阅读说明：本技术 卫星导航接收机的检测方法、装置、终端设备及介质 (Detection method and device of satellite navigation receiver, terminal equipment and medium ) 是由 李彩华 罗雷波 黄帅 于 2020-11-20 设计创作，主要内容包括：本申请适用于卫星导航领域,尤其涉及一种卫星导航接收机的检测方法、装置、终端设备及介质。该方法通过第一测站接收机或者第二测站接收机的钟差变率确定第一卫星和第二卫星的星间多普勒,结合第一测站接收机的第一接收机钟差、第二测站接收机第二接收机钟差,确定站/星间载波相位双差的观测值,将该观测值与站/星间载波相位双差的实测值进行比较,当观测值与实测值的差值小于阈值时,判定第一测站接收机和第二测站接收机均为合格,即使在修正测站接收机钟差时也可以对载波相位的测量值的正确性进行判断,能够较为准确地对测站接收机进行检测,进而可以判断测站接收机是否能用于实现高精度导航定位。(The application is applicable to the field of satellite navigation, and particularly relates to a detection method, a detection device, terminal equipment and a medium for a satellite navigation receiver. The method comprises the steps of determining inter-satellite Doppler of a first satellite and a second satellite through clock difference variability of a first station receiver or a second station receiver, determining an observed value of a station/inter-satellite carrier phase double difference by combining the clock difference of the first receiver of the first station receiver and the clock difference of the second station receiver, comparing the observed value with an actual measurement value of the station/inter-satellite carrier phase double difference, judging that the first station receiver and the second station receiver are qualified when the difference value of the observed value and the actual measurement value is smaller than a threshold value, judging the correctness of the measurement value of the carrier phase even when the station receiver clock difference is corrected, accurately detecting the station receiver, and further judging whether the station receiver can be used for realizing high-precision navigation positioning.)

1. A method for detecting a satellite navigation receiver, the method comprising:

acquiring a first receiver clock error of a first station measuring receiver accessed to a zero base line and a second receiver clock error of a second station measuring receiver accessed to the zero base line;

acquiring a first receiver clock difference rate of the first station measuring receiver or a second receiver clock difference rate of the second station measuring receiver;

determining inter-satellite Doppler for the first satellite and the second satellite based on the first receiver clock difference rate when the first station receiver measures the first satellite and the second satellite, or determining inter-satellite Doppler for the first satellite and the second satellite based on the second receiver clock difference rate when the second station receiver measures the first satellite and the second satellite;

determining an observed value of a station/inter-satellite carrier phase double difference according to the first receiver clock difference, the second receiver clock difference and the inter-satellite Doppler;

acquiring a measured value of the station/inter-satellite carrier phase double difference;

and if the difference value between the observed value and the measured value of the station/inter-satellite carrier phase double difference is smaller than a threshold value, determining that both the first station measurement receiver and the second station measurement receiver are qualified.

2. The method of claim 1, wherein obtaining a first receiver clock offset of a first station receiver accessing a null base line and a second receiver clock offset of a second station receiver accessing a null base line comprises:

performing pseudo-range positioning on the first station measurement receiver accessed to a zero base line to obtain a clock error of the first receiver;

performing pseudo-range positioning on the second station measurement receiver accessed to the zero base line to obtain the clock error of the second receiver;

the obtaining a first receiver clock variation rate of the first station receiver or a second receiver clock variation rate of the second station receiver comprises:

performing Doppler constant speed on the first station measuring receiver accessed to the zero base line to obtain the clock error rate of the first receiver;

or Doppler constant speed is carried out on the second station measuring receiver which is accessed to the zero base line, and the clock variation rate of the second receiver is obtained.

3. The method of claim 1, wherein determining inter-satellite doppler for the first satellite and the second satellite based on the first rate of receiver clock variation comprises:

determining a first satellite doppler for the first station receiver and the first satellite and a second satellite doppler between the first station receiver and the second satellite based on the first receiver clock difference rate;

determining inter-satellite Doppler for the first satellite and the second satellite based on the first satellite Doppler and the second satellite Doppler;

the determining inter-satellite Doppler for the first satellite and the second satellite based on the second receiver clock variation rate comprises:

determining a third satellite Doppler for the second rover receiver from the first satellite and a fourth satellite Doppler for the second rover receiver from the second satellite based on the second receiver clock difference rate;

determining inter-satellite Doppler for the first satellite and the second satellite based on the third satellite Doppler and the fourth satellite Doppler.

4. The method of claim 3, wherein the determining inter-satellite Doppler for the first satellite and the second satellite based on the first satellite Doppler and the second satellite Doppler comprises:

acquiring a first satellite clock error when the first satellite transmits a satellite signal to the first station-finding receiver and a second satellite clock error when the second satellite transmits the satellite signal to the first station-finding receiver;

and determining the inter-satellite Doppler between the first satellite and the second satellite according to the first satellite Doppler, the second satellite Doppler, the first satellite clock error and the second satellite clock error.

5. The method of detection according to claim 3, wherein said determining inter-satellite Doppler for the first satellite and the second satellite based on the third satellite Doppler and the fourth satellite Doppler comprises:

acquiring a third satellite clock error when the first satellite transmits a satellite signal to the second station measurement receiver and a fourth satellite clock error when the second satellite transmits the satellite signal to the second station measurement receiver;

and determining the inter-satellite Doppler between the first satellite and the second satellite according to the third satellite Doppler, the fourth satellite Doppler, the third satellite clock error and the fourth satellite clock error.

6. The method according to claim 1, wherein the obtaining the measured value of the double station/inter-satellite carrier phase difference comprises:

acquiring a first carrier phase of the first station measurement receiver to the first satellite, a second carrier phase of the first station measurement receiver to the second satellite, a third carrier phase of the second station measurement receiver to the first satellite and a fourth carrier phase of the second station measurement receiver to the second satellite;

and performing double difference calculation on the first carrier phase, the second carrier phase, the third carrier phase and the fourth carrier phase, and determining that the obtained value of the double difference calculation is the measured value of the double difference of the carrier phases between the stations and the satellites.

7. The method of any of claims 1-6, wherein said determining an observed value of a station/inter-satellite carrier-phase double difference based on the first receiver clock difference, the second receiver clock difference, and the inter-satellite Doppler comprises:

substituting the first receiver clock difference, the second receiver clock difference and the inter-satellite Doppler into a joint detection model to determine an observed value of the station/inter-satellite carrier phase double differences;

wherein, the joint detection model is as follows:

wherein, λ is the carrier phase wavelength, φ is the observed value of the carrier phase double difference between the station and the satellite,the double difference integer ambiguity between carrier phase stations and between satellites,for occasional errors in the double-differenced carrier phase, dopplerⁱ-doppler^jRepresenting an inter-satellite Doppler, dt, of the first satellite and the second satellite_aFor said first receiver clock difference, dt_bFor the second receiver clock offset, a represents the first station receiver, b represents the second station receiver, i represents the first satellite, and j represents the second satellite.

8. A detection apparatus for a satellite navigation receiver, the detection apparatus comprising:

the clock error acquisition module is used for acquiring a first receiver clock error of a first station measurement receiver accessed to the zero base line and a second receiver clock error of a second station measurement receiver accessed to the zero base line;

a clock difference rate obtaining module, configured to obtain a first receiver clock difference rate of the first station measurement receiver or a second receiver clock difference rate of the second station measurement receiver;

an inter-satellite Doppler module, configured to determine inter-satellite Doppler for the first satellite and the second satellite according to the first receiver clock difference rate when the first station receiver measures the first satellite and the second satellite, or determine inter-satellite Doppler for the first satellite and the second satellite according to the second receiver clock difference rate when the second station receiver measures the first satellite and the second satellite;

an observed value determining module, configured to determine an observed value of a station/inter-satellite carrier phase double difference according to the first receiver clock difference, the second receiver clock difference, and the inter-satellite doppler;

a measured value obtaining module, configured to obtain a measured value of the station/inter-satellite carrier phase double difference;

and the qualification judgment module is used for determining that the first station measurement receiver and the second station measurement receiver are qualified if the difference value between the observed value and the measured value of the station/inter-satellite carrier phase double difference is smaller than a threshold value.

9. A terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the detection method according to any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the detection method according to any one of claims 1 to 7.

Technical Field

The present application relates to the field of satellite navigation, and in particular, to a method and an apparatus for detecting a satellite navigation receiver, a terminal device, and a medium.

Background

The survey station receiver is a receiver arranged in a certain survey station, the survey station receiver is used for measuring satellite signals to realize satellite navigation, and the observed value detection of the carrier phase of the survey station receiver determines whether the receiver can realize high-precision navigation positioning when being used for global satellite navigation, so that the survey station receiver has wide application prospects in the fields of geodetic survey, map mapping, road lofting and the like. The observed value detection of the carrier phase of the current station-finding receiver mainly comprises a zero baseline method and an ultra-short baseline method, and although the method can calculate the measurement precision of the carrier phase, the method cannot judge the correctness of the measured value of the carrier phase when the clock error of the receiver is corrected, so that the detection of the station-finding receiver is inaccurate.

Disclosure of Invention

The embodiment of the application provides a detection method, a detection device, terminal equipment and a medium of a satellite navigation receiver, and can solve the problem that whether a measured value of a carrier phase is correct or not cannot be judged when a clock error of a station measurement receiver is corrected in the prior art.

In a first aspect, an embodiment of the present application provides a detection method for a satellite navigation receiver, where the detection method includes:

acquiring a first receiver clock error of a first station measuring receiver accessed to a zero base line and a second receiver clock error of a second station measuring receiver accessed to the zero base line;

acquiring a first receiver clock difference rate of the first station measuring receiver or a second receiver clock difference rate of the second station measuring receiver;

determining inter-satellite Doppler for the first satellite and the second satellite based on the first receiver clock difference rate when the first station receiver measures the first satellite and the second satellite, or determining inter-satellite Doppler for the first satellite and the second satellite based on the second receiver clock difference rate when the second station receiver measures the first satellite and the second satellite;

determining an observed value of a station/inter-satellite carrier phase double difference according to the first receiver clock difference, the second receiver clock difference and the inter-satellite Doppler;

acquiring a measured value of the station/inter-satellite carrier phase double difference;

and if the difference value between the observed value and the measured value of the station/inter-satellite carrier phase double difference is smaller than a threshold value, determining that both the first station measurement receiver and the second station measurement receiver are qualified.

In a second aspect, an embodiment of the present application provides a detection apparatus for a satellite navigation receiver, where the detection apparatus includes:

the clock error acquisition module is used for acquiring a first receiver clock error of a first station measurement receiver accessed to the zero base line and a second receiver clock error of a second station measurement receiver accessed to the zero base line;

a clock difference rate obtaining module, configured to obtain a first receiver clock difference rate of the first station measurement receiver or a second receiver clock difference rate of the second station measurement receiver;

an inter-satellite Doppler module, configured to determine inter-satellite Doppler for the first satellite and the second satellite according to the first receiver clock difference rate when the first station receiver measures the first satellite and the second satellite, or determine inter-satellite Doppler for the first satellite and the second satellite according to the second receiver clock difference rate when the second station receiver measures the first satellite and the second satellite;

an observed value determining module, configured to determine an observed value of a station/inter-satellite carrier phase double difference according to the first receiver clock difference, the second receiver clock difference, and the inter-satellite doppler;

a measured value obtaining module, configured to obtain a measured value of the station/inter-satellite carrier phase double difference;

and the qualification judgment module is used for determining that the first station measurement receiver and the second station measurement receiver are qualified if the difference value between the observed value and the measured value of the station/inter-satellite carrier phase double difference is smaller than a threshold value.

In a third aspect, an embodiment of the present application provides a terminal device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the detection method according to the first aspect when executing the computer program.

In a fourth aspect, embodiments of the present application provide a computer-readable storage medium storing a computer program which, when executed by a processor, implements the drawworks method of the first aspect.

In a fifth aspect, an embodiment of the present application provides a computer program product, which, when running on a terminal device, causes the terminal device to execute the detection method according to the first aspect.

Compared with the prior art, the embodiment of the application has the advantages that: according to the method, inter-satellite Doppler of a first satellite and inter-satellite Doppler of a second satellite are determined through clock difference variability of a first station receiver or a second station receiver, an observed value of a station/inter-satellite carrier phase double difference is determined by combining clock difference of the first station receiver and clock difference of the second station receiver, the observed value is compared with an actual measurement value of the station/inter-satellite carrier phase double difference, and when the difference value of the observed value and the actual measurement value is smaller than a threshold value, the first station receiver and the second station receiver are judged to be qualified.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

Fig. 1 is a schematic flowchart illustrating a detection method of a satellite navigation receiver according to an embodiment of the present disclosure;

fig. 2 is a schematic diagram of a clock difference of a receiver according to an embodiment of the present application over time;

fig. 3 is a schematic diagram of observed values of double differences of carrier phases between stations and satellites over time according to an embodiment of the present application;

fig. 4 is a schematic flowchart of a detection method of a satellite navigation receiver according to a second embodiment of the present application;

fig. 5 is a schematic structural diagram of a detection apparatus of a satellite navigation receiver according to a third embodiment of the present application;

fig. 6 is a schematic structural diagram of a terminal device according to a fourth embodiment of the present application.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to" determining "or" in response to detecting ". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".

Furthermore, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used for distinguishing between descriptions and not necessarily for describing or implying relative importance.

Reference throughout this specification to "one embodiment" or "some embodiments," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," or the like, in various places throughout this specification are not necessarily all referring to the same embodiment, but rather "one or more but not all embodiments" unless specifically stated otherwise. The terms "comprising," "including," "having," and variations thereof mean "including, but not limited to," unless expressly specified otherwise.

The detection method of the satellite navigation receiver provided by the embodiment of the present application can be applied to terminal devices such as a desktop computer, a notebook computer, an ultra-mobile personal computer (UMPC), and the like, and the specific type of the terminal device is not limited in any way in the embodiment of the present application.

It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

In order to explain the technical means of the present application, the following description will be given by way of specific examples.

Referring to fig. 1, which is a flowchart illustrating a detection method of a satellite navigation receiver according to an embodiment of the present disclosure, where the detection method of the satellite navigation receiver is applicable to a terminal device, as shown in fig. 1, the detection method of the satellite navigation receiver may include the following steps:

step S101, a first receiver clock difference of a first station measuring receiver accessed to the zero base line and a second receiver clock difference of a second station measuring receiver accessed to the zero base line are obtained.

The first station measurement receiver is a receiver in the first station measurement, the second station measurement receiver is a receiver in the second station measurement, the first station measurement and the second station measurement are different stations, and the positions of the stations can move; the first station measurement receiver and the second station measurement receiver which are connected with the zero base line indicate that the first station measurement receiver and the second station measurement receiver both receive and measure the same satellite signal, but the sending time of the satellite signal received by the first station measurement receiver is different from the sending time of the satellite signal received by the second station measurement receiver, the clock difference of the first station measurement receiver when receiving the satellite signal is the clock difference of the first receiver, the clock difference of the second station measurement receiver when receiving the satellite signal is the clock difference of the second receiver, and the clock difference is the deviation of the astronomical clock of the station measurement receiver and the accurate time.

The terminal equipment sends a clock difference acquisition instruction to the first station measurement receiver and the second station measurement receiver, and the first station measurement receiver and the second station measurement receiver return the clock difference of the first receiver and the clock difference of the second receiver according to the clock difference acquisition instruction.

Step S102, a first receiver clock rate of the first station-finding receiver is obtained.

The clock difference variability may refer to a change rate of a clock difference of the station receiver with time, the terminal device of the present application further sends an instruction for obtaining the clock difference variability to the first station receiver, and the first station receiver feeds back the clock difference variability of the first receiver (i.e., the first receiver clock difference variability) according to the clock difference variability instruction.

Optionally, the obtaining a first receiver clock difference of a first station measuring receiver accessing the zero baseline and a second receiver clock difference of a second station measuring receiver accessing the zero baseline includes:

performing pseudo-range positioning on a first station measurement receiver accessed to a zero base line to obtain a first receiver clock error;

performing pseudo-range positioning on a second station measurement receiver accessed to a zero base line to obtain a second receiver clock error;

obtaining a first receiver clock rate of a first station measurement receiver comprises:

and performing Doppler constant speed on the first station measuring receiver accessed to the zero baseline to obtain a first receiver clock error rate.

The clock error of the station survey receiver is calculated by the station survey receiver according to the measurement of the satellite signal, the satellite signal is transmitted by the target satellite, and the target satellite can be a satellite for performing pseudo-range positioning and doppler velocity determination on the station survey receiver.

The pseudorange location is formulated as follows:

wherein a represents a first station-finding receiver; s represents a target satellite;a pseudorange to a target satellite for the first rover receiver; t is the local time when the first rover receiver receives the satellite signal; τ is the propagation time of the satellite signal; c is the speed of light; r is^s(t- τ) is the coordinates of the target satellite at the time of satellite signal transmission, r_a(t) coordinates of the first station receiver when receiving satellite signals; dt^s(t-tau) is the satellite clock error of the target satellite when sending satellite signals, and can be calculated by the broadcast ephemeris parameters; dt_a(t) is the receiver clock difference of the first rover receiver when receiving the satellite signals; e.g. of the type_pIs the error of the pseudorange measurement.

The method comprises the steps of collecting a pseudo range of a first station measurement receiver to a target satellite, the local time of the first station measurement receiver when receiving satellite signals, the propagation time of the satellite signals, the light speed, the coordinates of the target satellite when sending the satellite signals, the coordinates of the first station measurement receiver when receiving the satellite signals, the satellite clock error of the target satellite when sending the satellite signals and the error of pseudo range measurement, and combining a pseudo range positioning formula to calculate the receiver clock error (namely the first receiver clock error) of the first station measurement receiver when receiving the satellite signals.

And acquiring a pseudo range of the second station measurement receiver to the target satellite, the local time of the second station measurement receiver when receiving the satellite signal, the propagation time of the satellite signal, the light speed, the coordinate of the target satellite when transmitting the satellite signal, the coordinate of the second station measurement receiver when receiving the satellite signal, the satellite clock error of the target satellite when transmitting the satellite signal and the error of pseudo range measurement, and calculating the receiver clock error (namely the second receiver clock error) of the second station measurement receiver when receiving the satellite signal by combining a pseudo range positioning formula.

The formula for the doppler constant velocity is as follows:

in the formula (I), the compound is shown in the specification,doppler to the target satellite for the first rover receiver; t is the local time of the first station receiver when receiving the satellite signal, tau is the propagation time of the satellite signal, and c is the speed of light; v. of^s(t- τ) is the satellite velocity of the target satellite at the time the satellite signal was transmitted; v. of_a(t) is the receiver velocity of the first rover receiver when receiving the satellite signals;the unit vector from the first station-finding receiver to the target satellite can be obtained by calculating the coordinates of the target satellite and the coordinates of the first station-finding receiver;the receiver clock difference rate of the first station receiver when receiving satellite signals;the satellite clock error rate of the target satellite when transmitting satellite signals can be calculated by the broadcast ephemeris parameters;is the error of the doppler measurement.

The Doppler of the first station measuring receiver to a target satellite, the local time of the first station measuring receiver when receiving satellite signals, the propagation time and the light speed of the satellite signals, the satellite speed of the target satellite when sending the satellite signals, the unit vector from the first station measuring receiver to the target satellite, the satellite clock error rate of the target satellite when sending the satellite signals and the Doppler measurement error are collected, and the receiver clock error rate (namely the first receiver clock error rate) of the first station measuring receiver when receiving the satellite signals can be calculated by combining a Doppler constant speed formula.

And S103, when the first station measuring receiver measures the first satellite and the second satellite, determining the inter-satellite Doppler of the first satellite and the second satellite according to the clock error rate of the first receiver.

In order to obtain inter-satellite doppler in the station measurement receiver, the station measurement receiver needs to be used as a reference object, and the doppler of the first satellite relative to the reference object and the doppler of the second satellite relative to the reference object are respectively calculated.

Optionally, determining the inter-satellite doppler for the first satellite and the second satellite based on the first receiver clock variation rate comprises:

determining a first satellite doppler for the first station receiver and the first satellite and a second satellite doppler for the first station receiver and the second satellite based on the first receiver clock variation rate;

inter-satellite Doppler is determined for the first satellite and the second satellite based on the first satellite Doppler and the second satellite Doppler.

The first satellite doppler may refer to a doppler of the first satellite from the first station receiver, the first receiver clock variation rate may be calculated by substituting the first receiver clock variation rate into an observation equation of the doppler of the first satellite from the first station receiver, the second satellite doppler may refer to a doppler of the first station receiver from the second satellite, and the first receiver clock variation rate may be calculated by substituting the first receiver clock variation rate into an observation equation of the doppler of the first station receiver from the second satellite.

Optionally, determining inter-satellite doppler for the first satellite and the second satellite according to the first satellite doppler and the second satellite doppler comprises:

acquiring a first satellite clock error when a first satellite transmits a satellite signal to a first station-finding receiver and a second satellite clock error when a second satellite transmits the satellite signal to the first station-finding receiver;

and determining the inter-satellite Doppler between the first satellite and the second satellite according to the first satellite Doppler, the second satellite Doppler, the first satellite clock error and the second satellite clock error.

In order to avoid the influence of the satellite clock error on the inter-satellite Doppler calculation result, the first satellite clock error of the first satellite and the second satellite clock error of the second satellite are added in the inter-satellite Doppler calculation, and the calculation formula of the inter-satellite Doppler is as follows:

wherein i denotes a first satellite, j denotes a second satellite,in the form of inter-satellite doppler signals,is the first satellite Doppler，Is the second satellite doppler.

And step S104, determining an observed value of the station/inter-satellite carrier phase double difference according to the first receiver clock difference, the second receiver clock difference and the inter-satellite Doppler.

The observation value of the station/inter-satellite carrier phase double difference can be calculated according to the observation equation of the station/inter-satellite carrier phase double difference, and the observation equation of the station/inter-satellite carrier phase double difference is as follows:

in the formula, lambda is the carrier phase wavelength;the carrier phase double difference integer ambiguity between the station and the satellite;accidental errors that are double differences in carrier phase;measuring the time of satellite signal transmission for the first survey station receiver at the first satellite;measuring the time of satellite signal transmission for the first survey station receiver at the time of the second satellite;measuring the time of satellite signal transmission for the second survey station receiver at the time of the first satellite;the time of transmission of the satellite signal at the second satellite is measured for the second station receiver.

At zero baseline condition, r_a(t)＝r_b(t), substituting the first term on the right side of the above-mentioned observation equation, to which a first order taylor expansion is applied:

since the satellite position can be written as the integral of the initial position of the satellite plus the velocity of the satellite in a short time, then:

the satellite signal transmission time instant can be expressed as the local time of the rover receiver minus the satellite signal propagation delay, and then:

wherein t is the local time of the local clock of the receiver; dt_aA first receiver clock error for a first rover receiver; dt_bA second receiver clock error for a second rover receiver; and r is the geometric distance between the first station receiver and the second station receiver to the first satellite, and under the condition of zero base line, the positions of the first station receiver and the second station receiver are the same.

Thus, the first term on the right of the above observation equation can be rewritten as:

the second term on the right of the above observation equation can be rewritten as:

the above observation equation can be rewritten as:

in the formula, rate of change of distanceThe resulting Doppler is noted as DopplerⁱRate of change of distanceThe resulting Doppler is noted as Doppler^jThus, the final representation of the above observation equation may be:

in the formula, dopplerⁱ-doppler^jIndicating inter-satellite Doppler, dt_aA first receiver clock error for a first rover receiver; dt_bA second receiver clock error for a second rover receiver; and determining an observed value phi of the carrier phase double difference between the station and the satellite according to the clock difference of the first receiver, the clock difference of the second receiver and the Doppler between the satellites.

Optionally, determining an observed value of a station/inter-satellite carrier phase double difference according to the first receiver clock difference, the second receiver clock difference, and the inter-satellite doppler includes:

substituting the clock error of the first receiver, the clock error of the second receiver and the inter-satellite Doppler into a joint detection model to determine an observed value of the carrier phase double differences between the station and the inter-satellite;

wherein, the joint detection model is as follows:

wherein, λ is the carrier phase wavelength, φ is the observed value of the carrier phase double difference between the station and the satellite,the double difference integer ambiguity between carrier phase stations and between satellites,for occasional errors in the double-differenced carrier phase, dopplerⁱ-doppler^jRepresenting inter-satellite Doppler, dt, between a first satellite and a second satellite_aFor a first receiver clock difference, dt, of a first station-finding receiver_bFor a second receiver clock error of a second station receiver, a denotes the first station receiver, b denotes the second station receiver, i denotes the first satellite, and j denotes the second satellite.

Wherein, willAnd when the method is used, the first receiver clock difference, the second receiver clock difference and the inter-satellite Doppler are directly substituted into the joint detection model, so that the observed value of the station/inter-satellite carrier phase double differences can be determined.

Fig. 2 is a schematic diagram of a change of a clock difference of a receiver according to a first embodiment of the present application over time, and fig. 3 is a schematic diagram of a change of an observed value of a station/inter-satellite carrier-phase double difference according to a first embodiment of the present application over time, it can be seen that when the clock difference changes, the observed value of the station/inter-satellite carrier-phase double difference also changes, and the change of the clock difference and the change of the observed value of the station/inter-satellite carrier-phase double difference can prove the effectiveness of the joint detection model.

Step S105, acquiring the measured value of the carrier phase difference between the stations and the satellites.

The measured value of the station/inter-satellite carrier phase double difference may be a value obtained by performing double difference calculation on a carrier phase measured when the station receiver receives and measures a satellite signal, the terminal device sends a carrier phase acquisition instruction to the station receiver, the station receiver returns the measured carrier phase to the terminal device according to the carrier phase acquisition instruction, and the station receiver includes the first station receiver and the second station receiver.

Optionally, the obtaining the measured value of the station/inter-satellite carrier phase double difference includes:

acquiring a first carrier phase of a first satellite by a first station-measuring receiver, a second carrier phase of a second satellite by the first station-measuring receiver, a third carrier phase of the first satellite by the second station-measuring receiver and a fourth carrier phase of the second satellite by the second station-measuring receiver;

and performing double-difference calculation on the first carrier phase, the second carrier phase, the third carrier phase and the fourth carrier phase, and determining that the obtained value of the double-difference calculation is the measured value of the double-difference of the carrier phases between the station and the satellite.

Wherein the first carrier phase may be data measured by the first station receiver when measuring the first satellite, the second carrier phase may be data measured by the first station receiver when measuring the second satellite, the third carrier phase may be data measured by the second station receiver when measuring the first satellite, and the fourth carrier phase may be data measured by the second station receiver when measuring the second satellite, and the double difference calculation formula is as follows:

in the formula (I), the compound is shown in the specification,is the measured value of the carrier phase double difference between the stations/satellites,is the first carrier phase and is,is the phase of the second carrier wave,is the phase of the third carrier wave,is as followsFour carrier phases.

And step S106, if the difference value between the observed value and the measured value of the station/inter-satellite carrier phase double difference is smaller than a threshold value, the first station measurement receiver and the second station measurement receiver are both qualified.

Comparing the observed value of the carrier phase double difference between the station and the satellite with the measured value, and judging whether the difference between the station and the satellite meets the condition, namely whether the difference is smaller than a threshold value, wherein the difference is represented as the difference between the observed value and the measured value; qualified in the present application may mean that it can be used to implement high-precision navigation positioning.

According to the embodiment of the application, the correctness of the measured value of the carrier phase can be judged when the clock error of the station measurement receiver is corrected, the station measurement receiver can be accurately detected, and whether the station measurement receiver can be used for realizing high-precision navigation positioning or not is further judged.

Referring to fig. 4, which is a schematic flowchart of a detection method of a satellite navigation receiver according to a second embodiment of the present disclosure, where the detection method of the satellite navigation receiver is applicable to a terminal device, as shown in fig. 4, the detection method of the satellite navigation receiver may include the following steps:

step S401, a first receiver clock difference of a first station measuring receiver accessed to the zero base line and a second receiver clock difference of a second station measuring receiver accessed to the zero base line are obtained.

The content of step S401 is the same as that of step S101, and reference may be made to the description of step S101, which is not repeated herein.

Step S402, a second receiver clock rate of the second station survey receiver is obtained.

The terminal device of the present application further sends an instruction for obtaining the clock difference variability to the first station measuring receiver, and the first station measuring receiver feeds back the clock difference variability of the first receiver (i.e. the first receiver clock difference variability) according to the instruction for obtaining the clock difference variability.

Optionally, the obtaining a first receiver clock difference of a first station measuring receiver accessing the zero baseline and a second receiver clock difference of a second station measuring receiver accessing the zero baseline includes:

performing pseudo-range positioning on a first station measurement receiver accessed to a zero base line to obtain a first receiver clock error;

performing pseudo-range positioning on a second station measurement receiver accessed to a zero base line to obtain a second receiver clock error;

obtaining a second receiver clock rate of the second station receiver comprises:

and performing Doppler constant velocity on a second station measurement receiver accessed to the zero base line to obtain the clock error rate of the second receiver.

Step S403, when the second station measuring receiver measures the first satellite and the second satellite, determining inter-satellite doppler of the first satellite and the second satellite according to the second receiver clock variation rate.

When the second station receiver is used as a reference object, the inter-satellite Doppler of the first satellite and the second satellite can be calculated according to the second receiver clock difference rate.

Optionally, determining the inter-satellite doppler for the first satellite and the second satellite based on the second receiver clock variation rate comprises:

determining a third satellite Doppler of the second station receiver and the first satellite and a fourth satellite Doppler of the second station receiver and the second satellite according to the second receiver clock difference variability;

and determining the inter-satellite Doppler of the first satellite and the second satellite according to the third satellite Doppler and the fourth satellite Doppler.

The third satellite doppler may refer to a doppler of the second station receiver to the first satellite, the second receiver clock variation rate may be calculated by substituting the second receiver clock variation rate into an observation equation of the second station receiver to the doppler of the first satellite, the fourth satellite doppler may refer to a doppler of the second station receiver to the second satellite, and the second receiver clock variation rate may be calculated by substituting the second receiver clock variation rate into an observation equation of the second station receiver to the doppler of the second satellite.

Optionally, determining inter-satellite doppler for the first satellite and the second satellite according to the third satellite doppler and the fourth satellite doppler comprises:

acquiring a third satellite clock error when the first satellite transmits a satellite signal to the second observation station receiver and a fourth satellite clock error when the second satellite transmits the satellite signal to the second observation station receiver;

and determining the inter-satellite Doppler between the first satellite and the second satellite according to the third satellite Doppler, the fourth satellite Doppler, the third satellite clock error and the fourth satellite clock error.

In order to avoid the influence of the satellite clock error on the inter-satellite Doppler calculation result, the first satellite clock error of the first satellite and the second satellite clock error of the second satellite are added in the inter-satellite Doppler calculation, and the calculation formula of the inter-satellite Doppler is as follows:

wherein i denotes a first satellite, j denotes a second satellite,in the form of inter-satellite doppler signals,is the third satellite-doppler, the doppler,the fourth satellite doppler.

And S404, determining an observed value of the station/inter-satellite carrier phase double difference according to the first receiver clock difference, the second receiver clock difference and the inter-satellite Doppler.

Step S405, a measured value of the station/inter-satellite carrier phase double difference is obtained.

Step S406, if the difference between the observed value and the measured value of the station/inter-satellite carrier phase double difference is smaller than the threshold, the first station measurement receiver and the second station measurement receiver are both qualified.

The contents of steps S404 to S406 are the same as the contents of steps S104 to S106, and the descriptions of steps S104 to S106 can be referred to, and are not repeated herein.

The embodiment of the application provides another mode for calculating the inter-satellite Doppler, namely, the inter-satellite Doppler is not limited to be calculated by a certain observation station receiver, various operable modes are provided for the calculation of the observed value of the station/inter-satellite carrier phase double difference, and the detection of the observation station receiver is favorably realized.

Fig. 5 shows a block diagram of a detection device of a satellite navigation receiver according to a third embodiment of the present application, which corresponds to the detection method of the satellite navigation receiver according to the foregoing embodiment, and only shows the relevant parts of the satellite navigation receiver according to the third embodiment of the present application for convenience of description.

Referring to fig. 5, the detecting device includes:

a clock difference obtaining module 51, configured to obtain a first receiver clock difference of a first station measurement receiver accessing a zero baseline and a second receiver clock difference of a second station measurement receiver accessing the zero baseline;

a clock difference rate obtaining module 52, configured to obtain a first receiver clock difference rate of the first station measurement receiver or a second receiver clock difference rate of the second station measurement receiver;

an inter-satellite doppler module 53, configured to determine inter-satellite doppler of the first satellite and the second satellite according to the first receiver clock difference rate when the first measurement station receiver measures the first satellite and the second satellite, or determine inter-satellite doppler of the first satellite and the second satellite according to the second receiver clock difference rate when the second measurement station receiver measures the first satellite and the second satellite;

an observed value determining module 54, configured to determine an observed value of a station/inter-satellite carrier phase double difference according to the first receiver clock difference, the second receiver clock difference, and the inter-satellite doppler;

an actual measurement value obtaining module 55, configured to obtain an actual measurement value of a station/inter-satellite carrier phase double difference;

and a qualification judging module 56, configured to determine that both the first station survey receiver and the second station survey receiver are qualified if a difference between an observed value and an actually measured value of a station/inter-satellite carrier phase double difference is smaller than a threshold value.

Optionally, the clock difference obtaining module 51 includes:

the first acquisition unit is used for performing pseudo-range positioning on a first station measurement receiver accessed to a zero base line to acquire a first receiver clock error;

the second acquisition unit is used for performing pseudo-range positioning on a second station measurement receiver accessed to the zero base line to acquire a second receiver clock error;

the clock-difference-rate obtaining module 52 includes:

a third obtaining unit, configured to perform doppler constant velocity on the first station measurement receiver accessing the zero baseline, and obtain a clock variation rate of the first receiver;

or the fourth obtaining unit is used for performing Doppler constant velocity on the second station measuring receiver accessed to the zero base line and obtaining the clock variation rate of the second receiver.

Optionally, the inter-satellite doppler module 53 includes:

a first satellite doppler unit to determine a first satellite doppler for the first station receiver and the first satellite and a second satellite doppler for the first station receiver and the second satellite based on the first receiver clock difference rate;

the first inter-satellite Doppler unit is used for determining the inter-satellite Doppler of the first satellite and the second satellite according to the first satellite Doppler and the second satellite Doppler;

or, the second satellite doppler unit is configured to determine a third satellite doppler of the second station receiver from the first satellite and a fourth satellite doppler of the second station receiver from the second satellite according to the second receiver clock difference rate;

and the second inter-satellite Doppler unit is used for determining the inter-satellite Doppler of the first satellite and the second satellite according to the third satellite Doppler and the fourth satellite Doppler.

Optionally, the first inter-satellite doppler unit is specifically configured to:

acquiring a first satellite clock error when a first satellite transmits a satellite signal to a first station-finding receiver and a second satellite clock error when a second satellite transmits the satellite signal to the first station-finding receiver;

and determining the inter-satellite Doppler between the first satellite and the second satellite according to the first satellite Doppler, the second satellite Doppler, the first satellite clock error and the second satellite clock error.

Optionally, the second inter-satellite doppler unit is specifically configured to:

acquiring a third satellite clock error when the first satellite transmits a satellite signal to the second observation station receiver and a fourth satellite clock error when the second satellite transmits the satellite signal to the second observation station receiver;

and determining the inter-satellite Doppler between the first satellite and the second satellite according to the third satellite Doppler, the fourth satellite Doppler, the third satellite clock error and the fourth satellite clock error.

Optionally, the measured value obtaining module 55 includes:

acquiring a first carrier phase of a first satellite by a first station-measuring receiver, a second carrier phase of a second satellite by the first station-measuring receiver, a third carrier phase of the first satellite by the second station-measuring receiver and a fourth carrier phase of the second satellite by the second station-measuring receiver;

and performing double-difference calculation on the first carrier phase, the second carrier phase, the third carrier phase and the fourth carrier phase, and determining that the obtained value of the double-difference calculation is the measured value of the double-difference of the carrier phases between the station and the satellite.

Optionally, the observation value determining module 54 is specifically configured to:

substituting the clock error of the first receiver, the clock error of the second receiver and the inter-satellite Doppler into a joint detection model to determine an observed value of the carrier phase double differences between the station and the inter-satellite;

wherein, the joint detection model is as follows:

in the formula (I), the compound is shown in the specification,lambda is the wavelength of carrier phase, phi is the observed value of the carrier phase double difference between the station and the satellite,the double difference integer ambiguity between carrier phase stations and between satellites,for occasional errors in the double-differenced carrier phase, dopplerⁱ-doppler^jIndicating inter-satellite Doppler, dt, of a first satellite and a second satellite_aFor the first receiver clock difference, dt_bFor the second receiver clock offset, a denotes the first rover receiver, b denotes the second rover receiver, i denotes the first satellite, and j denotes the second satellite.

It should be noted that, because the contents of information interaction, execution process, and the like between the modules are based on the same concept as that of the embodiment of the method of the present application, specific functions and technical effects thereof may be specifically referred to a part of the embodiment of the method, and details are not described here.

Fig. 6 is a schematic structural diagram of a terminal device according to a fourth embodiment of the present application. As shown in fig. 6, the terminal device 6 of this embodiment includes: at least one processor 60 (only one shown in fig. 6), a memory 61, and a computer program 62 stored in the memory 61 and operable on the at least one processor 60, the steps in any of the various satellite navigation receiver detection method embodiments described above being implemented when the computer program 62 is executed by the processor 60.

The terminal device may include, but is not limited to, a processor 60, a memory 61. Those skilled in the art will appreciate that fig. 6 is only an example of the terminal device 6, and does not constitute a limitation to the terminal device 6, and may include more or less components than those shown, or combine some components, or different components, such as an input/output device, a network access device, and the like.

The Processor 60 may be a Central Processing Unit (CPU), and the Processor 60 may be other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory 61 may in some embodiments be an internal storage unit of the terminal device 6, such as a hard disk or a memory of the terminal device 6. The memory 61 may also be an external storage device of the terminal device 6 in other embodiments, such as a plug-in hard disk provided on the terminal device 6, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like. Further, the memory 61 may also include both an internal storage unit of the terminal device 6 and an external storage device. The memory 61 is used for storing an operating system, an application program, a BootLoader (BootLoader), data, and other programs, such as program codes of a computer program. The memory 61 may also be used to temporarily store data that has been output or is to be output.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules, so as to perform all or part of the functions described above. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the above-mentioned apparatus may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again. The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow of the method of the embodiments described above can be implemented by a computer program, which can be stored in a computer readable storage medium and can implement the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include at least: any entity or device capable of carrying computer program code, recording medium, computer Memory, Read-Only Memory (ROM), Random-Access Memory (RAM), electrical carrier signals, telecommunications signals, and software distribution media. Such as a usb-disk, a removable hard disk, a magnetic or optical disk, etc. In certain jurisdictions, computer-readable media may not be an electrical carrier signal or a telecommunications signal in accordance with legislative and patent practice.

When the computer program product runs on the terminal device, the steps in the method embodiments can be implemented when the terminal device executes the computer program product.

In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/terminal device are merely illustrative, and for example, a module or a unit may be divided into only one logical function, and may be implemented in other ways, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

The above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.