: carrying out sky partitioning based on a currently receivable satellite list and azimuth angle information thereof, and determining a sky area to which each satellite belongs; performing distance optimization random sampling of satellites in each sky area to generate a sample group; respectively carrying out least square calculation on the pseudo-range observation value of each satellite in the sample group to obtain a user position and road side information corresponding to the sample group; and determining an expected road side based on the user position and the road side information, so as to obtain the positioning information of the mobile terminal based on the expected road side. Therefore, the technical problem that the actual use experience of a user is affected due to the fact that the GNSS positioning accuracy and the road side dividing accuracy are low in complex scenes such as urban canyons in the related technology is solved.

To provide a positioning device capable of avoiding failure due to an indirect wave, and achieving accurate positioning.SOLUTION: A positioning device 1 comprises a reception part 10, a prediction pseudo distance calculation part 20, a reliability calculation part 30, and a positioning processing part 40. The prediction pseudo distance calculation part 20 determines a first predicted pseudo distance of a first positioning satellite on the basis of a reception result of a first positioning satellite, and determines a second predicted pseudo distance of a second positioning satellite on the basis of a reception result of a second positioning satellite. The reliability calculation part 30 determines first reliability of the first positioning satellite on the basis of a first difference between the first observed pseudo distance and the first predicted pseudo distance of the first positioning satellite, and determines second reliability of the second positioning satellite on the basis of a second difference between the second observed pseudo distance and the second predicted pseudo distance of the second positioning satellite. The positioning processing part 40 executes positioning processing by reflecting the first reliability and second reliability as weighting information, in residuals of the first positioning satellite and the second positioning satellite.SELECTED DRAWING: Figure 1

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.

Machine learning techniques are used, in one embodiment, to mitigate multipath in an L5 GNSS receiver. In one embodiment, training data is generated to provide ground truth data for excess path length (EPL) corrections for a set of received GNSS signals. A system extracts features from the set of received GNSS signals and uses the extracted features and the ground truth data to train a set of one or more neural networks that can produce EPL corrections for pseudorange measurements. The trained set of one or more neural networks can be deployed in GNSS receivers and used in the GNSS receivers to correct pseudorange measurements using EPL corrections provided by the trained set of neural networks.

The invention provides a ground positioning method and device fusing Doppler and pseudo-range of a low-orbit satellite, and the method comprises the steps: collecting pseudo-range observation values and Doppler frequency shift observation values of a plurality of epoch signals through a ground receiver in a transit time period of the low-orbit satellite by employing an enhanced link between the low-orbit satellite and the ground, and obtaining a Doppler frequency shift observation value of the multiple epoch signals; the orbital position, the running speed and the clock error of the low-orbit satellite corresponding to the epoch signal are collected; calculating the position, speed and clock error of the low-orbit satellite at the emission moment of each epoch signal; when the number of the accumulated observation equations reaches a preset threshold value, a fixed weight least square algorithm is adopted to fuse pseudo-range observation values and Doppler information to solve the position of a ground user receiving end; performing post-test residual error test on the calculation result; and if the after-test residual error test is passed, outputting a positioning result.

The invention discloses a BDS-based three-dimensional coordinate accurate positioning monitoring method and system, and belongs to the technical field of satellite navigation and positioning, and the method specifically comprises the steps: calculating a pseudo-range measurement value and a carrier phase observation value through receiving a navigation satellite signal; eliminating a multi-path effect by adopting a multi-path detection algorithm and a dynamic multi-path error model, and correcting a pseudo-range measurement value by utilizing an error source model; dynamic calibration parameters are calculated by combining real-time environment data and a preset calibration model, and the pseudo-range measurement value is recorrected; calculating the position by using a carrier phase difference algorithm, and outputting a three-dimensional coordinate and a displacement variation; according to the method, high-precision and real-time displacement monitoring is realized through comprehensive processing of a multi-path effect and dynamic calibration.

The invention provides a satellite signal transmitting method, device and equipment and a computer storage medium, and the method comprises the steps: determining a target first signal and a target satellite through signal quality evaluation parameters of a plurality of first signals received by first ground equipment, and then carrying out the transmission of a satellite signal based on a pseudo-range of the target first signal and an error correction parameter of the target satellite, calculating the downlink transmission time of the second signal, then obtaining the receiving moment when the first ground equipment receives the target first signal, calculating the theoretical emission moment of the second signal based on the receiving moment and the downlink transmission time of the second signal, and obtaining the superframe duration and the theoretical emission moment of the second signal; and calculating the first uplink transmission time delay when the second ground equipment transmits the third signal to the target satellite, and finally adjusting the actual transmission time of the third signal of the second ground equipment according to the first uplink transmission time delay, so that the actual transmission time of the third signal is aligned with the theoretical transmission time of the second signal, thereby improving the transmission success rate of the satellite signal.