阅读说明：本技术 双差模糊度的约束方法、存储介质和装置 (Double-difference ambiguity constraint method, storage medium and device ) 是由 王浩 杜洪伟 于 2019-11-07 设计创作，主要内容包括：本发明涉及通信技术领域,公开了一种双差模糊度的约束方法,根据预存的双差模糊度集合确定参考模糊度；监测参考星变换和/或周跳；若发生参考星变换和/或周跳,则将通过ratio检验的双差模糊度输出；若未发生参考星变换和/或周跳,且通过ratio检验的双差模糊度等于参考模糊度时,输出。相应地,公开了存储有执行双差模糊度的约束方法计算机程序的存储介质。还公开了双差模糊度的生成装置。本发明的一些技术效果在于：解决模糊度通过ratio检验后,依旧存在固定错误的问题。(The invention relates to the technical field of communication, and discloses a double-difference ambiguity constraint method, which comprises the steps of determining a reference ambiguity according to a pre-stored double-difference ambiguity set; monitoring reference star changes and/or cycle slip; if the reference star transform and/or the cycle slip occur, outputting the double-difference ambiguity passing through the ratio test; and if the reference star transform and/or cycle slip does not occur and the double-difference ambiguity passing the ratio test is equal to the reference ambiguity, outputting. Accordingly, a storage medium storing a computer program for executing the method of constraining double-difference ambiguities is disclosed. A device for generating double-difference ambiguities is also disclosed. Some technical effects of the invention are as follows: the problem that the ambiguity still has fixed errors after passing through ratio inspection is solved.)

1. The method for constraining the double-difference ambiguity is characterized by comprising the following steps of:

determining reference ambiguity according to a pre-stored double-difference ambiguity set;

monitoring reference star changes and/or cycle slip;

if the reference star transform and/or the cycle slip occur, outputting the double-difference ambiguity passing through the ratio test;

and if the reference star transform and/or cycle slip does not occur and the double-difference ambiguity passing the ratio test is equal to the reference ambiguity, outputting.

2. The method of claim 1, wherein: the pre-stored double-difference ambiguity set is a chain queue with the length of n.

3. The method of claim 2, wherein: and if the chained queue pair is full and the occurrence frequency of a certain double-difference ambiguity value in the queue is more than n/2, setting the double-difference ambiguity value as a reference ambiguity.

4. The method of claim 2, wherein: the chain queue:

① when the actual length of the queue is less than n, saving the ambiguity which passes the ratio test at present, and updating the queue;

② when the actual length of the queue is larger than or equal to n, the current output ambiguity is saved, and the queue is updated.

5. The method of claim 2, wherein: n is more than or equal to 3 and less than or equal to 10.

6. The method of claim 1, wherein: when m epochs are output without ambiguity, the double-difference ambiguity set is reset.

7. The method of claim 6, wherein: m is more than or equal to 3 and less than or equal to 10.

8. A readable storage medium, characterized in that: the readable storage medium has stored thereon a computer program for execution by a processor to perform the method of any one of claims 1 to 7.

9. The constraint device of double-difference ambiguity is characterized in that:

the device comprises a monitoring unit, a storage unit and a constraint unit;

the monitoring unit is used for monitoring reference star change and/or cycle slip;

the storage unit is used for storing and updating the double-difference ambiguity set and selecting and confirming the reference ambiguity;

the constraint unit is used for constraining the double-difference ambiguity which passes the ratio test according to the monitoring result of the monitoring unit: when reference star transformation and/or cycle slip occur, outputting double-difference ambiguity passing through ratio test; and outputting when the reference star transform and/or the cycle slip do not occur and the double-difference ambiguity passing the ratio test is equal to the reference ambiguity.

10. The apparatus of claim 9, wherein: the apparatus performs the double-difference ambiguity constraint method of any one of claims 1 to 7.

Technical Field

The invention relates to the technical field of satellite navigation and positioning, in particular to a double-difference ambiguity constraint method, a storage medium and a device.

Background

The GNSS integer ambiguity resolution is the core content for carrying out centimeter-millimeter-level high-precision positioning by utilizing a carrier phase observation value, and comprises an ambiguity estimation part and an ambiguity confirmation part. Wherein, the ambiguity estimation comprises two steps: firstly, obtaining a floating solution of ambiguity and precision information thereof through standard least square calculation; then, a certain search algorithm is adopted to fix the floating ambiguity as an integer, and the method belongs to the problem of integer least square. The ambiguity confirmation is to judge whether the estimated integer ambiguity can be accepted as a correct ambiguity value from the viewpoint of probability statistics, and belongs to the hypothesis test problem.

In reality, the double-difference ambiguity confirmation generally adopts ratio test, and the ambiguity passing through the ratio test can be used for positioning calculation. However, in practice, there is still a fixed error problem after the ambiguity passes the ratio test.

Disclosure of Invention

In order to solve the problem that the ambiguity still has fixed errors after passing through ratio inspection, the invention provides a double-difference ambiguity constraint method, which has the technical scheme as follows:

the method comprises the following steps: determining reference ambiguity according to a pre-stored double-difference ambiguity set; monitoring reference star changes and/or cycle slip; if the reference star transform and/or the cycle slip occur, outputting the double-difference ambiguity passing through the ratio test; and if the reference star transform and/or cycle slip does not occur and the double-difference ambiguity passing the ratio test is equal to the reference ambiguity, outputting.

Preferably, the ambiguity set is a chained queue of length n.

Preferably, when the chained queue pair is full and a certain double-difference ambiguity value exists in the queue for a frequency > n/2, the current double-difference ambiguity value is set as the reference ambiguity.

Preferably, the chained queue updating method comprises ① storing the double-difference ambiguity which passes the ratio test at present when the actual length of the queue is less than n, and updating the queue, and ② storing the currently output double-difference ambiguity when the actual length of the queue is more than or equal to n, and updating the queue.

Preferably, 3. ltoreq. n.ltoreq.10.

Preferably, the double difference ambiguity set is reset when no double difference ambiguities are output for consecutive m epochs.

Preferably, 3. ltoreq. m.ltoreq.10.

Accordingly, a readable storage medium is disclosed, having stored thereon a computer program for execution by a processor to perform the aforementioned method.

Also disclosed is a double-difference ambiguity constraint device, which comprises a monitoring unit, a storage unit and a constraint unit; the monitoring unit is used for monitoring reference star change and/or cycle slip; the storage unit is used for storing and updating the double-difference ambiguity set and selecting and confirming the reference ambiguity; the constraint unit is used for constraining the double-difference ambiguity which passes the ratio test according to the monitoring result of the monitoring unit: when the reference star transform and/or the cycle slip occur, outputting the ambiguity passing through the ratio test; and outputting when the reference star transform and/or the cycle slip do not occur and the ambiguity passing the ratio test is equal to the reference ambiguity.

Preferably, the double-difference ambiguity constraint means performs the aforementioned double-difference ambiguity constraint method.

Some effects of the invention are as follows: the problem that the ambiguity still has fixed errors after passing through ratio inspection is solved.

Drawings

For a better understanding of the technical solution of the present invention, reference is made to the following drawings, which are included to assist in describing the prior art or embodiments. These drawings will selectively demonstrate articles of manufacture or methods related to either the prior art or some embodiments of the invention. The basic information for these figures is as follows:

FIG. 1 is a schematic diagram of a method for constraining double-differenced ambiguities disclosed in some embodiments.

Detailed Description

The technical means or technical effects related to the present invention will be further described below, and it is obvious that the examples provided are only some embodiments of the present invention, and not all embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step, will be within the scope of the present invention based on the embodiments of the present invention and the explicit or implicit representations or hints.

On the general idea, the invention discloses a double-difference ambiguity constraint method, which comprises the following steps: determining reference ambiguity according to a pre-stored double-difference ambiguity set; monitoring reference star changes and/or cycle slip; if the reference star transform and/or the cycle slip occur, outputting the double-difference ambiguity passing through the ratio test; and if the reference star transform and/or cycle slip does not occur and the double-difference ambiguity passing the ratio test is equal to the reference ambiguity, outputting.

The invention provides a method for restraining double-difference ambiguity after ratio inspection based on the theoretical basis that the double-difference ambiguity cannot be transformed on the premise of no cycle slip or reference star transformation, aiming at solving the phenomenon of ambiguity fixing error. The method can obviously reduce the phenomenon of ambiguity fixing errors.

Accordingly, in one embodiment, the present invention provides a readable storage medium storing a computer program thereon for executing the double-difference ambiguity constraint method of the present invention.

Correspondingly, in at least one embodiment, the invention also provides a double-difference ambiguity constraint device, which comprises a monitoring unit, a storage unit and a constraint unit; the monitoring unit is used for monitoring reference star change and/or cycle slip; the storage unit is used for storing and updating the ambiguity set and selecting and confirming the reference ambiguity; the constraint unit is used for constraining the double-difference ambiguity which passes the ratio test according to the monitoring result of the monitoring unit: when reference star transformation and/or cycle slip occur, outputting double-difference ambiguity passing through ratio test; and outputting when the reference star transform and/or the cycle slip do not occur and the double-difference ambiguity passing the ratio test is equal to the reference ambiguity.

Some effects of the invention are as follows: the problem that the ambiguity still has fixed errors after passing through ratio inspection is solved.

GNSS herein refers to global satellite navigation systems, i.e., autonomous geospatial positioning satellite systems covering the world; including the GPS (Global Positioning System); GLONASS, GLONASS system; BDS is the Beidou satellite navigation system; galileo is the Galileo positioning system. The double-difference ambiguity set refers to a set obtained by storing the double-difference ambiguities in a certain epoch in which the checking and the constraint are successful. The reference ambiguity refers to a reference value of the double-difference ambiguity under the current condition selected and confirmed from the double-difference ambiguities according to a certain rule. The ratio test refers to a confirmation method of ambiguity, and generally includes F-ratio test, R-ratio test, and W-ratio test.

In some embodiments, the reference ambiguities are determined from a pre-stored set of double-difference ambiguities; monitoring reference star changes and/or cycle slip; if the reference star transform and/or the cycle slip occur, outputting the double-difference ambiguity passing through the ratio test; and if the reference star transform and/or cycle slip do not occur and the double-difference ambiguity passing the ratio test is equal to the reference ambiguity, outputting the current double-difference ambiguity.

In some embodiments, the reference ambiguities are validated from a pre-stored set of double-difference ambiguities. The double-difference ambiguity set is a set obtained by storing the double-difference ambiguities in a certain epoch in which verification and constraint are successful. And calling the pre-stored double-difference ambiguity from the storage device, and screening and confirming the reference ambiguity according to the set conditions.

In some embodiments, the double-difference ambiguity set is a chain queue of length n. When the chain queue stores the double-difference ambiguity set, the data realizes the queue head entering and the queue tail exiting, and the double-difference ambiguity of the old epoch is replaced by the double-difference ambiguity of the new epoch in time.

In some embodiments, when the chained queue pair is full and a certain double-difference ambiguity value occurs in the queue more than n/2 times, the double-difference ambiguity value is set as the reference ambiguity.

For example, a double-difference ambiguity chain queue of length 4, N in sequence from head to tail₁、N₂、N₃、N₄Four double-difference ambiguities; and when the occurrence frequency of a certain double-difference ambiguity value is more than 2, setting the double-difference ambiguity value as a reference ambiguity. If N₁＝N₂＝N₃Then N may be set₁For reference to ambiguity.

For example, a double-difference ambiguity chain queue of length 9, N in sequence from head to tail₁、N₂、N₃、N₄、N₅、N₆、N₇、N₈、N₉Nine double-difference ambiguities; when a certain double-difference ambiguity value appearsWhen the number of times is greater than 4.5, that is, when the number of times of occurrence of a certain value is greater than or equal to 5, the double-difference ambiguity value is set as the reference ambiguity. If N₁＝N₂＝N₃＝N₄＝N₅Then N may be set₁For reference to ambiguity.

① when the actual length of the queue is less than n, the double-difference ambiguity which passes the ratio test at present is saved, and the queue is updated, at this time, the queue does not store enough historical double-difference ambiguity data, so the double-difference ambiguity which passes the ratio test is not restricted, and the double-difference ambiguity which passes the ratio test is directly saved ② when the actual length of the queue is more than or equal to n, the double-difference ambiguity which is output at present is saved, and the queue is updated.

In some embodiments, the length of the chained queue may be selected as: n is more than or equal to 3 and less than or equal to 10.

In some embodiments, the double difference ambiguity set is reset when there are m consecutive epochs without ambiguity output. This technical step is set up to correct errors in the reference ambiguities. Specifically, when the double-difference ambiguity chain queue pair is full and a certain double-difference ambiguity value N occurs more than N/2 in the queue, the double-difference ambiguity value N is set as the current reference ambiguity. Then in the m epochs that last, no reference star change and/or cycle slip occurs; the double-difference ambiguities, which pass the ratio test, are also not equal to the current reference ambiguities. According to the constraint method, no double-difference ambiguity output exists. At this time, there is a possibility that the reference ambiguity setting is erroneous. Therefore, when m epochs have no ambiguity output continuously, the double-difference ambiguity set is reset; i.e. emptying the set of double-difference ambiguities, storing the double-difference ambiguities again according to the aforementioned update rules, and re-determining the reference ambiguities accordingly.

In some embodiments, 3 ≦ m ≦ 10.

In some embodiments, a readable storage medium is further disclosed, on which a computer program is stored, the computer program being executed by a processor to perform the method for constraining double-difference ambiguities disclosed in all the foregoing embodiments. The storage medium may be a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a Random Access Memory (RAM), a usb disk, a removable hard disk, or the like.

In some embodiments, a double-difference ambiguity constraint device is also disclosed, which comprises a monitoring unit, a storage unit and a constraint unit; the monitoring unit is used for monitoring reference star change and/or cycle slip; the storage unit is used for storing and updating the double-difference ambiguity set and selecting and confirming the reference ambiguity; the constraint unit is used for constraining the double-difference ambiguity which passes the ratio test according to the monitoring result of the monitoring unit: when the reference star transform and/or the cycle slip occur, outputting the ambiguity passing through the ratio test; and when the reference star transform and/or the cycle slip do not occur and the ambiguity passing the ratio test is equal to the reference ambiguity, outputting the current double-difference ambiguity.

In some embodiments, a double-difference ambiguity constraint device is operative to perform the double-difference ambiguity constraint methods disclosed in all of the foregoing embodiments.

The various embodiments or features mentioned herein may be combined with each other as additional alternative embodiments without conflict, within the knowledge and ability level of those skilled in the art, and a limited number of alternative embodiments formed by a limited number of combinations of features not listed above are still within the scope of the present disclosure, as understood or inferred by those skilled in the art from the figures and above.

Finally, it is emphasized that the above-mentioned embodiments, which are typical and preferred embodiments of the present invention, are only used for explaining and explaining the technical solutions of the present invention in detail for the convenience of the reader, and are not used to limit the protection scope or application of the present invention.

Therefore, any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be covered within the protection scope of the present invention.