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A ppp-rtk positioning method based on undifferenced observation model and rank deficiency elimination

A PPP-RTK, non-difference observation technology, applied in the field of satellite navigation and precise positioning, can solve the problems of many modes, information sharing mechanism urgently need to be unified and optimized, interface inconsistency, etc.

Active Publication Date: 2021-10-08
INST OF GEODESY & GEOPHYSICS CHINESE ACADEMY OF SCI
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Problems solved by technology

Traditional satellite navigation precision positioning technology has problems such as "many modes", "inconsistent implementation methods", "inconsistent interfaces", and "external information sharing mechanism urgently needs to be unified and optimized".
The PPP-RTK technology developed in recent years is known as the "fourth generation satellite navigation precision positioning technology". Although it has both the advantages of PPP's "flexible positioning method" and RTK's "efficient positioning process", it still cannot meet the multi-frequency Multi-mode application environment and high-precision and efficient location service requirements of single, dual and multi-frequency users

Method used

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  • A ppp-rtk positioning method based on undifferenced observation model and rank deficiency elimination
  • A ppp-rtk positioning method based on undifferenced observation model and rank deficiency elimination
  • A ppp-rtk positioning method based on undifferenced observation model and rank deficiency elimination

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Embodiment

[0090] see figure 1 , a PPP-RTK positioning method based on non-differenced observation model and rank-deficient elimination, the method includes the following steps:

[0091] A. Use the pseudorange and phase observation data of the GNSS system global or regional tracking station network;

[0092] The observation data includes the three-frequency observation data of the Beidou-2 system, the three-frequency observation data of the Beidou-3 system, the dual-frequency observation data of the GPS system, the dual-frequency observation data of the GLONASS system, and the four-frequency observation data of the Galileo system;

[0093] B. Using the pseudo-range and phase observation data of each basic frequency of all stations in the tracking station network, the original observation equation for constructing a single system with multiple frequencies is:

[0094]

[0095] In the above formula, the superscript s represents the satellite; the subscript r represents the receiver; th...

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Abstract

A PPP-RTK positioning method based on a non-difference observation model and rank deficiency elimination, comprising the following steps: selecting pseudorange and phase observation data of a global or regional tracking station network of a GNSS system; using the observation data to construct a single-system multi-frequency original Observation equation: Using the S‑basis elimination rank deficiency theory, the parameters in the original observation equation are reintegrated to eliminate the mathematical rank deficiency in the original observation equation, and a new observation equation is obtained. This design is based on the multi-frequency pseudorange and phase observation data of global or regional GNSS tracking station network, and uses the S-basis elimination rank deficiency theory to construct a full-rank non-difference and non-combination full-parameter estimation model, which realizes satellite clock error, space atmosphere Unified estimation of positioning enhancement parameters such as delay and basic frequency satellite phase deviation, while providing PPP-RTK high-precision positioning enhancement services, it is backward compatible with the service requirements of traditional positioning modes such as PPP and RTK.

Description

technical field [0001] The invention relates to the technical field of satellite navigation precision positioning, in particular to a PPP-RTK positioning method based on a non-difference observation model and rank-deficit elimination. Background technique [0002] The Global Navigation Satellite System (GNSS) was established to provide outdoor positioning, navigation and timing services. Today, GNSS has been developed in many fields, such as vehicle navigation, atmospheric monitoring, time transfer, precision agriculture, etc. Satellite navigation high-precision positioning technology has undergone multiple generations of updates and developments, including real-time differential kinematic positioning (RTK), precise point positioning (PPP and PPP-AR), real-time kinematic positioning based on a network of reference stations (network RTK), and emerging PPP-RTK technology. Traditional satellite navigation precision positioning technology has problems such as "many modes", "in...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01S19/44
CPCG01S19/44
Inventor 张宝成刘腾查九平
Owner INST OF GEODESY & GEOPHYSICS CHINESE ACADEMY OF SCI
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