CN102650694A - Medium-long baseline ambiguity resolution method based on BeiDou four-frequency signal - Google Patents

Abstract

The invention discloses a medium-long baseline ambiguity resolution method based on a BeiDou four-frequency signal. The method comprises the following steps of: S1, working out two wide-lane ambiguities by utilizing a four-frequency combination pseudorange and a four-frequency combination carrier; S2, working out the pseudorange of a deionized layer and the delay of a double-difference ionized layer with a frequency point B1 by utilizing the double-difference observed quantities and the corresponding ambiguities of two wide-lane carrier phases; S3, working out two ambiguities related to a fourth frequency according to the pseudorange of the deionized layer and the delay of the double-difference ionized layer with the frequency point B1; and S4, working out the independent ambiguity of a BeiDou four-frequency carrier according to the four ambiguities worked out in the S1-S3. According to the medium-long baseline ambiguity resolution method based on the BeiDou four-frequency signal, under the condition of a medium-long baseline, the independent ambiguity of the four-frequency carrier is rapidly and reliably resolved by adopting the four-frequency combination pseudorange and the four-frequency combination carrier. Compared with a three-frequency method, the ambiguity resolution time is greatly shortened and the ambiguity fixed success rate is effectively increased by the medium-long baseline ambiguity resolution method based on the BeiDou four-frequency signal.

Description

Middle long baseline Ambiguity Solution Methods based on the Big Dipper four frequency signals

Technical field

The present invention relates to GLONASS (Global Navigation SatelliteSystem, GNSS) high-acruracy survey technical field, particularly a kind of middle long baseline Ambiguity Solution Methods based on the Big Dipper four frequency signals.

Background technology

GNSS multifrequency ambiguity resolution is the important step of GNSS high-acruracy survey.Ambiguity resolution mainly contains two kinds of patterns: how much patterns of geometric mode and nothing.

LAMBDA method (Least-squares AMBiguity DecorrelationAdjustment) belongs to geometric mode; At first confirm to contain the search volume of alternative blur level combination; Secondly integer transform and sequential conditional search are carried out in the blur level search volume; At last the blur level optimum solution after the integer conversion is carried out inverse transformation, thereby obtain best blur level.LAMBDA method blur level search speed is very fast, and reliability is higher, but is only applicable to short base measurement.

Under middle long base line condition, because it is bigger influenced by satellite orbit, tropospheric delay, ionosphere delay equal error based on the ambiguity resolution of geometric mode, the success ratio of its ambiguity resolution is lower.Therefore in recent years, three frequency carrier waves mainly concentrated in the applied research aspect the middle long baseline does not have patterns how much.Three early stage frequency ambiguity resolution (Three Carrier AmbiguityResolution; TCAR) method and Ambiguity Solution Methods (the Cascading IntegerResolution that goes forward one by one; CIR) all be based on and do not have how much patterns, adopt recurrence method, progressively calculate the combinational fuzzy degree that wavelength successively decreases, promptly ultra Kuan Xiang, Kuan Xiang, narrow lane ambiguity.Because the CIR method adopts the directly fixing ultra Kuan Xiang of the method that rounds, Kuan Xiang, narrow lane ambiguity nearby, it is bigger influenced by two difference Ionosphere Residual Error, two poor observation noise, and therefore, the CIR method is only applicable to the very-short-reach ambiguity resolution.Adopt TCAR method recursion to calculate ultra Kuan Xiang, Kuan Xiang, narrow lane ambiguity, only receive the multiple measurement noise effect, long baseline ambiguity resolution in can be used for, but the blur level set time is longer.

It is thus clear that said method all has certain limitation during long baseline high-acruracy survey in being applied to GNSS.

Summary of the invention

The technical matters that (one) will solve

The technical matters that the present invention will solve is: under middle long base line condition, how to utilize the Big Dipper four frequency signals to resolve carrier phase ambiguity, to shorten the ambiguity resolution time, effectively improve blur level and be fixed into power.

(2) technical scheme

For solving the problems of the technologies described above, the invention provides a kind of middle long baseline Ambiguity Solution Methods based on the Big Dipper four frequency signals, may further comprise the steps:

S1: utilize four frequently make up pseudorange and four frequently combined carriers calculate two wide lane ambiguities;

S2: utilize the observed quantity of two difference and the corresponding blur level of two wide lane carrier phases, calculate two difference ionosphere delays of deion layer pseudorange and B1 frequency;

S3: the two difference ionosphere delays according to deion layer pseudorange and B1 frequency, calculate two blur leveles with the 4th frequency dependence;

S4: four blur leveles according to S1～S3 calculates are calculated the Big Dipper four independent blur level of carrier wave frequently.

Wherein, said step S1 specifically comprises:

S1.1: structure four makes up pseudorange and four combined carriers frequently frequently;

The observation equation of Big Dipper pseudorange, carrier phase is respectively:

$P_i=\mathrm{\ρ}(t_s,t_r)+C({\mathrm{dt}}_r-{\mathrm{dt}}_s)+d_{\mathrm{orb}}+d_{\mathrm{trop}}+\frac{K}{f_i^2}+M_{\mathrm{Pi}}+{\mathrm{\ϵ}}_{\mathrm{Pi}}---\left(1\right)$

In the formula, subscript i representes carrier wave B _iWith the S relevant parameter, i=1,2,3; P _iBe carrier wave B _iWith the corresponding pseudo range observed quantity of S, unit is a rice; Φ _i, Be respectively carrier wave B _iWith the phase observations amount of S, unit is respectively rice, week; λ _iBe carrier wave B _iWith the wavelength of S, unit is a rice; N _iBe carrier wave B _iWith the integer ambiguity of S, unit is week; Dt _s, dt _rBe respectively satellite clock correction, receiver clock correction, unit is second; C is the light velocity, and unit is a meter per second;

Be carrier wave B _iWith the corresponding ionosphere delay of S, unit is a rice; f _iBe carrier wave B _iWith the frequency of S, unit is a hertz; d _TropBe tropospheric retardation, unit is a rice; M _Pi, M _{Φ i}Be respectively B _iWith the multipath effect of pseudorange, carrier phase on the S frequency, unit is a rice; ε _Pi, ε _{Φ i}Be respectively the observation noise of pseudorange, carrier phase, unit is a rice; ρ is the geometric distance of satellite to receiver antenna, and unit is a rice;

With the week is unit, and the general type of four frequency combined carriers is:

With rice is unit, and the general type of four frequency combined carriers is:

${\mathrm{\Φ}}_{i,j,k,m}=\frac{i\·f_1\·{\mathrm{\Φ}}_1+j\·f_2\·{\mathrm{\Φ}}_2+k\·f_3\·{\mathrm{\Φ}}_3+m\·f_4\·{\mathrm{\Φ}}_4}{i\·f_1+j\·f_2+k\·f_3+m\·f_4}---\left(4\right)$

The blur level of combined carriers, frequency and wavelength are respectively:

N _{i，j，k，m}＝iN ₁+jN ₂+kN ₃+mN ₄ (5)

f _{i，j，k，m}＝if ₁+jf ₂+kf ₃+mf ₄ (6)

${\mathrm{\λ}}_{i,j,k,m}=\frac{C}{f_{i,j,k}}=\frac{{\mathrm{\λ}}_1{\mathrm{\λ}}_2{\mathrm{\λ}}_3{\mathrm{\λ}}_4}{i\·{\mathrm{\λ}}_2{\mathrm{\λ}}_3{\mathrm{\λ}}_4+j\·{\mathrm{\λ}}_1{\mathrm{\λ}}_3{\mathrm{\λ}}_4+k{\mathrm{\λ}}_1{\mathrm{\λ}}_2{\mathrm{\λ}}_4+m{\mathrm{\λ}}_1{\mathrm{\λ}}_2{\mathrm{\λ}}_3}---\left(7\right)$

The general type that four frequencies make up pseudorange is:

$P_{a,b,c,d}=\frac{a\·f_1\·P_1+b\·f_2\·P_2+c\·f_3\·P_3+d\·f_4\·P_4}{a\·f_1+b\·f_2+c\·f_3+d\·f_4}$

The observation equation that four frequencies make up pseudorange and four frequency combined carriers is expressed as respectively:

$P_{a,b,c,d}=\mathrm{\ρ}+C({\mathrm{dt}}_r-{\mathrm{dt}}_s)+d_{\mathrm{orb}}+d_{\mathrm{trop}}+{\mathrm{\β}}_{a,b,c,d}\·\frac{K}{f_1^2}+{\mathrm{\ϵ}}_{P_{a,b,c,d}}---\left(9\right)$

In the formula, Be B1 frequency ionosphere delay, β _{A, b, c, d}And β _{I, j, k, m}Be respectively the ionosphere coefficient of combination pseudorange, combined carriers:

${\mathrm{\β}}_{a,b,c,d}=(\frac{a}{f_1}+\frac{b}{f_2}+\frac{c}{f_3}+\frac{d}{f_4})\·\frac{f_1^2}{f_{a,b,c,d}}---\left(11\right)$

${\mathrm{\β}}_{i,j,k,m}=(\frac{i}{f_1}+\frac{j}{f_2}+\frac{k}{f_3}+\frac{m}{f_4})\·\frac{f_1^2}{f_{i,j,k,m}}---\left(12\right)$

and

were combined pseudorange combination carrier observation noise;

According to the pseudorange combination coefficient (a, b, c, d) (k m), calculates four and frequently makes up pseudorange and four combined carriers frequently for i, j with the carrier combination coefficient;

S1.2: two difference observed quantity of tectonic association pseudorange and combined carriers, equation is following:

$\▿\mathrm{\Δ}{P}_{a,b,c,d}=\▿\mathrm{\Δ\ρ}(t_s,t_r)+\▿\mathrm{\Δ}{d}_{\mathrm{orb}}+\▿\mathrm{\Δ}{d}_{\mathrm{trop}}+{\mathrm{\β}}_{a,b,c,d}\·\frac{\▿\mathrm{\ΔK}}{f_1^2}+\▿\mathrm{\Δ}{M}_P+\▿\mathrm{\Δ}{\mathrm{\ϵ}}_{P_{a,b,c,d}}---\left(13\right)$

S1.3: utilize two difference observed quantity of combination pseudorange and combined carriers to calculate wide lane ambiguity, computing formula is:

$\▿\mathrm{\Δ}{N}_{i,j,k,m}=\mathrm{int}[\frac{{\▿\mathrm{\Δ\Φ}}_{i,j,k,m}-{\▿\mathrm{\ΔP}}_{a,b,c,d}}{{\mathrm{\λ}}_{i,j,k,m}}+\frac{{\mathrm{\β}}_{i,j,k,m}+{\mathrm{\β}}_{a,b,c,d}}{{\mathrm{\λ}}_{i,j,k,m}}\·\frac{\▿\mathrm{\ΔK}}{f_1^2}-\frac{{\▿\mathrm{\Δ\ϵ}}_{{\mathrm{\Φ}}_{i,j,k,m}-{\▿\mathrm{\Δ\ϵ}}_{P_{a,b,c,d}}}}{{\mathrm{\λ}}_{i,j,k,m}}]---\left(15\right)$

In the formula; The two difference of

expression operator, int [] expression rounds up.

Wherein, adopting combination pseudorange

and combined carriers

to calculate wide lane ambiguity

among the step S1 adopts combination pseudorange

and combined carriers

to calculate wide lane ambiguity

Wherein, the formula of two difference ionosphere delays of calculating deion layer pseudorange and B1 frequency is following among the said step S2:

$\▿\mathrm{\Δ\ρ}=\frac{f_2}{f_2-f_3}({\▿\mathrm{\Δ\Φ}}_{i1,j1,k1,m1}-{\▿\mathrm{\ΔN}}_{i1,j1,k1,m1}\·{\mathrm{\λ}}_{i1,j1,k1,m1})---\left(16\right)$

$-\frac{f_3}{f_2-f_3}({\▿\mathrm{\Δ\Φ}}_{i2,j2,k2,m2}-{\▿\mathrm{\ΔN}}_{i2,j2,k2,m2}\·{\mathrm{\λ}}_{i2,j2,k2,m2})$

$\frac{\▿\mathrm{\ΔK}}{f_1^2}=\frac{f_2{f}_3}{f_1(f_2-f_3)}[({\▿\mathrm{\Δ\Φ}}_{i1,j1,k1,m1}-{\▿\mathrm{\ΔN}}_{i1,j1,k1,m1}\·{\mathrm{\λ}}_{i1,j1,k1,m1})---\left(17\right)$

$-({\▿\mathrm{\Δ\Φ}}_{i2,j2,k2,m2}-{\▿\mathrm{\ΔN}}_{i2,j2,k2,m2}\·{\mathrm{\λ}}_{i2,j2,k2,m2})]$

In the formula;

expression deion layer pseudorange, two difference ionosphere delays of

expression B1 frequency, (i1; J1; K1 is m1) with (i2, j2; K2 m2) is the carrier combination coefficient.

Wherein, said step S3 specifically comprises:

S3.1: calculate and the two poor observed quantities of the combined carriers of the 4th frequency dependence, equation is:

${\▿\mathrm{\Δ\Φ}}_{i,j,k,m}=\▿\mathrm{\Δ\ρ}-{\mathrm{\β}}_{i,j,k,m}\·\frac{\▿\mathrm{\ΔK}}{f_1^2}+{\▿\mathrm{\ΔN}}_{i,j,k,m}{\mathrm{\λ}}_{i,j,k,m}+{\▿\mathrm{\Δ\ϵ}}_{{\mathrm{\Φ}}_{i,j,k,m}}---\left(18\right)$

In the formula, (k m) is integer, and m ≠ 0 for i, j;

S3.2: calculate blur level with the 4th frequency dependence:

Two difference ionosphere delay

substitution formulas (18) with deion layer pseudorange

and B1 frequency get blur level

${\▿\mathrm{\ΔN}}_{i,j,k,m}=\mathrm{int}[\frac{{\▿\mathrm{\Δ\Φ}}_{i,j,k,m}-\▿\mathrm{\Δ\ρ}}{{\mathrm{\λ}}_{i,j,k,m}}+\frac{{\mathrm{\β}}_{i,j,k,m}}{{\mathrm{\λ}}_{i,j,k,m}}\·\frac{\▿\mathrm{\ΔK}}{f_1^2}+{\mathrm{\ϵ}}_{{\▿\mathrm{\ΔN}}_{i,j,k,m}}]---\left(19\right)$

In the formula,

is the random noise of blur level

;

S3.3: smoothing processing; Blur level

is carried out 2～3 minutes smoothing processing, can obtain reliably

Wherein, select carrier combination coefficient (0,0 among the step S3;-1; 1) and (1,0 ,-6; 6), calculate blur level

with the 4th frequency dependence

Wherein, the mode of the independent blur level of the said step S4 calculating Big Dipper four frequency carrier waves is:

Four blur leveles

that utilization has calculated and

calculate independent blur level

and

of B1, B2, B3, each carrier wave of S respectively according to formula (20)～(23)

$\▿\mathrm{\Δ}{N}_1=6{\▿\mathrm{\ΔN}}_{\mathrm{0,0},-\mathrm{1,1}}-{\▿\mathrm{\ΔN}}_{-\mathrm{1,0},-\mathrm{6,6}}---\left(20\right)$

${\▿\mathrm{\ΔN}}_2={\▿\mathrm{\ΔN}}_1-{\▿\mathrm{\ΔN}}_{1,-\mathrm{1,0,0}}---\left(21\right)$

${\▿\mathrm{\ΔN}}_3={\▿\mathrm{\ΔN}}_1-{\▿\mathrm{\ΔN}}_{\mathrm{1,0},-\mathrm{1,0}}---\left(22\right)$

${\▿\mathrm{\ΔN}}_4=7\▿\mathrm{\Δ}{N}_{\mathrm{0,0},-\mathrm{1,1}}-({\▿\mathrm{\ΔN}}_{-\mathrm{1,0},-\mathrm{6,6}}+{\▿\mathrm{\ΔN}}_{\mathrm{1,0},-\mathrm{1,0}}).---\left(23\right)$

(3) beneficial effect

The present invention is under middle long base line condition; Adopt four to make up pseudorange and four combined carriers frequently frequently, quickly and reliably calculated the independent blur level of four frequency carrier waves, with respect to three frequency methods; This method has shortened the ambiguity resolution time greatly, has effectively improved blur level and has been fixed into power.

Description of drawings

Fig. 1 is a kind of middle long baseline Ambiguity Solution Methods process flow diagram based on the Big Dipper four frequency signals of the embodiment of the invention;

Fig. 2 is the particular flow sheet of step S101 among Fig. 1;

Fig. 3 is the particular flow sheet of step S103 among Fig. 1.

Embodiment

Below in conjunction with accompanying drawing and embodiment, specific embodiments of the invention describes in further detail.Following examples are used to explain the present invention, but are not used for limiting scope of the present invention.

As shown in Figure 1, the middle long baseline Ambiguity Solution Methods based on the Big Dipper four frequency signals of the present invention comprises:

Step S101 utilizes four frequencies to make up pseudorange and four frequency combined carriers calculate two wide lane ambiguities.As shown in Figure 2, detailed process is following:

1, structure four makes up pseudorange and four combined carriers frequently frequently.

The observation equation of Big Dipper pseudorange, carrier phase is respectively:

$P_i=\mathrm{\ρ}(t_s,t_r)+C({\mathrm{dt}}_r-{\mathrm{dt}}_s)+d_{\mathrm{orb}}+d_{\mathrm{trop}}+\frac{K}{f_i^2}+M_{\mathrm{Pi}}+{\mathrm{\ϵ}}_{\mathrm{Pi}}---\left(1\right)$

In the formula, subscript i representes carrier wave B _iWith the S relevant parameter, i=1,2,3; P _iBe carrier wave B _iWith the corresponding pseudo range observed quantity of S, unit is a rice; Φ _i,

Be respectively carrier wave B _iWith the phase observations amount of S, unit is respectively rice, week; λ _iBe carrier wave B _iWith the wavelength of S, unit is a rice; N _iBe carrier wave B _iWith the integer ambiguity of S, unit is week; Dt _s, dt _rBe respectively satellite clock correction, receiver clock correction, unit is second; C is the light velocity, and unit is a meter per second;

Be carrier wave B _iWith the corresponding ionosphere delay of S, unit is a rice; f _iBe carrier wave B _iWith the frequency of S, unit is a hertz; d _TropBe tropospheric retardation, unit is a rice; M _Pi, M _{Φ i}Be respectively B _iWith the multipath effect of pseudorange, carrier phase on the S frequency, unit is a rice; ε _Pi, ε _{Φ i}Be respectively the observation noise of pseudorange, carrier phase, unit is a rice; ρ is the geometric distance of satellite to receiver antenna, and unit is a rice.

With the week is unit, and the general type of four frequency combined carriers is:

With rice is unit, and the general type of four frequency combined carriers is:

${\mathrm{\Φ}}_{i,j,k,m}=\frac{i\·f_1\·{\mathrm{\Φ}}_1+j\·f_2\·{\mathrm{\Φ}}_2+k\·f_3\·{\mathrm{\Φ}}_3+m\·f_4\·{\mathrm{\Φ}}_4}{i\·f_1+j\·f_2+k\·f_3+m\·f_4}---\left(4\right)$

The blur level of combined carriers, frequency and wavelength are respectively:

N _{i，j，k，m}＝iN ₁+jN ₂+kN ₃+mN ₄ (5)

f _{i，j，k，m}＝if ₁+jf ₂+kf ₃+mf ₄ (6)

${\mathrm{\λ}}_{i,j,k,m}=\frac{C}{f_{i,j,k}}=\frac{{\mathrm{\λ}}_1{\mathrm{\λ}}_2{\mathrm{\λ}}_3{\mathrm{\λ}}_4}{i\·{\mathrm{\λ}}_2{\mathrm{\λ}}_3{\mathrm{\λ}}_4+j\·{\mathrm{\λ}}_1{\mathrm{\λ}}_3{\mathrm{\λ}}_4+k{\mathrm{\λ}}_1{\mathrm{\λ}}_2{\mathrm{\λ}}_4+m{\mathrm{\λ}}_1{\mathrm{\λ}}_2{\mathrm{\λ}}_3}---\left(7\right)$

The general type that four frequencies make up pseudorange is:

$P_{a,b,c,d}=\frac{a\·f_1\·P_1+b\·f_2\·P_2+c\·f_3\·P_3+d\·f_4\·P_4}{a\·f_1+b\·f_2+c\·f_3+d\·f_4}---\left(8\right)$

The observation equation that four frequencies make up pseudorange and four frequency combined carriers is expressed as respectively:

$P_{a,b,c,d}=\mathrm{\ρ}+C({\mathrm{dt}}_r-{\mathrm{dt}}_s)+d_{\mathrm{orb}}+d_{\mathrm{trop}}+{\mathrm{\β}}_{a,b,c,d}\·\frac{K}{f_1^2}+{\mathrm{\ϵ}}_{P_{a,b,c,d}}---\left(9\right)$

In the formula,

Be B1 frequency ionosphere delay, β _{A, b, c, d}And β _{I, j, k, m}Be respectively the ionosphere coefficient of combination pseudorange, combined carriers:

${\mathrm{\β}}_{a,b,c,d}=(\frac{a}{f_1}+\frac{b}{f_2}+\frac{c}{f_3}+\frac{d}{f_4})\·\frac{f_1^2}{f_{a,b,c,d}}---\left(11\right)$

${\mathrm{\β}}_{i,j,k,m}=(\frac{i}{f_1}+\frac{j}{f_2}+\frac{k}{f_3}+\frac{m}{f_4})\·\frac{f_1^2}{f_{i,j,k,m}}---\left(12\right)$

and

were combined pseudorange combination carrier observation noise;

According to the pseudorange combination coefficient (a, b, c, d) (k m), calculates four and frequently makes up pseudorange and four combined carriers frequently for i, j with the carrier combination coefficient.

2, two difference observed quantity of tectonic association pseudorange and combined carriers, equation is following:

$\▿\mathrm{\Δ}{P}_{a,b,c,d}=\▿\mathrm{\Δ\ρ}(t_s,t_r)+\▿\mathrm{\Δ}{d}_{\mathrm{orb}}+\▿\mathrm{\Δ}{d}_{\mathrm{trop}}+{\mathrm{\β}}_{a,b,c,d}\·\frac{\▿\mathrm{\ΔK}}{f_1^2}+\▿\mathrm{\Δ}{M}_P+\▿\mathrm{\Δ}{\mathrm{\ϵ}}_{P_{a,b,c,d}}---\left(13\right)$

3, utilize combination pseudorange and combined carriers to calculate wide lane ambiguity, computing formula is:

$\▿\mathrm{\Δ}{N}_{i,j,k,m}=\mathrm{int}[\frac{{\▿\mathrm{\Δ\Φ}}_{i,j,k,m}-{\▿\mathrm{\ΔP}}_{a,b,c,d}}{{\mathrm{\λ}}_{i,j,k,m}}+\frac{{\mathrm{\β}}_{i,j,k,m}+{\mathrm{\β}}_{a,b,c,d}}{{\mathrm{\λ}}_{i,j,k,m}}\·\frac{\▿\mathrm{\ΔK}}{f_1^2}-\frac{{\▿\mathrm{\Δ\ϵ}}_{{\mathrm{\Φ}}_{i,j,k,m}-{\▿\mathrm{\Δ\ϵ}}_{P_{a,b,c,d}}}}{{\mathrm{\λ}}_{i,j,k,m}}]---\left(15\right)$

In the formula; The two difference of

expression operator, int [] expression rounds up.

For the reliable blur level of calculating, require in the following formula ionosphere and The noise as far as possible little.The success ratio that blur level rounds nearby depends primarily on carrier noise, pseudorange noise and three factors of carrier wavelength.

In the present embodiment, adopt combination pseudorange and combined carriers

to calculate wide lane ambiguity

and adopt combination pseudorange

and combined carriers to calculate wide lane ambiguity

Step S102 utilizes the observed quantities of two difference and the corresponding blur level of two wide lane carrier phases, calculates the two poor ionosphere delays of deion layer pseudorange and B1 frequency.Computing formula is following:

$\▿\mathrm{\Δ\ρ}=\frac{f_2}{f_2-f_3}({\▿\mathrm{\Δ\Φ}}_{i1,j1,k1,m1}-{\▿\mathrm{\ΔN}}_{i1,j1,k1,m1}\·{\mathrm{\λ}}_{i1,j1,k1,m1})---\left(16\right)$

$-\frac{f_3}{f_2-f_3}({\▿\mathrm{\Δ\Φ}}_{i2,j2,k2,m2}-{\▿\mathrm{\ΔN}}_{i2,j2,k2,m2}\·{\mathrm{\λ}}_{i2,j2,k2,m2})$

$\frac{\▿\mathrm{\ΔK}}{f_1^2}=\frac{f_2{f}_3}{f_1(f_2-f_3)}[({\▿\mathrm{\Δ\Φ}}_{i1,j1,k1,m1}-{\▿\mathrm{\ΔN}}_{i1,j1,k1,m1}\·{\mathrm{\λ}}_{i1,j1,k1,m1})---\left(17\right)$

$-({\▿\mathrm{\Δ\Φ}}_{i2,j2,k2,m2}-{\▿\mathrm{\ΔN}}_{i2,j2,k2,m2}\·{\mathrm{\λ}}_{i2,j2,k2,m2})]$

In the formula;

expression deion layer pseudorange, two difference ionosphere delays of

expression B1 frequency, (i1; J1; K1 is m1) with (i2, j2; K2 m2) is the carrier combination coefficient.

Step S103, the two difference ionosphere delays according to deion layer pseudorange and B1 frequency calculate two blur leveles with the 4th frequency dependence.As shown in Figure 3, detailed process is following:

1, the two difference of the combined carriers of calculating and the 4th frequency dependence observed quantities, equation is:

${\▿\mathrm{\Δ\Φ}}_{i,j,k,m}=\▿\mathrm{\Δ\ρ}-{\mathrm{\β}}_{i,j,k,m}\·\frac{\▿\mathrm{\ΔK}}{f_1^2}+{\▿\mathrm{\ΔN}}_{i,j,k,m}{\mathrm{\λ}}_{i,j,k,m}+{\▿\mathrm{\Δ\ϵ}}_{{\mathrm{\Φ}}_{i,j,k,m}}---\left(18\right)$

In the formula, (k m) is integer, and m ≠ 0 for i, j;

2, the blur level of calculating and the 4th frequency dependence:

Two difference ionosphere delay

substitution formulas (18) with deion layer pseudorange

and B1 frequency get blur level

${\▿\mathrm{\ΔN}}_{i,j,k,m}=\mathrm{int}[\frac{{\▿\mathrm{\Δ\Φ}}_{i,j,k,m}-\▿\mathrm{\Δ\ρ}}{{\mathrm{\λ}}_{i,j,k,m}}+\frac{{\mathrm{\β}}_{i,j,k,m}}{{\mathrm{\λ}}_{i,j,k,m}}\·\frac{\▿\mathrm{\ΔK}}{f_1^2}+{\mathrm{\ϵ}}_{{\▿\mathrm{\ΔN}}_{i,j,k,m}}]---\left(19\right)$

In the formula,

is the random noise of blur level ;

3, smoothing processing; Be about to the smoothing processing that blur level was carried out 2～3 minutes, can obtain

reliably

In this method, select carrier combination coefficient (0,0;-1; 1) and (1,0 ,-6; 6), calculate blur level

with the 4th frequency dependence

Step S104 calculates the Big Dipper four independent blur level of carrier wave frequently according to four blur leveles that above-mentioned steps calculates.Four blur leveles

that i.e. utilization has calculated and calculate independent blur level

and

of B1, B2, B3, each carrier wave of S respectively according to formula (20)～(23)

$\▿\mathrm{\Δ}{N}_1=6{\▿\mathrm{\ΔN}}_{\mathrm{0,0},-\mathrm{1,1}}-{\▿\mathrm{\ΔN}}_{-\mathrm{1,0},-\mathrm{6,6}}---\left(20\right)$

${\▿\mathrm{\ΔN}}_2={\▿\mathrm{\ΔN}}_1-{\▿\mathrm{\ΔN}}_{1,-\mathrm{1,0,0}}---\left(21\right)$

${\▿\mathrm{\ΔN}}_3={\▿\mathrm{\ΔN}}_1-{\▿\mathrm{\ΔN}}_{\mathrm{1,0},-\mathrm{1,0}}---\left(22\right)$

${\▿\mathrm{\ΔN}}_4=7\▿\mathrm{\Δ}{N}_{\mathrm{0,0},-\mathrm{1,1}}-({\▿\mathrm{\ΔN}}_{-\mathrm{1,0},-\mathrm{6,6}}+{\▿\mathrm{\ΔN}}_{\mathrm{1,0},-\mathrm{1,0}}).---\left(23\right)$

Four frequency ambiguity resolution times depended primarily on the blur level of the 4th frequency dependence fixes time really.And under three frequency situation, the ambiguity resolution time depends primarily on the resolving time of the 3rd independent blur level.The carrier phase measurement noise got for 2% week, and under four frequency situation, the mean square deviation of the blur level of the 4th frequency dependence was 2.17 weeks; Under three frequency situation, the mean square deviation of the 3rd independent blur level was 12.683 weeks.Therefore, four frequency ambiguity resolution times will have only 1/36 of the three frequency ambiguity resolution times.

Through above technical scheme; Can obtain to draw a conclusion: under middle long base line condition; Use the method for describing among the present invention to carry out ambiguity resolution; Utilize the Big Dipper four observed quantities frequently just can be successfully in several minutes fixing blur level, shortened resolving time of blur level greatly, improved the power that is fixed into of blur level.

Above embodiment only is used to explain the present invention; And be not limitation of the present invention; The those of ordinary skill in relevant technologies field under the situation that does not break away from the spirit and scope of the present invention, can also be made various variations and modification; Therefore all technical schemes that are equal to also belong to category of the present invention, and scope of patent protection of the present invention should be defined by the claims.

Claims (7)

1. the middle long baseline Ambiguity Solution Methods based on the Big Dipper four frequency signals is characterized in that, may further comprise the steps:

S1: utilize four frequently make up pseudorange and four frequently combined carriers calculate two wide lane ambiguities;

S2: utilize the observed quantity of two difference and the corresponding blur level of two wide lane carrier phases, calculate two difference ionosphere delays of deion layer pseudorange and B1 frequency;

S3: the two difference ionosphere delays according to deion layer pseudorange and B1 frequency, calculate two blur leveles with the 4th frequency dependence;

S4: four blur leveles according to S1～S3 calculates are calculated the Big Dipper four independent blur level of carrier wave frequently.

2. the middle long baseline Ambiguity Solution Methods based on the Big Dipper four frequency signals as claimed in claim 1 is characterized in that said step S1 specifically comprises:

S1.1: structure four makes up pseudorange and four combined carriers frequently frequently;

The observation equation of Big Dipper pseudorange, carrier phase is respectively:

$P_i=\mathrm{\ρ}(t_s,t_r)+C({\mathrm{dt}}_r-{\mathrm{dt}}_s)+d_{\mathrm{orb}}+d_{\mathrm{trop}}+\frac{K}{f_i^2}+M_{\mathrm{Pi}}+{\mathrm{\ϵ}}_{\mathrm{Pi}}---\left(1\right)$

In the formula, subscript i representes carrier wave B _iWith the S relevant parameter, i=1,2,3; Pi is carrier wave B _iWith the corresponding pseudo range observed quantity of S, unit is a rice; Φ _i,

Be respectively carrier wave B _iWith the phase observations amount of S, unit is respectively rice, week; λ _iBe carrier wave B _iWith the wavelength of S, unit is a rice; N _iBe carrier wave B _iWith the integer ambiguity of S, unit is week; Dt _s, dt _rBe respectively satellite clock correction, receiver clock correction, unit is second; C is the light velocity, and unit is a meter per second;

Be carrier wave B _iWith the corresponding ionosphere delay of S, unit is a rice; f _iBe carrier wave B _iWith the frequency of S, unit is a hertz; d _TropBe tropospheric retardation, unit is a rice; M _Pi, M _{Φ i}Be respectively B _iWith the multipath effect of pseudorange, carrier phase on the S frequency, unit is a rice; ε _Pi, ε _{Φ i}Be respectively the observation noise of pseudorange, carrier phase, unit is a rice; ρ is the geometric distance of satellite to receiver antenna, and unit is a rice;

With the week is unit, and the general type of four frequency combined carriers is:

With rice is unit, and the general type of four frequency combined carriers is:

${\mathrm{\Φ}}_{i,j,k,m}=\frac{i\·f_1\·{\mathrm{\Φ}}_1+j\·f_2\·{\mathrm{\Φ}}_2+k\·f_3\·{\mathrm{\Φ}}_3+m\·f_4\·{\mathrm{\Φ}}_4}{i\·f_1+j\·f_2+k\·f_3+m\·f_4}---\left(4\right)$

The blur level of combined carriers, frequency and wavelength are respectively:

N _{i，j，k，m}＝iN ₁+jN ₂+kN ₃+mN ₄ (5)

f _{i，j，k，m}＝if ₁+jf ₂+kf ₃+mf ₄ (6)

${\mathrm{\λ}}_{i,j,k,m}=\frac{C}{f_{i,j,k}}=\frac{{\mathrm{\λ}}_1{\mathrm{\λ}}_2{\mathrm{\λ}}_3{\mathrm{\λ}}_4}{i\·{\mathrm{\λ}}_2{\mathrm{\λ}}_3{\mathrm{\λ}}_4+j\·{\mathrm{\λ}}_1{\mathrm{\λ}}_3{\mathrm{\λ}}_4+k{\mathrm{\λ}}_1{\mathrm{\λ}}_2{\mathrm{\λ}}_4+m{\mathrm{\λ}}_1{\mathrm{\λ}}_2{\mathrm{\λ}}_3}---\left(7\right)$

The general type that four frequencies make up pseudorange is:

$P_{a,b,c,d}=\frac{a\·f_1\·P_1+b\·f_2\·P_2+c\·f_3\·P_3+d\·f_4\·P_4}{a\·f_1+b\·f_2+c\·f_3+d\·f_4}---\left(8\right)$

The observation equation that four frequencies make up pseudorange and four frequency combined carriers is expressed as respectively:

$P_{a,b,c,d}=\mathrm{\ρ}+C({\mathrm{dt}}_r-{\mathrm{dt}}_s)+d_{\mathrm{orb}}+d_{\mathrm{trop}}+{\mathrm{\β}}_{a,b,c,d}\·\frac{K}{f_1^2}+{\mathrm{\ϵ}}_{P_{a,b,c,d}}---\left(9\right)$

In the formula, Be B1 frequency ionosphere delay, β _{A, b, c, d}And β _{I, j, k, m}Be respectively the ionosphere coefficient of combination pseudorange, combined carriers:

${\mathrm{\β}}_{a,b,c,d}=(\frac{a}{f_1}+\frac{b}{f_2}+\frac{c}{f_3}+\frac{d}{f_4})\·\frac{f_1^2}{f_{a,b,c,d}}---\left(11\right)$

${\mathrm{\β}}_{i,j,k,m}=(\frac{i}{f_1}+\frac{j}{f_2}+\frac{k}{f_3}+\frac{m}{f_4})\·\frac{f_1^2}{f_{i,j,k,m}}---\left(12\right)$

and

, respectively, for the combination of pseudo-range, the combination of carrier observation noise;

According to the pseudorange combination coefficient (a, b, c, d) (k m), calculates four and frequently makes up pseudorange and four combined carriers frequently for i, j with the carrier combination coefficient;

S1.2: two difference observed quantity of tectonic association pseudorange and combined carriers, equation is following:

$\▿\mathrm{\Δ}{P}_{a,b,c,d}=\▿\mathrm{\Δ\ρ}(t_s,t_r)+\▿\mathrm{\Δ}{d}_{\mathrm{orb}}+\▿\mathrm{\Δ}{d}_{\mathrm{trop}}+{\mathrm{\β}}_{a,b,c,d}\·\frac{\▿\mathrm{\ΔK}}{f_1^2}+\▿\mathrm{\Δ}{M}_P+\▿\mathrm{\Δ}{\mathrm{\ϵ}}_{P_{a,b,c,d}}---\left(13\right)$

S1.3: utilize two difference observed quantity of combination pseudorange and combined carriers to calculate wide lane ambiguity, computing formula is:

${\▿\mathrm{\ΔN}}_{i,j,k,m}=\mathrm{int}[\frac{{\▿\mathrm{\Δ\Φ}}_{i,j,k,m}-{\▿\mathrm{\ΔP}}_{a,b,c,d}}{{\mathrm{\λ}}_{i,j,k,m}}+\frac{{\mathrm{\β}}_{i,j,k,m}+{\mathrm{\β}}_{a,b,c,d}}{{\mathrm{\λ}}_{i,j,k,m}}\·\frac{\▿\mathrm{\ΔK}}{f_1^2}-\frac{{\▿\mathrm{\Δ\ϵ}}_{{\mathrm{\Φ}}_{i,j,k,m}}-{\▿\mathrm{\Δ\ϵ}}_{P_{a,b,c,d}}}{{\mathrm{\λ}}_{i,j,k,m}}]---\left(15\right)$

In the formula; The two difference of

expression operator, int [] expression rounds up.

3. the middle long baseline Ambiguity Solution Methods based on the Big Dipper four frequency signals as claimed in claim 2; It is characterized in that, adopt combination pseudorange

and combined carriers

to calculate wide lane ambiguity

among the step S1 and adopt combination pseudorange

and combined carriers

to calculate wide lane ambiguity

4. the middle long baseline Ambiguity Solution Methods based on the Big Dipper four frequency signals as claimed in claim 3 is characterized in that, the formula of two difference ionosphere delays of calculating deion layer pseudorange and B1 frequency is following among the said step S2:

$\▿\mathrm{\Δ\ρ}=\frac{f_2}{f_2-f_3}({\▿\mathrm{\Δ\Φ}}_{i1,j1,k1,m1}-{\▿\mathrm{\ΔN}}_{i1,j1,k1,m1}\·{\mathrm{\λ}}_{i1,j1,k1,m1})$

$\left(16\right)$

$-\frac{f_3}{f_2-f_3}({\▿\mathrm{\Δ\Φ}}_{i2,j2,k2,m2}-{\▿\mathrm{\ΔN}}_{i2,j2,k2,m2}\·{\mathrm{\λ}}_{i2,j2,k2,m2})$

$\frac{\▿\mathrm{\ΔK}}{f_1^2}=\frac{f_2{f}_3}{f_1(f_2-f_3)}[({\▿\mathrm{\Δ\Φ}}_{i1,j1,k1,m1}-{\▿\mathrm{\ΔN}}_{i1,j1,k1,m1}\·{\mathrm{\λ}}_{i1,j1,k1,m1})---\left(17\right)$

$-({\▿\mathrm{\Δ\Φ}}_{i2,j2,k2,m2}-{\▿\mathrm{\ΔN}}_{i2,j2,k2,m2}\·{\mathrm{\λ}}_{i2,j2,k2,m2})]$

In the formula;

expression deion layer pseudorange; Two difference ionosphere delays of

expression B1 frequency; (i1, j1, k1; M1) and (i2; J2, k2 m2) is the carrier combination coefficient.

5. the middle long baseline Ambiguity Solution Methods based on the Big Dipper four frequency signals as claimed in claim 4 is characterized in that said step S3 specifically comprises:

S3.1: calculate and the two poor observed quantities of the combined carriers of the 4th frequency dependence, equation is:

${\▿\mathrm{\Δ\Φ}}_{i,j,k,m}=\▿\mathrm{\Δ\ρ}-{\mathrm{\β}}_{i,j,k,m}\·\frac{\▿\mathrm{\ΔK}}{f_1^2}+{\▿\mathrm{\ΔN}}_{i,j,k,m}{\mathrm{\λ}}_{i,j,k,m}+{\▿\mathrm{\Δ\ϵ}}_{{\mathrm{\Φ}}_{i,j,k,m}}---\left(18\right)$

In the formula, (k m) is integer, and m ≠ 0 for i, j;

S3.2: calculate blur level with the 4th frequency dependence:

Two difference ionosphere delay

substitution formulas (18) with deion layer pseudorange and B1 frequency get blur level

${\▿\mathrm{\ΔN}}_{i,j,k,m}=\mathrm{int}[\frac{{\▿\mathrm{\Δ\Φ}}_{i,j,k,m}-\▿\mathrm{\Δ\ρ}}{{\mathrm{\λ}}_{i,j,k,m}}+\frac{{\mathrm{\β}}_{i,j,k,m}}{{\mathrm{\λ}}_{i,j,k,m}}\·\frac{\▿\mathrm{\ΔK}}{f_1^2}+{\mathrm{\ϵ}}_{{\▿\mathrm{\ΔN}}_{i,j,k,m}}]---\left(19\right)$

In the formula,

is the random noise of blur level

;

S3.3: smoothing processing; Blur level

is carried out 2～3 minutes smoothing processing, can obtain

reliably

6. the middle long baseline Ambiguity Solution Methods based on the Big Dipper four frequency signals as claimed in claim 5; It is characterized in that, select carrier combination coefficient (0,0 among the step S3;-1; 1) and (1,0 ,-6; 6), calculate blur level

with the 4th frequency dependence

7. the middle long baseline Ambiguity Solution Methods based on the Big Dipper four frequency signals as claimed in claim 6 is characterized in that, the mode that said step S4 calculates the independent blur level of the Big Dipper four frequency carrier waves is:

Four blur leveles

that utilization has calculated and

calculate independent blur level

and

of B1, B2, B3, each carrier wave of S respectively according to formula (20)～(23)

${\▿\mathrm{\ΔN}}_1=6{\▿\mathrm{\ΔN}}_{\mathrm{0,0},-\mathrm{1,1}}-{\▿\mathrm{\ΔN}}_{-\mathrm{1,0},-\mathrm{6,6}}---\left(20\right)$

${\▿\mathrm{\ΔN}}_2={\▿\mathrm{\ΔN}}_1-{\▿\mathrm{\ΔN}}_{1,-\mathrm{1,0,0}}---\left(21\right)$

${\▿\mathrm{\ΔN}}_3={\▿\mathrm{\ΔN}}_1-{\▿\mathrm{\ΔN}}_{\mathrm{1,0},-\mathrm{1,0}}---\left(22\right)$

${\▿\mathrm{\ΔN}}_4=7{\▿\mathrm{\ΔN}}_{\mathrm{0,0},-\mathrm{1,1}}-({\▿\mathrm{\ΔN}}_{-\mathrm{1,0},-\mathrm{6,6}}+{\▿\mathrm{\ΔN}}_{\mathrm{1,0},-\mathrm{1,0}}).---\left(23\right)$

Images