CN102608633B - Satellite locating pseudorange difference method - Google Patents

Abstract

The invention provides a satellite locating pseudorange difference method. The method comprises the steps that: the observation data of a reference station network is utilized to acquire the error corrections of the non-pseudorange observed values of all the reference stations; the error corrections of the satellite non-pseudorange observed values of all the reference stations are processed, the error corrections of the non-pseudorange observed values of the satellites of all the roving stations are obtained through calculation, wherein the error corrections of the non-pseudorange observed values of the satellites of all the roving stations contain various error influences of the pseudorange observed values; and the error corrections of the non-pseudorange observed values of the satellites of all the roving stations are adopted to launch the pseudorange locating process of the roving stations.

Description

A kind of satnav pseudo range difference method

Technical field

The present invention relates to computer application field, relate in particular to a kind of satnav pseudo range difference method.

Background technology

In satnav, utilize Pseudo-range Observations to carry out single-point location, Real-Time Positioning is generally several meters.If utilize pseudo range difference technology, can obtain the real-time location technology of decimeter grade.And the operating distance of traditional single station pseudo range difference is short, positioning precision is fast reducing along with the increase of distance, and the operating distance of the pseudo range difference technology based on multiple reference stations and positioning precision are all better than traditional single station pseudo range difference.

Current network pseudo range difference method is to adopt two differential mode formulas to carry out the elimination of satellite clock correction, receiver clock correction equal error, and the correction of tropospheric delay, ionosphere delay, satellite orbit equal error.Because needs carry out two subtractive combinations, so must select a base station to carry out the composition of difference observed reading as main reference station from base station net; If rover station constantly moves in base station net, sometimes also need to reselect main reference station.In addition, if whole base station net carries out the Correction of Errors of two poor Pseudo-range Observations according to two differential mode formulas, separate between the two poor correction of each subnet, therefore, there is inconsistency in the correction of different sub-network.

If base station net provides the Correction of Errors number of non-poor Pseudo-range Observations, rover station positions non-use poor pseudorange error correction, does not need to adopt two differential mode formulas to carry out Correction of Errors; Do not need to select main reference station to carry out two subtractive combinations, all base stations are all the same, there is no major-minor dividing; When rover station moves in base station net, need not consider to convert the problem of main reference station; The correction of a satellite can comprise all observational error impacts; The correction of each base station is independently, can be broadcast and be received by network easily; And can not reduce coverage and the positioning precision of pseudo range difference location.

The present invention utilizes reference net that the Correction of Errors number of non-poor Pseudo-range Observations is provided to user, and user can utilize the poor correction of these non-mistakes to carry out pseudorange location.This localization method is compared with carrier phase differential positioning, although belong to the locator meams that a kind of precision is slightly low, but the method operating cost is low, algorithm and application are simple, the ambiguity resolution and the rover station ambiguity resolution that do not need to carry out base station net, each base station can directly provide the correction of the pseudorange error under Terrestrial Reference Frame coordinate system.User in the inner and outer certain limit of net of base station net, just can obtain the real-time positioning result of decimeter grade precision by single epoch of the observation data of pseudorange error correction of the present invention and self.

Summary of the invention

The invention provides a kind of satnav pseudo range difference method, the technical matters that solve is the positioning precision that how to significantly improve the real-time pseudo range difference of user.

For solving the problems of the technologies described above, the invention provides following technical scheme:

A kind of satnav pseudo range difference method, comprising:

Utilize the observation data of base station net to obtain the Correction of Errors number of the non-poor Pseudo-range Observations of each base station;

Correction of Errors number to the non-poor Pseudo-range Observations of the each satellite in base station place is processed, calculate the Correction of Errors number of the non-poor Pseudo-range Observations of the each satellite in rover station place, the various error effects that wherein the Correction of Errors number of the non-poor Pseudo-range Observations of the each satellite in rover station place has comprised Pseudo-range Observations;

Adopt the Correction of Errors number of the non-poor Pseudo-range Observations of the each satellite in rover station place, initiate the flow process of the pseudorange location of rover station.

Preferably, described method also has following features: the Correction of Errors number of the non-poor Pseudo-range Observations of the each satellite in base station place

expression formula as follows:

${\mathrm{Cor}}_{\mathrm{im}}^n={\mathrm{\ρ}}_m^n-P_{\mathrm{im}}^n$

Wherein, subscript i represents signal frequency, for distinguishing different frequencies; Subscript m represents the numbering of base station, for distinguishing different base stations; Subscript n represents satellite numbering, for distinguishing different satellites; P represents non-poor satellite Pseudo-range Observations, and unit is rice; ρ represents the geometric distance between survey station and satellite, and unit is rice.

Preferably, described method also has following features: the Correction of Errors number of the non-poor Pseudo-range Observations of the each satellite in rover station place is the summation of the numerical value that obtains after the correction of the non-poor Pseudo-range Observations of corresponding this satellite of selected base station multiplies each other with fitting coefficient separately, and wherein all the summation of fitting coefficients is 1.

Preferably, described method also has following features: initiate the flow process of the pseudorange location of rover station, comprising:

The non-poor pseudorange observation equation that the Correction of Errors of the non-poor Pseudo-range Observations of the each satellite in employing rover station place is counted the each satellite in flow station place carries out non-poor error correction, obtain revised non-poor pseudorange observation equation, the expression formula of wherein said revised non-poor pseudorange observation equation is as follows:

$H_U^n\·\mathrm{\δX}+C\·{{\mathrm{Tr}}^{\′}}_U=P_{\mathrm{iU}}^n+{\mathrm{Cor}}_{\mathrm{iU}}^n-{\mathrm{\ρ}}_{U0}^n-{{\mathrm{\ϵ}}^{\′}}_{\mathrm{iU}}^n$

Wherein, H is the direction cosine matrix of satellite on rover station; δ X is the correction vector of user coordinates initial value; Tr ' _urepresent non-difference revised rover station receiver clock correction and receiver hardware delay error;

represent the distance initial value of user to respective satellite;

represent the revised non-poor pseudorange observation noise error in i signal frequency of non-difference;

Obtaining after the expression formula of revised non-poor pseudorange observation equation, by at least four satellites of observation, obtain four revised non-poor pseudorange observation equations, the non-poor pseudorange observation equation obtaining is calculated, obtain coordinate correction number and the revised receiver user clock correction of rover station.

Preferably, described method also has following features: initiate the flow process of the pseudorange location of rover station, also comprise:

The non-poor pseudorange observation equation that the Correction of Errors of the non-poor Pseudo-range Observations of the each satellite in employing rover station place is counted the each satellite in flow station place carries out non-poor error correction, obtain revised non-poor pseudorange observation equation, the expression formula of wherein said revised non-poor pseudorange observation equation is as follows:

$H_U^n\·\mathrm{\δX}+C\·{{\mathrm{Tr}}^{\′}}_U=P_{\mathrm{iU}}^n+{\mathrm{Cor}}_{\mathrm{iU}}^n-{\mathrm{\ρ}}_{U0}^n-{{\mathrm{\ϵ}}^{\′}}_{\mathrm{iU}}^n$

Wherein, H is the direction cosine matrix of satellite on rover station; δ X is the correction vector of user coordinates initial value; Tr ' _urepresent non-difference revised rover station receiver clock correction and receiver hardware delay error;

represent the distance initial value of user to respective satellite;

represent the revised non-poor pseudorange observation noise error in i signal frequency of non-difference;

Adopt the expression formula of the non-poor pseudorange observation equation of the first satellite p of rover station place and the second satellite q, obtain the poor pseudorange observation equation of list of rover station, the poor pseudorange observation equation of the list expression formula of wherein said rover station is as follows:

$H_U^{\mathrm{pq}}\&CenterDot;\mathrm{\&delta;X}=P_{\mathrm{iU}}^{\mathrm{pq}}+{\mathrm{Cor}}_{\mathrm{iU}}^{\mathrm{pq}}-{\mathrm{\&rho;}}_{\mathrm{<figure-callout\; id="0"\; label="U"\; filenames="HDA0000130730780000041.png"\; state="\{\{state\}\}">U</figure-callout>}0}^{\mathrm{pq}}-{{\mathrm{\&epsiv;}}^{\&prime;}}_{\mathrm{iU}}^{\mathrm{pq}}$

Wherein, (*) ^pq=(*) ^p-(*) ^q;

After the poor pseudorange observation equation of the list that obtains rover station expression formula, by least four satellites of observation, set up the poor pseudorange observation equation of list of each satellite, the poor pseudorange observation equation of the list obtaining is calculated, obtain the coordinate correction number of rover station.

Compared with traditional pseudorange one-point positioning method, the present invention uses base station net that the Correction of Errors number of non-poor Pseudo-range Observations is provided to user, user is located be not subject to satellite clock correction and hardware delay, receiver clock correction and hardware delay, tropospheric delay, the impact of ionosphere delay and satellite orbital error, makes pseudorange location more accurate.And compared with the network differential method of current two differential mode formulas, operating type of the present invention is more flexible, does not need to select main reference station, it is more convenient that the correcting information of base station is broadcast, and is applicable to different user's station-keeping modes.

Accompanying drawing explanation

Fig. 1 is that non-poor pseudorange error provided by the invention corrects schematic diagram;

Fig. 2 is satnav pseudo range difference method flow diagram provided by the invention;

Fig. 3 is the schematic diagram of provincial base station net used in the present invention;

Fig. 4 is component location, the north and south true error figure of 24 hours pseudo range difference location of base station net shown in Fig. 3;

Fig. 5 is the thing component location true error figure of 24 hours pseudo range difference location of base station net shown in Fig. 3;

Fig. 6 is the vertical component location true error figure of 24 hours pseudo range difference location of base station net shown in Fig. 3.

Embodiment

For making the object, technical solutions and advantages of the present invention clearer, the present invention is described in further detail below in conjunction with the accompanying drawings and the specific embodiments.

Fig. 1 is that non-poor pseudorange error corrects schematic diagram.As shown in Figure 1, wherein survey station A, B, C ... be base station net, survey station U is rover station.Satellite emission signal is through different travel paths, observation signal is propagated into each survey station, in this process except the error effect of satellite and receiver hardware, mainly be subject to the impact of the positioning errors such as travel path higher troposphere, ionosphere delay and satellite orbit, and these main positioning errors have temporal correlation, therefore can utilize the observation data of base station net to eliminate/to weaken the located in connection error at user place.Because the coordinate of base station is all accurately known, so can calculate their non-poor pseudorange observational error sizes separately, and then determine the design factor of the non-poor Pseudo-range Observations error of rover station according to the position relationship between each survey station, then the non-poor Pseudo-range Observations mistake extent that calculates rover station, is used for eliminating/weakening the impact of the non-poor Pseudo-range Observations error of rover station.With respect to current two poor Error Correction Model, non-differential mode formula of the present invention is take single satellite as object, carry out matching and the correction of rover station pseudorange observational error, without two subtractive combinations, can carry out modelling to observational error better, there is applying flexible, be convenient to error analysis, more meet the advantages such as objective reality.

Fig. 2 is satnav pseudo range difference method flow schematic diagram provided by the invention.Embodiment of the method shown in Fig. 2, comprising:

Step 101, obtain the expression formula of the non-poor pseudorange observation equation of the each satellite of base station, as shown in expression formula 1:

$P_{\mathrm{im}}^n={\mathrm{\&rho;}}_m^n+I_{\mathrm{im}}^n+T_m^n+C\&CenterDot;({\mathrm{Tr}}_m-{\mathrm{Ts}}^n)+{\mathrm{\&epsiv;}}_{\mathrm{im}}^n---\left(1\right)$

Wherein, subscript i represents signal frequency, for distinguishing different frequencies; Subscript m represents the numbering of base station, for distinguishing different base stations, generally selects three base stations close to from rover station; Subscript n represents satellite numbering, for distinguishing different satellites; P represents non-poor satellite Pseudo-range Observations, and unit is rice; ρ represents the geometric distance between base station and satellite, and unit is rice; I represents the delay error of ionosphere to Pseudo-range Observations, and unit is rice; T represents the impact of the on-dispersive such as troposphere and orbit error error on Pseudo-range Observations, and unit is rice; Ts represents that satellite clock correction and satellite hardware postpone, and unit is second; Tr represents receiver clock correction and the receiver hardware delay of survey station, and unit is second; C represents the light velocity in vacuum, and unit is meter per second; ε represents pseudorange observation noise error, and unit is rice.In addition, base station operated by rotary motion, in openr place, can be ignored the impact of multipath effect.

Shown in being specifically implemented as follows, take the Pseudo-range Observations in the L1 signal frequency of the upper satellite p of base station A as example, with the non-poor pseudorange observation equation that expression formula 1 can obtain in L1 signal frequency that base station A goes up satellite p be:

$P_{1A}^p={\mathrm{\&rho;}}_A^p+I_{1A}^p+T_A^p+C\&CenterDot;({\mathrm{Tr}}_A-{\mathrm{Ts}}^p)+{\mathrm{\&epsiv;}}_{1A}^p---\left(2\right)$

Similar with expression formula (2), can obtain the non-poor pseudorange observation equation in other base station, other satellite and other frequency, do not enumerate here.

Step 102, obtain the non-poor pseudorange observation equation at rover station U place.

Take the non-poor pseudorange observation equation of L1 of satellite p as example, as follows:

$P_{1U}^p={\mathrm{\&rho;}}_U^p+I_{1U}^p+T_U^p+C\&CenterDot;({\mathrm{Tr}}_U-{\mathrm{Ts}}^P)+{\mathrm{\&epsiv;}}_{1U}^p---\left(3\right)$

In expression formula (3), U represents rover station, to distinguish over base station; All the other symbols are identical with expression formula (1).Similar with expression formula (3), can also obtain other satellite of rover station and the non-poor pseudorange observation equation of other frequency.

The expression formula of the non-poor observation equation in step 103, employing step 101, calculates and selects base station (being generally three nearer base stations of distance users) to locate the Correction of Errors number of the non-poor Pseudo-range Observations of each satellite.

Take the Pseudo-range Observations in the L1 frequency of the upper satellite p of base station A as example, by expression formula (2), can obtain the correction of its non-poor Pseudo-range Observations

expression formula is:

${\mathrm{Cor}}_{1A}^p=-{\mathrm{OMC}}_{1A}^p={\mathrm{\&rho;}}_A^p-P_{1A}^p=C\&CenterDot;({\mathrm{Ts}}^p-{\mathrm{Tr}}_A)-I_{1A}^p-T_A^p-{\mathrm{\&epsiv;}}_{1A}^p---\left(4\right)$

Similar with expression formula (4), can obtain the Correction of Errors number of the non-poor Pseudo-range Observations in other base station, other satellite and other frequency.

Step 104, according to the Correction of Errors number of the non-poor Pseudo-range Observations of base station obtaining in step 103, calculate the Correction of Errors number of rover station place corresponding non-poor Pseudo-range Observations.

Take the Correction of Errors number of the non-poor Pseudo-range Observations of L1 of satellite p as example, in conjunction with expression formula (4), the non-poor pseudorange correction of L1 that can obtain the satellite p of rover station is:

${\mathrm{Cor}}_{1U}^p={\mathrm{<figure-callout\; id="1"\; label="a"\; filenames="HDA0000130730780000011.png"\; state="\{\{state\}\}">a</figure-callout>}}_1\&CenterDot;{\mathrm{Cor}}_{1A}^p+{\mathrm{<figure-callout\; id="2"\; label="a"\; filenames="HDA0000130730780000032.png"\; state="\{\{state\}\}">a</figure-callout>}}_2\&CenterDot;{\mathrm{Cor}}_{1B}^p+\&CenterDot;\&CenterDot;\&CenterDot;---\left(5\right)$

Wherein, a ₁, a ₂... be the fitting coefficient that the non-poor correction of rover station calculates, can follow to calculate according to the relative position between rover station and base station, similar with traditional interpolation approximating method.It should be noted that: they need to meet relational expression:

a ₁+a ₂+…＝1 (6)

The number of fitting coefficient equals selected base station number, generally equals 3, selects three nearer base stations of distance users to carry out matching.

The Correction of Errors number of the non-poor Pseudo-range Observations obtaining in step 105, employing step 104 carries out non-poor error correction to the non-poor pseudorange observation equation of the rover station obtaining in step 102, obtains the non-poor pseudorange observation equation after user's error correction.

Be specifically described as an example of the non-poor Pseudo-range Observations of L1 of the satellite p of rover station place example, in conjunction with expression formula (3)-(6), its revised non-poor pseudorange observation equation is:

$P_{\mathrm{lU}}^p+{\mathrm{Cor}}_{1U}^p=({\mathrm{\&rho;}}_U^p+I_{1U}^p+T_U^p+C\&CenterDot;({\mathrm{Tr}}_U-{\mathrm{Ts}}^p)+{\mathrm{\&epsiv;}}_{1U}^p)+{\mathrm{Cor}}_{1U}^p$

${\mathrm{\&rho;}}_U^p+(I_{1U}^p+T_U^p+C\&CenterDot;({\mathrm{Tr}}_U-{\mathrm{Ts}}^p)+{\mathrm{\&epsiv;}}_{1U}^p)+a_1(C\&CenterDot;({\mathrm{Ts}}^p-{\mathrm{Tr}}_A)-I_{1A}^p-T_A^p-{\mathrm{\&epsiv;}}_{1A}^p)$

$+a_2\&CenterDot;(C\&CenterDot;({\mathrm{Ts}}^p-{\mathrm{Tr}}_B)-I_{1B}^p-T_B^p\text{-}{\mathrm{\&epsiv;}}_{1B}^p)+\&CenterDot;\&CenterDot;\&CenterDot;$

$={\mathrm{\&rho;}}_U^p+C\&CenterDot;{{\mathrm{Tr}}^{\&prime;}}_U+{{\mathrm{\&epsiv;}}^{\&prime;}}_{1U}^p$

Wherein most errors have been eliminated or have been weakened, only remaining indivedual residual errors; Tr ' _uwith

represent respectively the non-poor pseudorange observation noise error of non-difference revised rover station receiver clock correction and receiver hardware delay error and the revised L1 of non-difference.

Tr′ _U＝Tr _U-a ₁·Tr _A-a ₂·Tr _B-… (8)

${{\mathrm{\&epsiv;}}^{\&prime;}}_{1U}^p={\mathrm{\&epsiv;}}_{1U}^p-a_1\&CenterDot;{\mathrm{\&epsiv;}}_{1A}^p-a_2\&CenterDot;{\mathrm{\&epsiv;}}_{1B}^p-\&CenterDot;\&CenterDot;\&CenterDot;---\left(9\right)$

Expression formula (7) is arranged and summed up, and at user coordinates initial value (X _u0, Y _u0, Z _u0) locate to adopt Taylor series linearization to launch, ignore high-order term, there is the non-poor pseudorange observation equation of final user:

$H_U^n\&CenterDot;\mathrm{\&delta;X}+C\&CenterDot;{{\mathrm{Tr}}^{\&prime;}}_U=P_{\mathrm{iU}}^n+{\mathrm{Cor}}_{\mathrm{iU}}^n-{\mathrm{\&rho;}}_{U0}^n-{{\mathrm{\&epsiv;}}^{\&prime;}}_{\mathrm{iU}}^n---\left(10\right)$

Wherein H is the direction cosine matrix of satellite on rover station; δ X is the correction vector of user coordinates initial value;

represent the distance initial value of user to respective satellite; All the other symbol implications are the same.

Step 106, resolve by the non-poor pseudorange observation equation of the rover station after the Correction of Errors of more than four or four satellite (7), can obtain coordinate correction number and the revised receiver user clock correction of rover station.

User's coordinate initial value adds that coordinate correction number obtains user's accurate coordinate value.If precision is inadequate, can be using revised coordinate figure as initial value, repeating step 105 and 106, until convergence.Can find out from expression formula (10): there are four unknown numbers on the equation left side, be respectively three coordinate correction numbers and a revised receiver clock correction, and the right is constant term.Therefore, as long as observe four or four above satellites, set up the equation of at least 4 similar expression formulas (10), resolve system of equations, can complete location.

Step 107, except adopting the direct calculation method in step 105, can also ask poor at two different inter-satellites, eliminate revised receiver clock correction item, and then Simultaneous Equations, resolve, obtain the coordinate correction number of rover station.

User's coordinate initial value adds that coordinate correction number obtains user's accurate coordinate value.If precision is inadequate, can be using revised coordinate figure as initial value, repeating step 105 and 107, until convergence.Resolving so still needs at least to observe four satellites, eliminated revised receiver clock correction item, so the coordinate correction number that only has user finally obtaining because list is poor.

Still describe as an example of the non-poor pseudorange observation equation of satellite p, q in step 105 example.According to expression formula (10), can obtain:

$H_U^p\&CenterDot;\mathrm{\&delta;X}+C\&CenterDot;{{\mathrm{Tr}}^{\&prime;}}_U=P_{\mathrm{iU}}^p+{\mathrm{Cor}}_{\mathrm{iU}}^p-{\mathrm{\&rho;}}_{U0}^p-{{\mathrm{\&epsiv;}}^{\&prime;}}_{\mathrm{iU}}^p---\left(11\right)$

$H_U^q\&CenterDot;\mathrm{\&delta;X}+C\&CenterDot;{{\mathrm{Tr}}^{\&prime;}}_U=P_{\mathrm{iU}}^q+{\mathrm{Cor}}_{\mathrm{iU}}^q-{\mathrm{\&rho;}}_{U0}^q-{{\mathrm{\&epsiv;}}^{\&prime;}}_{\mathrm{iU}}^q---\left(12\right)$

Expression formula (11), (12) are subtracted each other, can eliminate the remaining clock correction Tr ' of rover station _u, obtain the poor pseudorange observation equation of the list expression formula (13) of rover station.

$H_U^{\mathrm{pq}}\&CenterDot;\mathrm{\&delta;X}=P_{\mathrm{iU}}^{\mathrm{pq}}+{\mathrm{Cor}}_{\mathrm{iU}}^{\mathrm{pq}}-{\mathrm{\&rho;}}_{\mathrm{<figure-callout\; id="0"\; label="U"\; filenames="HDA0000130730780000041.png"\; state="\{\{state\}\}">U</figure-callout>}0}^{\mathrm{pq}}-{{\mathrm{\&epsiv;}}^{\&prime;}}_{\mathrm{iU}}^{\mathrm{pq}}---\left(14\right)$

Wherein subscript pq represents single poor operational character, (*) ^pq=(*) ^p-(*) ^q; All the other symbol implications are constant.

Compared with traditional pseudorange one-point positioning method, the present invention uses base station net that the Correction of Errors number of non-poor Pseudo-range Observations is provided to user, user is located be not subject to satellite clock correction and hardware delay, receiver clock correction and hardware delay, tropospheric delay, the impact of ionosphere delay and satellite orbital error, makes pseudorange location more accurate.And compared with the network differential method of current two differential mode formulas, operating type of the present invention is more flexible, does not need to select main reference station, it is more convenient that the correcting information of base station is broadcast, and is applicable to different user's station-keeping modes.

In order to verify the practicality of method in the present invention, adopt the measured data of some provincial base station nets to carry out the check of the inventive method, as shown in Figure 3.This test observation time is 24 hours, and sampling interval is 5 seconds, selects one of them as measuring station, selects three base stations in addition at periphery, as base station net, corrects for monitoring station provides non-poor pseudorange.By method of the present invention, this test figure is processed, final positioning error is respectively as shown in Fig. 4, Fig. 5, Fig. 6.Wherein N represents North and South direction, and E represents east-west direction, and U represents vertical direction.Because the coordinate of monitoring station is accurately known, so what provide in Fig. 4-6 is the location true error of each epoch.Result in Fig. 4-6 is carried out to probability statistics, and the RMS that can obtain positioning error in tri-directions of N, E and U is respectively 0.31779 meter, 0.37126 meter and 0.77026 meter.Result by the measured datas of 24 hours shows: the method in the present invention can realize the real-time pseudo range difference location of decimeter grade precision.

The above; be only the specific embodiment of the present invention, but protection scope of the present invention is not limited to this, any be familiar with those skilled in the art the present invention disclose technical scope in; can expect easily changing or replacing, within all should being encompassed in protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain described in claim.

Claims (2)

1. a satnav pseudo range difference method, is characterized in that, comprising:

Utilize the observation data of base station net to obtain the Correction of Errors number of the non-poor Pseudo-range Observations of each base station;

Correction of Errors number to the non-poor Pseudo-range Observations of the each satellite in base station place is processed, calculate the Correction of Errors number of the non-poor Pseudo-range Observations of the each satellite in rover station place, the various error effects that wherein the Correction of Errors number of the non-poor Pseudo-range Observations of the each satellite in rover station place has comprised Pseudo-range Observations;

Adopt the Correction of Errors number of the non-poor Pseudo-range Observations of the each satellite in rover station place, initiate the flow process of the pseudorange location of rover station;

The Correction of Errors number of the non-poor Pseudo-range Observations of the each satellite in base station place

expression formula as follows:

${\mathrm{Cord}}_{\mathrm{im}}^n={\mathrm{\&rho;}}_m^n-P_{\mathrm{im}}^n$

The Correction of Errors number of the non-poor Pseudo-range Observations of the each satellite in rover station place is the summation of the numerical value that obtains after the correction of the non-poor Pseudo-range Observations of corresponding this satellite of selected base station multiplies each other with fitting coefficient separately, and wherein all the summation of fitting coefficients is 1;

The flow process of initiating the pseudorange location of rover station, comprising:

The non-poor pseudorange observation equation that the Correction of Errors of the non-poor Pseudo-range Observations of the each satellite in employing rover station place is counted the each satellite in flow station place carries out non-poor error correction, obtain revised non-poor pseudorange observation equation, the expression formula of wherein said revised non-poor pseudorange observation equation is as follows:

$H_U^n\&CenterDot;\mathrm{\&delta;X}+C\&CenterDot;{{\mathrm{Tr}}^{\&prime;}}_U=P_{\mathrm{iU}}^n+{\mathrm{Cor}}_{\mathrm{iU}}^n-{\mathrm{\&rho;}}_{U0}^n-{{\mathrm{\&epsiv;}}^{\&prime;}}_{\mathrm{iU}}^n$

Obtaining after the expression formula of revised non-poor pseudorange observation equation, by at least four satellites of observation, obtain four revised non-poor pseudorange observation equations, the non-poor pseudorange observation equation obtaining is calculated, obtain coordinate correction number and the revised receiver user clock correction of rover station;

Wherein, subscript i represents signal frequency, for distinguishing different frequencies; Subscript m represents the numbering of base station, for distinguishing different base stations; Subscript n represents satellite numbering, for distinguishing different satellites; P represents non-poor satellite Pseudo-range Observations, and unit is rice; ρ represents the geometric distance between survey station and satellite, and unit is rice; H is the direction cosine matrix of satellite on rover station; δ X is the correction vector of user coordinates initial value; Tr' _urepresent non-difference revised rover station receiver clock correction and receiver hardware delay error;

represent the distance initial value of user to respective satellite; represent the revised non-poor pseudorange observation noise error in i signal frequency of non-difference; C represents the light velocity in vacuum, and unit is meter per second; U represents rover station, to distinguish over base station.

2. method according to claim 1, is characterized in that, initiates the flow process of the pseudorange location of rover station, also comprises:

The non-poor pseudorange observation equation that the Correction of Errors of the non-poor Pseudo-range Observations of the each satellite in employing rover station place is counted the each satellite in flow station place carries out non-poor error correction, obtain revised non-poor pseudorange observation equation, the expression formula of wherein said revised non-poor pseudorange observation equation is as follows:

$H_U^n\&CenterDot;\mathrm{\&delta;X}+C\&CenterDot;{{\mathrm{Tr}}^{\&prime;}}_U=P_{\mathrm{iU}}^n+{\mathrm{Cor}}_{\mathrm{iU}}^n-{\mathrm{\&rho;}}_{U0}^n-{{\mathrm{\&epsiv;}}^{\&prime;}}_{\mathrm{iU}}^n$

Wherein, H is the direction cosine matrix of satellite on rover station; δ X is the correction vector of user coordinates initial value; Tr' _urepresent non-difference revised rover station receiver clock correction and receiver hardware delay error;

represent the distance initial value of user to respective satellite;

represent the revised non-poor pseudorange observation noise error in i signal frequency of non-difference; C represents the light velocity in vacuum, and unit is meter per second; P represents non-poor satellite Pseudo-range Observations, and unit is rice; Subscript n represents satellite numbering, for distinguishing different satellites; Subscript i represents signal frequency, for distinguishing different frequencies; U represents rover station, to distinguish over base station;

Adopt the expression formula of the non-poor pseudorange observation equation of the first satellite p of rover station place and the second satellite q, obtain the poor pseudorange observation equation of list of rover station, the poor pseudorange observation equation of the list expression formula of wherein said rover station is as follows:

$H_U^{\mathrm{pq}}\&CenterDot;\mathrm{\&delta;X}=P_{\mathrm{iU}}^{\mathrm{pq}}+{\mathrm{Cor}}_{\mathrm{iU}}^{\mathrm{pq}}-{\mathrm{\&rho;}}_{U0}^{\mathrm{pq}}-{{\mathrm{\&epsiv;}}^{\&prime;}}_{\mathrm{iU}}^{\mathrm{pq}}$

Wherein, (*) ^pq=(*) ^p-(*) ^q;

After the poor pseudorange observation equation of the list that obtains rover station expression formula, by least four satellites of observation, set up the poor pseudorange observation equation of list of each satellite, the poor pseudorange observation equation of the list obtaining is calculated, obtain the coordinate correction number of rover station.

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