CN116626732B - Reference star selection method, device and system for non-differential non-combination PPP-RTK ambiguity - Google Patents
Reference star selection method, device and system for non-differential non-combination PPP-RTK ambiguity Download PDFInfo
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- 238000007667 floating Methods 0.000 claims description 19
- 238000010276 construction Methods 0.000 claims description 10
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- 239000005433 ionosphere Substances 0.000 description 3
- 239000005436 troposphere Substances 0.000 description 3
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
- G01S19/44—Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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Abstract
The invention discloses a reference star selecting method, device and system of non-differential non-combination PPP-RTK ambiguity, which are applied to a server side of a GNSS reference station network, wherein the selecting method is used for selecting the reference star according to the observation data corresponding to each satellite, the method comprises the steps of selecting corresponding satellites as reference satellites corresponding to the frequency point types, and constructing double-difference ambiguity according to the selected reference satellites. The selection method is more flexible, is suitable for processing the mixed solution of the multi-frequency data, and is easier to realize the service requirement of the whole system and the whole frequency point; meanwhile, as the selection method can select a plurality of reference satellites, the selection method can ensure the stability of the reference more easily, thereby providing continuous and stable PPP-RTK positioning precision products.
Description
Technical Field
The invention relates to the field of GNSS navigation positioning, in particular to a reference star selection method, device and system of non-differential non-combination PPP-RTK ambiguity.
Background
The non-differential non-combined PPP-RTK technology is a precise dynamic single point positioning technology which relies on a global or regional GNSS reference station network, provides space state domain positioning enhancement information including precise satellite orbit, clock error, phase deviation and pseudo-range deviation, and ionosphere and troposphere delay, and realizes quick fixation of ambiguity.
The implementation of the non-differential non-combination PPP-RTK technology is divided into a terminal and a server, wherein the server usually adopts an S-system rank elimination and deficiency theory to construct a full rank model, and after double-differential ambiguity fixed solution is realized in network solution, a phase deviation product after re-parameterization can be obtained, and a user can realize ambiguity fixed solution according to the phase deviation product. The double-difference ambiguity construction technology is comprised in the above process, and the prior art is constructed by adopting the following two methods:
Firstly, selecting all satellites observed by a certain reference station in a reference station network as a reference, wherein the reference station is a main reference station; and for other reference stations than the main reference station, selecting one satellite observed by the reference station as a reference, and taking the satellite as a reference satellite.
Secondly, selecting a satellite which is commonly seen by all the reference stations from all the common-view satellites observed by the reference station network as a reference star; for the satellite of the non-reference star, a reference station capable of observing the satellite is selected as a main reference station.
The two selection methods are respectively used for constructing double-difference ambiguity by selecting the main reference station and the reference star, so that the whole cycle characteristic of the double-difference ambiguity is recovered. However, the above two selection methods can lead to no reference of frequency point data of part of satellites, and further lead to a phase deviation product of the satellites incapable of providing the frequency point for users, so that the method provided by the prior art cannot realize the service requirement of the full system and full frequency point.
Disclosure of Invention
The invention provides a reference star selection method, a device and a system for non-differential non-combination PPP-RTK ambiguity, which are used for realizing the technical effects of constructing double-differential ambiguity by full-system full-frequency points and further providing a full-system full-frequency point PPP-RTK positioning precision product.
In order to solve the technical problems, the embodiment of the invention provides a reference star selection method of non-differential non-combination PPP-RTK ambiguity, which is applied to a server of a GNSS reference station network and comprises the following steps:
sequentially obtaining observation data corresponding to a plurality of satellite systems; the observed data comprises frequency point types;
And sequentially selecting corresponding satellites as corresponding reference satellites of the frequency point types according to the frequency point types, and constructing double-difference ambiguity according to a plurality of reference satellites.
The ambiguity selection method provided by the invention ensures that each frequency point of each satellite in the reference website contains the corresponding reference satellite to the greatest extent by selecting the reference satellite according to the frequency point, so that the double-difference ambiguity constructed by the selection method can provide a PPP-RTK positioning precise product of the whole system and the whole frequency point. Meanwhile, the reference star selection mode is more flexible, is suitable for processing the situation of multi-frequency data mixed calculation, and is easier to realize the service requirement of the whole system and the whole frequency point.
Meanwhile, because of the reference star selecting mode, when satellite frequency points observed by the reference station are unstable, only the reference star corresponding to the problem frequency point is required to be transformed, and the reference star corresponding to all frequency points of the satellite is not required to be transformed, so that the stability of the reference is easier to ensure, and continuous and stable PPP-RTK positioning precision products can be provided.
As a preferable example, the selecting corresponding satellites as reference satellites according to the frequency point type sequentially includes:
According to a first frequency point, a first frequency point type corresponding to the first frequency point and a first satellite capable of observing the first frequency point are obtained, and the first satellite is selected as a first reference star corresponding to the first frequency point type;
the first satellite is a first satellite capable of observing the first frequency point.
According to the method for selecting the reference star according to the frequency points, the corresponding observation data of the satellites are obtained, the observation data comprise the frequency point types which can be observed by the satellites, when the corresponding reference star is selected according to the first frequency point type, the first satellite which can observe the first frequency point is selected as the first reference star corresponding to the first frequency point, and then the corresponding reference star of the frequency point is selected as the first satellite.
As a preferred example, the building of the corresponding double-difference ambiguity according to the reference star specifically includes:
Utilizing the reference star to eliminate mathematical rank deficiency in a first observation equation, acquiring a corresponding full rank model, integrating parameters in the first observation equation according to the full rank model, acquiring the double-difference ambiguity, acquiring a corresponding second observation equation, and solving the corresponding double-difference ambiguity according to the second observation equation;
the first observation equation is a non-differential non-combination observation equation established by the server according to the received observation data from the reference station.
The reference star selected by the reference star selection method provided by the invention eliminates the mathematical rank deficiency between satellite phase deviation and ambiguity in the first observation equation and between receiver phase deviation and ambiguity, ensures that the double-difference ambiguity obtained by the above two types of rank deficiency eliminated by the reference star selected by the selection method can be recovered to an integer, fully utilizes the whole cycle characteristic of the obtained double-difference ambiguity, further enables the parameter of the second observation equation and the double-difference ambiguity integer obtained after the full rank model of rank deficiency elimination integrates the parameters of the first observation equation, and provides a physical basis for obtaining the corresponding PPP-RTK satellite positioning precise product in the later period.
In the same way, the reference star ambiguity selection method provided by the invention is applied to the service end of the GNSS non-differential non-combination PPP-RTK technology, the service end also receives the observation data from the reference station, and a first observation equation is established according to the observation data, so as to provide a data basis for eliminating rank deficiency in the later period.
As a preferred example, the calculating the corresponding double-difference ambiguity according to the second observation equation specifically includes:
And solving the second observation equation by a least square method or a Kalman filtering method to obtain a floating solution of the double-difference ambiguity, fixing parameters of the floating solution of the double-difference ambiguity to adjust parameters of the second observation equation except the double-difference ambiguity to obtain corresponding adjusted parameters, and providing the adjusted parameters as satellite positioning products for users.
According to the full-rank model constructed by the reference star ambiguity selection method provided by the invention, a second observation equation is obtained, the second observation equation is solved according to a least square method or a Kalman filtering method, a floating solution of double-difference ambiguities can be obtained, and due to the whole-cycle characteristic of the double-difference ambiguities, the floating solution of the obtained double-difference ambiguities can be integer although being a floating point number, namely, the parameter fixing is carried out on the floating solution of the so-called double-difference ambiguities.
When the floating solution of the double-difference ambiguity is subjected to parameter fixing, the other parameters except the double-difference ambiguity of the second observation equation are also adjusted to obtain corresponding adjusted parameters, wherein the adjusted parameters are satellite positioning products, the products comprise satellite precise orbit, clock error, phase deviation, pseudo-range deviation, troposphere delay and ionosphere delay, and the products after adjustment are satellite positioning enhancement products of all system full frequency points.
Correspondingly, the invention also provides a reference star selecting device of the non-differential non-combination PPP-RTK ambiguity, which comprises the following steps: the device comprises an acquisition module, a selection module and a construction module;
The acquisition module is used for sequentially acquiring observation data corresponding to a plurality of satellite systems; the observed data comprises frequency point types;
the selection module is used for sequentially selecting the corresponding satellite as the reference star corresponding to each frequency point type according to each frequency point type;
The construction module is used for constructing corresponding double-difference ambiguity according to a plurality of reference stars.
The reference star selecting device of the non-differential non-combination PPP-RTK ambiguity can realize any one of the selecting methods, and a user can adjust various parameters of the device according to the needs.
As a preferred example, the selecting module is configured to sequentially select, according to the frequency point type, a corresponding satellite as a reference satellite corresponding to the frequency point type, specifically:
According to a first frequency point, a first frequency point type corresponding to the first frequency point and a first satellite capable of observing the first frequency point are obtained, and the first satellite is selected as a first reference star corresponding to the first frequency point type;
the first satellite is a first satellite capable of observing the first frequency point.
As a preferred example, the construction module is configured to construct a corresponding double-difference ambiguity according to the reference star, specifically:
Utilizing the reference star to eliminate mathematical rank deficiency in a first observation equation, acquiring a corresponding full rank model, integrating parameters in the first observation equation according to the full rank model to obtain the double-difference ambiguity, acquiring a corresponding second observation equation, and solving the corresponding double-difference ambiguity according to the second observation equation;
the first observation equation is a non-differential non-combination observation equation established by the server according to the received observation data from the reference station.
As a preferred example, the building block is further configured to:
And solving the second observation equation by a least square method or a Kalman filtering method to obtain a floating solution of the double-difference ambiguity, fixing the floating solution of the double-difference ambiguity to adjust parameters of the second observation equation except the double-difference ambiguity to obtain corresponding adjusted parameters, and providing the adjusted parameters as satellite positioning products for users.
Correspondingly, the invention also provides a reference star selection system of the non-differential non-combination PPP-RTK ambiguity, which comprises a memory, a server and a computer program stored on the memory and running on the server, wherein the server realizes the reference star selection method of the non-differential non-combination PPP-RTK ambiguity when processing the computer program.
Drawings
Fig. 1: the flow diagram of one embodiment of a reference star selection method of non-differential non-combination PPP-RTK ambiguity is provided by the invention;
fig. 2: the flow diagram of another embodiment of a reference star selection method of non-differential non-combination PPP-RTK ambiguity is provided by the invention;
Fig. 3: a flow diagram of an embodiment of a method for constructing double-difference ambiguity according to a reference star is provided by the invention;
Fig. 4: the invention provides a structural schematic diagram of an embodiment of a reference star selecting device for non-differential and non-combination PPP-RTK ambiguity.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
Referring to fig. 1, a flowchart of an embodiment of a reference star selection method for non-differential non-combined PPP-RTK ambiguity according to the present invention includes steps 101 to 103, where the steps are as follows:
Step 101: and sequentially acquiring observation data corresponding to a plurality of satellite systems.
In this embodiment, unlike the prior art, which satisfies the construction of double-difference ambiguity by selecting a main reference station and a reference star, the technical scheme of the present invention does not need to select the main reference station, but only needs to select the reference star to complete the construction of double-difference ambiguity. The reference star selecting method provided by the embodiment ensures that each frequency point of each satellite in the reference website contains the corresponding reference star to the greatest extent by selecting the reference star according to the frequency point, so that the double-difference ambiguity constructed by the selecting method can provide a PPP-RTK positioning precise product of the whole system and the whole frequency point. Meanwhile, the reference star selection mode is more flexible, is suitable for processing the situation of multi-frequency data mixed calculation, and is easier to realize the service requirement of the whole system and the whole frequency point.
Meanwhile, because of the reference star selecting mode, when satellite frequency points observed by the reference station are unstable, only the reference star corresponding to the problem frequency point is required to be transformed, and the reference star corresponding to all frequency points of the satellite is not required to be transformed, so that the stability of the reference is easier to ensure, and continuous and stable PPP-RTK positioning precision products can be provided.
In this embodiment, each frequency point that can be observed by a certain satellite, that is, the corresponding observation frequency point type of the satellite, is obtained first. The frequency point type acquisition process is specifically described below by taking a Beidou satellite system as an example. If the satellite model of a certain satellite is the Beidou II satellite, the frequency point types which can be observed by the satellite can be obtained, wherein the frequency point types comprise B1I, B I and B3I; if the satellite model of a certain satellite is the Beidou No. three satellite, the types of the frequency points which can be observed by the satellite can be obtained, wherein the types of the frequency points comprise B1I, B, I, B, C, B a and B2B, and further, if the satellite models are different, the types of the frequency points which can be obtained and correspond to the observation are different.
Step 102: and sequentially selecting the corresponding satellite as the corresponding reference star of each frequency point type according to each frequency point type.
In this embodiment, according to the type of each frequency point obtained in step 101, the corresponding satellite is selected as the reference satellite corresponding to each frequency point. The frequency point type acquisition process is specifically described below by taking a Beidou satellite system as an example. If the selected frequency point type is B1I or B3I, selecting a certain Beidou second satellite or a Beidou third satellite which can observe the frequency point as a reference star corresponding to the frequency point; if the selected frequency point type is B2I, selecting a certain Beidou second satellite capable of observing the frequency point type as a reference star corresponding to the frequency point; if the selected frequency point type is B1C, B a or B2B, selecting a certain Beidou No. three satellite capable of observing the frequency point type as a reference star corresponding to the frequency point. According to different frequency point types, the corresponding satellite types which can be selected as the reference star are different, the mode of selecting the corresponding reference star according to the frequency point can realize that all the frequency points of the whole system contain the reference, and then satellite positioning products of all the frequency points of the whole system can be provided for users in the later period.
In the prior art, a certain satellite is selected as a reference satellite, and all frequency points which can be observed by the satellite are set as references. If the method provided by the prior art is executed, that is, if the selected reference satellite is the Beidou No. two satellite, the frequency points B1C, B a and B2B contained in the rest of the Beidou No. three satellites have no reference; if the selected reference satellite is the Beidou No. three satellite, the frequency points B2I contained in the rest of the Beidou No. two satellites are not referenced. Therefore, the technical scheme of the invention realizes that all frequency points of the whole system contain the reference in a mode of selecting the reference star according to the frequency points.
Step 103: and constructing double-difference ambiguity according to a plurality of reference stars.
In this embodiment, after all the frequency points of the reference star selected according to the selection method have the reference, the selection step of the main reference station in the prior art can be omitted, but the construction of double-difference ambiguity can be realized at the same time, and a data base is provided for obtaining satellite positioning products in the later stage.
As another example of the present embodiment, referring to fig. 2, fig. 2 is a flow chart of another embodiment of a reference star selection method of non-differential non-combination PPP-RTK ambiguity provided in the present invention. In comparison with fig. 1, step 202 in fig. 2 is a specific embodiment of step 102 in fig. 1, where a first frequency point type and a first satellite capable of observing a first frequency point are obtained through a first frequency point, and the first satellite is selected as a first reference satellite of the first frequency point. The technical scheme of the invention does not limit the selection method of the first bit line further, and a user can adjust according to actual needs. The selection mode ensures that all frequency points of all satellites of the reference website contain the corresponding reference satellites, thereby ensuring that a user can obtain PPP-RTK positioning precision products provided by the whole system and the whole frequency points.
As another example of the present invention, referring to fig. 3, fig. 3 is a schematic flow chart of an embodiment of a method for constructing double-difference ambiguity according to the reference star provided in the present invention, as shown in fig. 3, including steps 301 to 302, where the steps are specifically as follows:
Step 301: and eliminating mathematical rank deficiency in a first observation equation by using the reference star, obtaining a corresponding full rank model, integrating parameters in the first observation equation according to the full rank model, obtaining the double-difference ambiguity, and obtaining a corresponding second observation equation.
In this example, the reference star selected by the reference star selection method eliminates mathematical rank deficiency in the first observation equation, fully utilizes the whole-cycle characteristic of the obtained double-difference ambiguity, so that the parameters of the obtained second observation equation and the double-difference ambiguity integer can be estimated after the first observation equation is subjected to parameter integration by the full-rank model subjected to rank deficiency elimination, and provides a physical basis for obtaining the corresponding PPP-RTK satellite positioning precise product in the later stage. The above process is to utilize the S-system theory to perform parameter integration on the first observation equation, and finally obtain the second observation equation, and the parameters of the first observation equation are not solvable, so the parameters are solvable through the above process, namely the second observation equation is obtained. The sight selection method provided by the embodiment is applied to a server of a non-differential non-combination PPP-RTK technology of a GNSS, and the server establishes the first observation equation according to the received observation data from a reference station in a reference station network, so as to provide a physical basis for eliminating rank deficiency in the later stage.
The technical scheme of the invention does not limit the observation data further, and a user can adjust the observation data according to actual needs, and in the embodiment, the observation data mainly comprises Beidou No. two system three-frequency observation data, beidou No. three system five-frequency observation data, GPS system three-frequency observation data, GLONASS system double-frequency observation data and GALILEO system five-frequency observation data. The observed data are all data from satellite transmission which can be observed by a reference station in a reference station network within a service range covered by a service end of the GNSS non-differential non-combination PPP-RTK technology.
The mathematical rank deficiency in the first observation equation includes the following nine classes: the first class of rank deficiency is the rank deficiency among receiver clock error, code deviation and phase deviation; the second class of rank deficiency is the satellite clock error, code deviation and phase deviation interval rank deficiency; the third class of rank deficiency is the rank deficiency between the receiver clock error, the code deviation, the phase deviation and the ionospheric bias delay; the fourth class of rank deficiency is the rank deficiency between satellite clock error, code deviation, phase deviation and ionospheric bias delay; the fifth class of rank deficiency is the rank deficiency between the receiver clock error and the satellite clock error; the sixth class of rank deficiency is the rank deficiency between the receiver code bias and the satellite code bias; the seventh class of rank deficiency is the rank deficiency between the receiver phase deviation and the satellite phase deviation; the eighth class of rank deficiency is the rank deficiency between satellite phase deviation and ambiguity; the ninth class of rank deficiency is the rank deficiency between the receiver phase bias and ambiguity. In the above nine types of rank deficiency, the eighth type of rank deficiency and the ninth type of rank deficiency relate to ambiguity, in order to make the ambiguity obtained after eliminating the rank deficiency be an integer, the mathematical rank deficiency between the ambiguity and the phase deviation in the first observation equation needs to be eliminated by a reference star selecting mode to obtain a corresponding full rank model, and the full rank model after rank deficiency elimination can perform parameter integration on the first observation equation, so that the parameters of the integrated second observation equation can be solved.
Step 302: and solving the second observation equation by a least square method or a Kalman filtering method to obtain a floating solution of the double-difference ambiguity, fixing parameters of the floating solution of the double-difference ambiguity to adjust parameters of the second observation equation except the double-difference ambiguity to obtain corresponding adjusted parameters, and providing the adjusted parameters as satellite positioning products for users.
In this example, a second observation equation is obtained according to the full rank model constructed by the above-mentioned reference star selection method, and the second observation equation is solved according to the least square method or the kalman filtering method, so as to obtain a floating solution of double-difference ambiguity.
When the floating solution of the double-difference ambiguity is subjected to parameter fixing, the other parameters except the double-difference ambiguity of the second observation equation are also adjusted to obtain corresponding adjusted parameters, wherein the adjusted parameters are satellite positioning products, the products comprise satellite precise orbit, clock error, phase deviation, pseudo-range deviation, troposphere delay and ionosphere delay, and the products after adjustment are satellite positioning enhancement products of all system full frequency points.
In order to better explain the working principle and the step flow of a reference star selection method, a reference star selection device and a reference star selection system for non-differential and non-combination PPP-RTK ambiguity, the reference star selection method, the reference star selection device and the reference star selection system can be but are not limited to the relevant descriptions.
Accordingly, referring to fig. 4, fig. 4 is a schematic structural diagram of an embodiment of a reference star selecting device for non-differential and non-combined PPP-RTK ambiguity provided in the present invention. The selecting device comprises: an acquisition module 401, a selection module 402 and a construction module 403;
The acquiring module 401 is configured to sequentially acquire a plurality of satellite corresponding observation data; the observation data comprises frequency point types, and the specific implementation mode is as follows: according to a first frequency point, a first frequency point type corresponding to the first frequency point and a first satellite capable of observing the first frequency point type are obtained, and the first satellite is selected as a first reference star corresponding to the first frequency point type; the first satellite is a first satellite capable of observing the first frequency point.
The selection module 402 is configured to sequentially select, according to the frequency point types, a corresponding satellite as a reference satellite corresponding to the frequency point types;
The building module 403 is configured to build a corresponding double-difference ambiguity according to a plurality of reference stars, and the specific implementation manner is as follows: utilizing the reference star to eliminate mathematical rank deficiency between phase deviation and ambiguity in a first observation equation, acquiring a corresponding full rank model, integrating parameters in the first observation equation according to the full rank model, acquiring the double-difference ambiguity, acquiring a corresponding second observation equation, solving the second observation equation through a least square method or a Kalman filtering method, acquiring a floating solution of the double-difference ambiguity, fixing the floating solution of the double-difference ambiguity, enabling parameters of the second observation equation except the double-difference ambiguity to be adjusted, acquiring corresponding adjusted parameters, and providing the adjusted parameters as satellite positioning products for users; the first observation equation is a non-differential non-combination observation equation established by the server according to the received observation data from the reference station.
The reference star selecting device for the non-differential and non-combination PPP-RTK ambiguity can realize any one of the selecting methods, and a user can adjust various parameters of the device according to requirements.
Correspondingly, the embodiment also provides a reference star selection system of the non-differential non-combination PPP-RTK ambiguity, the selection system comprises a memory, a server and a computer program stored on the memory and running on the server, and the server realizes the reference star selection method of the non-differential non-combination PPP-RTK ambiguity when processing the computer program.
In summary, the invention discloses a reference star selection method, a device and a system of non-differential non-combination PPP-RTK ambiguity, which are applied to a server of a GNSS reference station network. The selection method is more flexible, is suitable for processing the mixed solution of the multi-frequency data, and is easier to realize the service requirement of the whole system and the whole frequency point; meanwhile, as the selection method can select a plurality of reference satellites, the selection method can ensure the stability of the reference more easily, thereby providing continuous and stable PPP-RTK positioning precision products.
The foregoing embodiments have been provided for the purpose of illustrating the general principles of the present invention, and are not to be construed as limiting the scope of the invention. It should be noted that any modifications, equivalent substitutions, improvements, etc. made by those skilled in the art without departing from the spirit and principles of the present invention are intended to be included in the scope of the present invention.
Claims (7)
1. A reference star selection method of non-differential non-combination PPP-RTK ambiguity is characterized in that the method is applied to a server side of a GNSS reference station network;
The selection method comprises the following steps:
sequentially obtaining observation data corresponding to a plurality of satellite systems; the observed data comprises frequency point types;
according to a first frequency point, a first frequency point type corresponding to the first frequency point and a first satellite capable of observing the first frequency point are obtained, the first satellite is selected as a first reference star corresponding to the first frequency point type, and double-difference ambiguity is built according to a plurality of reference stars;
the first satellite is a first satellite capable of observing the first frequency point.
2. The method for selecting a reference star for non-differential non-combined PPP-RTK ambiguity as set forth in claim 1, wherein said constructing a double-differential ambiguity based on said reference star is specifically:
Utilizing the reference star to eliminate mathematical rank deficiency in a first observation equation, acquiring a corresponding full rank model, integrating parameters in the first observation equation according to the full rank model, acquiring the double-difference ambiguity, acquiring a corresponding second observation equation, and solving the corresponding double-difference ambiguity according to the second observation equation;
the first observation equation is a non-differential non-combination observation equation established by the server according to the received observation data from the reference station.
3. The reference star selection method of non-differential non-combined PPP-RTK ambiguity as set forth in claim 2, wherein said solving the corresponding double-differential ambiguity according to said second observation equation is specifically:
And solving the second observation equation by a least square method or a Kalman filtering method to obtain a floating solution of the double-difference ambiguity, fixing parameters of the floating solution of the double-difference ambiguity to adjust parameters of the second observation equation except the double-difference ambiguity to obtain corresponding adjusted parameters, and providing the adjusted parameters as satellite positioning products for users.
4. A reference star choosing device for non-differential non-combined PPP-RTK ambiguity, characterized in that the reference star choosing device comprises: the device comprises an acquisition module, a selection module and a construction module;
The acquisition module is used for sequentially acquiring observation data corresponding to a plurality of satellite systems; the observed data comprises frequency point types;
The selection module is used for acquiring a first frequency point type corresponding to a first frequency point and a first satellite capable of observing the first frequency point according to the first frequency point, and selecting the first satellite as a first reference star corresponding to the first frequency point type; the first satellite is a first satellite capable of observing the first frequency point;
the construction module is used for constructing double-difference ambiguity according to a plurality of reference stars.
5. The reference star choosing device of claim 4, wherein the constructing module is configured to construct a corresponding double-difference ambiguity according to the reference star, specifically:
Utilizing the reference star to eliminate mathematical rank deficiency in a first observation equation, acquiring a corresponding full rank model, integrating parameters in the first observation equation according to the full rank model, acquiring the double-difference ambiguity, acquiring a corresponding second observation equation, and solving the corresponding double-difference ambiguity according to the second observation equation;
The first observation equation is a non-differential non-combination observation equation established by the server according to the received observation data from the reference station.
6. The reference star choosing device for non-differential and non-combined PPP-RTK ambiguity as recited in claim 5, wherein said building block is further configured to:
And solving the second observation equation by a least square method or a Kalman filtering method to obtain a floating solution of the double-difference ambiguity, fixing the floating solution of the double-difference ambiguity to adjust parameters of the second observation equation except the double-difference ambiguity to obtain corresponding adjusted parameters, and providing the adjusted parameters as satellite positioning products for users.
7. A reference star selection system for non-differential non-combined PPP-RTK ambiguity, characterized in that the selection system comprises a memory, a server and a computer program stored on the memory and running on the server, the server implementing a reference star selection method for non-differential non-combined PPP-RTK ambiguity as defined in any one of claims 1-3 when processing the computer program.
Priority Applications (1)
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| CN114545470A (en) * | 2022-02-15 | 2022-05-27 | 国汽大有时空科技(安庆)有限公司 | Cross-network continuous network RTK positioning service method |
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| CN114545470A (en) * | 2022-02-15 | 2022-05-27 | 国汽大有时空科技(安庆)有限公司 | Cross-network continuous network RTK positioning service method |
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