CN103675875A - B2/L2 carrier phase inter-satellite frequency mixing difference method for BDS (BeiDou Navigation Satellite System) and GPS (Global Positioning System) - Google Patents

Abstract

The invention discloses a B2/L2 carrier phase inter-satellite frequency mixing difference method for a BDS (BeiDou Navigation Satellite System) and a GPS (Global Positioning System), relating to the technical field of satellite positioning systems and positioning measurement. The method comprises the following steps: receiving observation data broadcast by respective satellite of a Beidou system and a GPS to a user receiver by using the user receiver, and determining the B2 carrier phase integer ambiguity of the Beidou system and the L2 carrier phase integer ambiguity of the GPS respectively through a carrier phase observation equation; recovering the integer characteristics of the B2/L2 frequency carrier phase frequency mixing inter-satellite difference ambiguity parameters of the Beidou system and the GPS; determining the distance between a user Beidou/GPS receiver and a satellite. By adopting the B2/L2 carrier phase inter-satellite frequency mixing difference method, the influence of the frequency difference between the B2 carrier phase of the Beidou system and the L2 carrier phase of the GPS can be avoided, and the integer characteristics of the ambiguity parameters of B2/L2 frequency carrier phase frequency mixing inter-satellite difference are recovered.

Description

Mixing difference method between the B2/L2 carrier phase star of BDS and GPS

Technical field

The present invention relates to global position system and location survey technical field, particularly mixing difference method between the B2/L2 carrier phase star of a kind of BDS and GPS.

Background technology

When the receiver of BDS system (BeiDou Navigation Satellite System) and gps system dual system is carried out to hi-Fix, one of technological means adopting is at present exactly to utilize difference combination technique between the star of carrier phase to determine carrier phase observation data, and then obtain receiver to the distance value of satellite, finally utilize receiver to the distance of satellite, to calculate the position of receiver.

Current worldwide navigation positioning system (GNSS), when carrying out between carrier phase star difference combination, can only be carried out difference between single system, B2 or L2 single frequency carrier phase observation data.The reason that can only carry out difference combination between single system and single frequency carrier phase observation data is that B2 is different with the wavelength of L2 frequency carrier phase place, after between BDS system and gps system star, B2 and L2 frequency observed difference divide combination, between B2 and L2 frequency carrier phase place star, the blur level of difference observed reading does not possess integer characteristic.If do not using between star difference blur level as parameter, and take single satellite, carry out blur level parameter calculation as object, be difficult to eliminate the error relevant with receiver in single moonscope value, thereby make to need the parameter of estimating to increase, due to the existence with the relevant error of receiver, the blur level of B2 and L2 frequency carrier phase observations value cannot be calculated rapidly and accurately simultaneously.

Summary of the invention

The deficiency existing for prior art, the object of the invention is to utilize B2 carrier phase observation data and the gps system L2 carrier phase observation data of BDS system, the B2/L2 carrier phase observation data of two systems is carried out to difference combination between mixing star, and can recover the integer characteristic of difference B2/L2 carrier phase ambiguity between mixing star, the high precision that realizes better BDS system and gps system carrier phase observation data is co-located real-time, improves dual system positioning service ability.

Technical scheme of the present invention is achieved in that mixing difference method between the B2/L2 carrier phase star of a kind of BDS and GPS, comprises the following steps:

Step 1: receiver user receive BDS system and gps system dual system separately satellite broadcast the observation data to receiver user, specifically comprise:

B2 frequency pseudorange observation data and the carrier phase observation data of BDS system;

L2 frequency pseudorange observation data and the carrier phase observation data of gps system;

Step 2: determine respectively BDS system B2 ambiguity of carrier phase and gps system L2 ambiguity of carrier phase by carrier phase observation equation;

(1) for BDS system: determine the B2 frequency carrier Phase integer ambiguity of BDS system by formula (1), formula is:

LMC ₂·Φ _C2＝ρ _C+c·(t _r-t _Cs)-LMC ₂·N _C2+O _C-I _C2+T _C+M _C2+ε′ _C2 (1)

In formula, LMC ₂it is the wavelength of BDS system B2 frequency carrier phase place; Φ _c2be BDS system B2 carrier phase observation data, subscript C represents BDS system; ρ _cfor the geometric distance of BDS satellite to receiver, by survey station initial position coordinate and BDS co-ordinates of satellite, calculated, wherein, survey station initial position coordinate is to be located and obtained by the pseudorange single-point of single system, the navigate file that co-ordinates of satellite is recorded by receiver provides; C is the light velocity in vacuum; t _rfor receiver clock correction, unit is second; t _csfor the clock correction of BDS system satellite clock, in subscript, s represents satellite clock correction; N _c2it is the integer ambiguity of the B2 frequency carrier phase observations value of BDS system; O _cbDS system satellite orbital error, the i.e. error of coordinate of the satellite position; I _c2that BDS system B2 frequency carrier phase observations is worth suffered ionosphere delay error; T _cit is BDS system tropospheric delay error; M _c2multipath effect error for BDS system B2 frequency carrier phase observations value; ε _c2for BDS system B2 frequency carrier phase observations noise and non-model errors:

(2) for gps system: determine the L2 ambiguity of carrier phase of gps system by formula (2), formula is:

LMG ₂·Φ _G2＝ρ _G+c·(t _r-t _Gs)-LMG ₂·N _G2+O _G-I _G2+T _G+M _G2+ε′ _G2 (2)

In formula, LMG ₂for the wavelength of gps system L2 frequency carrier phase place, Φ _g2be gps system L2 frequency carrier phase observations value, subscript G represents gps system; ρ _gfor the geometric distance of gps satellite to receiver, by survey station initial position coordinate and gps satellite coordinate, calculated, wherein survey station initial position coordinate is to be located and obtained by the pseudorange single-point of single system, the navigate file that co-ordinates of satellite is recorded by receiver provides; t _gsclock correction for gps system satellite clock; N _g2it is the integer ambiguity of the L2 frequency carrier phase observations value of gps system; O _ggps system satellite orbital error, i.e. the error of coordinate of the satellite position; I _g2that gps system L2 frequency carrier phase observations is worth suffered ionosphere delay error; T _git is gps system tropospheric delay error; M _g2multipath effect error for gps system L2 frequency carrier phase observations value; ε _g2for gps system L2 frequency carrier phase observations noise and non-model errors;

Step 3: take the coefficient of BDS system B2 frequency carrier phase wave length difference blur level parameter as between B2/L2 frequency carrier phase mixing star, or take the coefficient of gps system B2 frequency carrier phase wave length difference blur level parameter as between B2/L2 frequency carrier phase mixing star, the two optional one recovers the integer characteristic of difference blur level parameter between BDS system and gps system B2/L2 frequency carrier phase mixing star;

Wherein, take the coefficient of BDS system B2 frequency carrier phase wave length difference blur level parameter as between B2/L2 frequency carrier phase mixing star, the integer characteristic of recovering difference blur level parameter between BDS system and gps system B2/L2 frequency carrier phase mixing star comprises the following steps:

Step 3.1: the poor correction COR of non-mistake that utilizes the BDS system B2 frequency carrier phase place that external reference station provides _c2, gps system L2 frequency carrier phase place the poor correction COR of non-mistake _g2, the formula in step 2 (1) and formula (2) are revised, eliminate tropospheric delay error, ionosphere delay error, satellite orbital error and satellite clock error, concrete formula is as follows:

For BDS system, the formula after round-off error is:

LMC ₂·Φ _C2+COR _C2＝ρ _C+c·t _r-LMC ₂·N _C2+M _C2+ε′ _C2 (3)

In formula, ε ' _c2observation noise for BDS system B2 frequency carrier phase place;

For gps system, the concrete formula after round-off error is:

LMG ₂·Φ _G2+COR _G2＝ρ _G+c·t _r-LMG ₂·N _G2+M _G2+ε′ _G2 (4)

In formula, ε ' _g2observation noise for gps system L2 frequency carrier phase place;

Between step 3.2:BDS system B2 frequency carrier phase observations value and gps system L2 frequency carrier phase observations value, carry out difference between mixing star, to eliminate the receiver clock correction t in formula (3) and formula (4) _r, concrete formula is:

Between BDS system and gps system B2/L2 frequency carrier phase observations value, carry out difference between mixing star, concrete formula is:

LMC ₂·Φ _C2-LMG ₂·Φ _G2+COR _C2-COR _G2＝ρ _C-ρ _G-(LMC ₂·N _C2-LMG ₂·N _G2)

(5)

The LMC on formula (5) equation right side ₂n _c2-LMG ₂n _g2item represents the B2/L2 frequency carrier phase ambiguity of BDS system and gps system;

The form of the B2/L2 frequency carrier of BDS system and gps system B2 frequency for phase ambiguity, L2 frequency carrier phase ambiguity integer initial value and the less integer reduction of numerical value is represented, formula is:

${\mathrm{LMC}}_2\&CenterDot;N_{C2}-{\mathrm{LMG}}_2\&CenterDot;{\mathrm{<figure-callout\; id="2"\; label="N\; G"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_G={\mathrm{LMC}}_2\&CenterDot;N_{C2}^0-{\mathrm{LMG}}_2\&CenterDot;N_{G2}^0+({\mathrm{LMC}}_2\&CenterDot;N_{C2}^{\&prime;}-{\mathrm{LMG}}_2\&CenterDot;{\mathrm{<figure-callout\; id="2"\; label="N\; G"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_G^2)---\left(6\right)$

In formula,

for the initial integer solution of BDS system B2 frequency carrier phase ambiguity,

initial integer solution for the L2 frequency carrier phase ambiguity of gps system; N ' _c2for the integer reduction of BDS system B2 frequency carrier Phase integer ambiguity, N ' _g2for the integer reduction of gps system L2 frequency carrier phase ambiguity, the size of the integer reduction of B2/L2 frequency carrier phase ambiguity is relevant with the integer initial value of blur level;

Formula (6) is further processed, by the integer reduction N ' of the B2 carrier phase ambiguity of a satellite in BDS system _c2, a satellite in gps system the integer reduction N ' of L2 frequency carrier phase ambiguity _g2by difference between star, form a blur level parameter, then to take the B2 carrier phase ambiguity wavelength of BDS system be coefficient, change into difference B2/L2 frequency carrier phase ambiguity between star, formula is:

${\mathrm{LMC}}_2\&CenterDot;N_{C2}-{\mathrm{LMG}}_2\&CenterDot;{\mathrm{<figure-callout\; id="2"\; label="N\; G"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_G={\mathrm{LMC}}_2\&CenterDot;N_{C2}^0-{\mathrm{LMG}}_2\&CenterDot;N_{G2}^0+{\mathrm{LMC}}_2\&CenterDot;(N_{C2}^{\&prime;}-\frac{{\mathrm{LMG}}_2}{{\mathrm{LMC}}_2}\&CenterDot;N_{G2}^{\&prime;})---\left(7\right)$

Step 3.3: recover difference B2/L2 frequency carrier phase ambiguity parameter between star integer characteristic, detailed process is:

The B2 of BDS system and gps system, L2 frequency carrier phase wave length are different, ask for wavelength ratio, and formula is:

$\frac{{\mathrm{<figure-callout\; id="2"\; label="LMG"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMG</figure-callout>}}_2}{{\mathrm{<figure-callout\; id="2"\; label="LMC"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMC</figure-callout>}}_2}=A---\left(8\right)$

In formula, A represents B2 frequency, the L2 frequency carrier phase wave length ratio of gps system and BDS system, and has A ∈ (0,1);

Single poor B2/L2 carrier phase ambiguity parameter between the star in formula (7)

further replace with:

${\mathrm{<figure-callout\; id="2"\; label="N\; C"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_C^2-\frac{{\mathrm{LMG}}_2}{{\mathrm{LMC}}_2}\&CenterDot;{\mathrm{<figure-callout\; id="2"\; label="N\; G"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_G^2={\mathrm{<figure-callout\; id="2"\; label="N\; C"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_C^2-A\&CenterDot;{\mathrm{<figure-callout\; id="2"\; label="N\; G"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_G^2={\mathrm{<figure-callout\; id="2"\; label="N\; C"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_C^2-{\mathrm{<figure-callout\; id="2"\; label="N\; G"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_G^2+(1-A)\&CenterDot;{\mathrm{<figure-callout\; id="2"\; label="N\; G"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_G^2---\left(9\right)$

In formula, N ' _c2and N ' _g2be all unknown complete cycle number, i.e. N ' _c2-N ' _g2for differentiated blur level parameter between BDS system and gps system B2/L2 frequency carrier phase mixing star, (1-A) N ' _g2be single poor blur level parameter N between B2/L2 frequency carrier phase mixing star ' _c2-N ' _g2residual error item, for formula (5), have:

$\begin{array}{c}{\mathrm{LMC}}_2\&CenterDot;{\mathrm{\&Phi;}}_{C2}-{\mathrm{LMG}}_2\&CenterDot;{\mathrm{\&Phi;}}_{\mathrm{<figure-callout\; id="2"\; label="G"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">G</figure-callout>}2}+{\mathrm{COR}}_{C2}-{\mathrm{<figure-callout\; id="2"\; label="COR\; G"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">COR</figure-callout>}}_G\\ ={\mathrm{\&rho;}}_C-{\mathrm{\&rho;}}_G-({\mathrm{LMC}}_2\&CenterDot;{\mathrm{<figure-callout\; id="2"\; label="N\; C"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_C^2-{\mathrm{LMG}}_2\&CenterDot;{\mathrm{<figure-callout\; id="2"\; label="N\; G"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_G^2+{\mathrm{LMC}}_2\&CenterDot;({\mathrm{<figure-callout\; id="2"\; label="N\; C"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_C^2-\frac{{\mathrm{LMG}}_2}{{\mathrm{LMC}}_2}\&CenterDot;{\mathrm{<figure-callout\; id="2"\; label="N\; G"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_G^2))\\ ={\mathrm{\&rho;}}_C-{\mathrm{\&rho;}}_G-({\mathrm{LMC}}_2\&CenterDot;{\mathrm{<figure-callout\; id="2"\; label="N\; C"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_C^2-{\mathrm{LMG}}_2\&CenterDot;{\mathrm{<figure-callout\; id="2"\; label="N\; G"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_G^2+{\mathrm{LMC}}_2\&CenterDot;({\mathrm{<figure-callout\; id="2"\; label="N\; C"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_C^2-{\mathrm{<figure-callout\; id="2"\; label="N\; G"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_G^2-(A-1)\&CenterDot;{\mathrm{<figure-callout\; id="2"\; label="N\; G"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_G^2))\end{array}---\left(10\right)$

Step 3.4: determine the integer initial value of gps system L2 frequency carrier phase ambiguity, residual error item is eliminated, recover B2/L2 frequency carrier phase ambiguity integer characteristic;

For current gps system, at the absolute value of residual error item value, be less than at 0.5 o'clock:

If utilize the Pseudo-range Observations of gps system L2 frequency to calculate L2 frequency carrier phase ambiguity integer initial value, the deviation of GPSL2 carrier phase ambiguity integer initial value should be less than 30 weeks;

Absolute value in residual error item value is less than at 0.25 o'clock:

If the Pseudo-range Observations of the Pseudo-range Observations of gps system L2 frequency calculates L2 frequency carrier phase ambiguity integer initial value, the deviation of gps system L2 frequency carrier phase ambiguity initial value should be less than 15 weeks;

For the above-mentioned situation with different residual error items, in BDS system and gps system B2/L2 frequency carrier phase ambiguity initial value accuracy rating, also eliminated residual error item, formula (10) abbreviation is:

$\begin{array}{c}{\mathrm{<figure-callout\; id="2"\; label="LMC"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMC</figure-callout>}}_2\&CenterDot;{\mathrm{\&Phi;}}_{C2}-{\mathrm{<figure-callout\; id="2"\; label="LMG"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMG</figure-callout>}}_2\&CenterDot;{\mathrm{\&Phi;}}_{\mathrm{<figure-callout\; id="2"\; label="G"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">G</figure-callout>}2}+{\mathrm{COR}}_{C2}-{\mathrm{<figure-callout\; id="2"\; label="COR\; G"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">COR</figure-callout>}}_G\\ ={\mathrm{\&rho;}}_C-{\mathrm{\&rho;}}_G-({\mathrm{<figure-callout\; id="2"\; label="LMC"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMC</figure-callout>}}_2\&CenterDot;{\mathrm{<figure-callout\; id="2"\; label="N\; C"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_C^2-{\mathrm{<figure-callout\; id="2"\; label="LMG"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMG</figure-callout>}}_2\&CenterDot;{\mathrm{<figure-callout\; id="2"\; label="N\; G"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_G^2+{\mathrm{<figure-callout\; id="2"\; label="LMC"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMC</figure-callout>}}_2\&CenterDot;({\mathrm{<figure-callout\; id="2"\; label="N\; C"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_C^2-{\mathrm{<figure-callout\; id="2"\; label="N\; G"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_G^2))\end{array}---\left(11\right)$

In formula, N ' _c2-N ' _g2for the integer ambiguity of difference between B2/L2 frequency carrier phase mixing star, integer ambiguity parameter N now ' _c2-N ' _g2resolve identical with traditional baseline Ambiguity Solution Methods;

Take gps system L2 carrier phase wavelength difference blur level parameter coefficient as between B2/L2 frequency carrier phase mixing star, and recover the integer characteristic of difference blur level parameter between B2/L2 frequency carrier phase mixing star, comprise the following steps:

Step 3.5: formula (6) is further processed, by the integer reduction N ' of the B2 frequency carrier phase ambiguity of a satellite of BDS system _c2integer reduction N ' with the L2 frequency carrier phase ambiguity of a satellite of gps system _g2, by being combined into a B2/L2 frequency carrier phase ambiguity after difference between mixing star, and to take the L2 frequency carrier phase ambiguity wavelength of gps system be coefficient, forms difference blur level between B2/L2 frequency carrier phase mixing star, formula is as follows:

${\mathrm{<figure-callout\; id="2"\; label="LMC"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMC</figure-callout>}}_2\&CenterDot;N_{C2}-{\mathrm{<figure-callout\; id="2"\; label="LMG"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMG</figure-callout>}}_2\&CenterDot;{\mathrm{<figure-callout\; id="2"\; label="N\; G"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_G={\mathrm{<figure-callout\; id="2"\; label="LMC"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMC</figure-callout>}}_2\&CenterDot;{\mathrm{<figure-callout\; id="2"\; label="N\; C"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_C^2-{\mathrm{<figure-callout\; id="2"\; label="LMG"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMG</figure-callout>}}_2\&CenterDot;{\mathrm{<figure-callout\; id="2"\; label="N\; G"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_G^2+{\mathrm{<figure-callout\; id="2"\; label="LMG"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMG</figure-callout>}}_2\&CenterDot;(\frac{{\mathrm{<figure-callout\; id="2"\; label="LMC"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMC</figure-callout>}}_2}{{\mathrm{<figure-callout\; id="2"\; label="LMG"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMG</figure-callout>}}_2}\&CenterDot;{\mathrm{<figure-callout\; id="2"\; label="N\; C"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_C^2-{\mathrm{<figure-callout\; id="2"\; label="N\; G"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_G^2)---\left(12\right)$

In formula,

for the blur level parameter of difference combination between BDS system and gps system B2/L2 frequency carrier phase mixing star,

Step 3.6: recover difference B2/L2 frequency carrier phase ambiguity parameter between star

integer characteristic, detailed process is:

B2 frequency, the L2 frequency carrier phase wave length of BDS system and gps system are different, ask for wavelength ratio, and formula is:

$\frac{{\mathrm{<figure-callout\; id="2"\; label="LMC"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMC</figure-callout>}}_2}{{\mathrm{<figure-callout\; id="2"\; label="LMG"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMG</figure-callout>}}_2}=B---\left(13\right)$

In formula, B represents B2 frequency, the L2 frequency carrier phase wave length ratio of BDS system and gps system, and has B ∈ (1,2);

According to formula (13), single poor blur level between the B2/L2 frequency carrier phase mixing star in formula (12)

further write as:

$\frac{{\mathrm{<figure-callout\; id="2"\; label="LMC"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMC</figure-callout>}}_2}{{\mathrm{<figure-callout\; id="2"\; label="LMG"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMG</figure-callout>}}_2}\&CenterDot;{\mathrm{<figure-callout\; id="2"\; label="N\; C"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_C^2-{\mathrm{<figure-callout\; id="2"\; label="N\; G"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_G^2={\mathrm{<figure-callout\; id="2"\; label="BN\; C"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">BN</figure-callout>}}_C^2-{\mathrm{<figure-callout\; id="2"\; label="N\; G"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_G^2={\mathrm{<figure-callout\; id="2"\; label="N\; C"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_C^2-{\mathrm{<figure-callout\; id="2"\; label="N\; G"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_G^2-(1-B)\&CenterDot;{\mathrm{<figure-callout\; id="2"\; label="N\; C"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_C^2---\left(14\right)$

In formula, (1-B) N ' _c2for complete cycle is counted N ' _c2-N ' _g2residual error item, for formula (5), have:

$\begin{array}{c}{\mathrm{<figure-callout\; id="2"\; label="LMC"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMC</figure-callout>}}_2\&CenterDot;{\mathrm{\&Phi;}}_{C2}-{\mathrm{<figure-callout\; id="2"\; label="LMG"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMG</figure-callout>}}_2\&CenterDot;{\mathrm{\&Phi;}}_{\mathrm{<figure-callout\; id="2"\; label="G"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">G</figure-callout>}2}+{\mathrm{COR}}_{C2}-{\mathrm{<figure-callout\; id="2"\; label="COR\; G"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">COR</figure-callout>}}_G\\ ={\mathrm{\&rho;}}_C-{\mathrm{\&rho;}}_G-({\mathrm{<figure-callout\; id="2"\; label="LMC"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMC</figure-callout>}}_2\&CenterDot;{\mathrm{<figure-callout\; id="2"\; label="N\; C"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_C^2-{\mathrm{<figure-callout\; id="2"\; label="LMG"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMG</figure-callout>}}_2\&CenterDot;{\mathrm{<figure-callout\; id="2"\; label="N\; G"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_G^2+{\mathrm{<figure-callout\; id="2"\; label="LMG"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMG</figure-callout>}}_2\&CenterDot;(\frac{{\mathrm{<figure-callout\; id="2"\; label="LMC"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMC</figure-callout>}}_2}{{\mathrm{<figure-callout\; id="2"\; label="LMG"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMG</figure-callout>}}_2}\&CenterDot;{\mathrm{<figure-callout\; id="2"\; label="N\; C"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_C^2-{\mathrm{<figure-callout\; id="2"\; label="N\; G"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_G^2))\\ ={\mathrm{\&rho;}}_C-{\mathrm{\&rho;}}_G-({\mathrm{<figure-callout\; id="2"\; label="LMC"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMC</figure-callout>}}_2\&CenterDot;{\mathrm{<figure-callout\; id="2"\; label="N\; C"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_C^2-{\mathrm{<figure-callout\; id="2"\; label="LMG"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMG</figure-callout>}}_2\&CenterDot;{\mathrm{<figure-callout\; id="2"\; label="N\; G"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_G^2+{\mathrm{<figure-callout\; id="2"\; label="LMG"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMG</figure-callout>}}_2\&CenterDot;({\mathrm{<figure-callout\; id="2"\; label="N\; C"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_C^2-{\mathrm{<figure-callout\; id="2"\; label="N\; G"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_G^2+(B-1)\&CenterDot;{\mathrm{<figure-callout\; id="2"\; label="N\; C"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_C^2))\end{array}---\left(15\right)$

If make between B2/L2 frequency carrier phase mixing star single poor blur level parameter N ' _c2-N ' _g2recover integer characteristic, so that carry out single poor Carrier Phase Ambiguity Resolution between B2/L2 frequency carrier phase mixing star, need to be by residual error item (B-1) N ' _c2impact be reduced to and do not affect N ' _c2-N ' _g2complete cycle characteristic;

Step 3.7: the integer initial value of BDS system B2 frequency carrier phase ambiguity is set, residual error item is eliminated, recover B2 carrier phase ambiguity integer characteristic;

The initial value that utilizes the Pseudo-range Observations calculating BDS system B2 frequency carrier phase ambiguity of BDS system B2 frequency, the minimum requirements that initial value should be satisfied is:

For current BDS system, at the absolute value of residual error item value, be less than at 0.5 o'clock:

If utilize the Pseudo-range Observations of BDS system B2 frequency to calculate B2 carrier phase ambiguity integer initial value, the deviation of BDS system B2 frequency carrier phase ambiguity initial value should be less than 30 weeks;

Absolute value in residual error item value is less than at 0.25 o'clock:

If utilize the Pseudo-range Observations of BDS system B2 frequency to calculate B2 carrier phase ambiguity integer initial value, the deviation of BDS system B2 frequency carrier phase ambiguity initial value should be less than 15 weeks.

For the above-mentioned situation with different residual error items, in BDS system B2 frequency carrier phase ambiguity initial value accuracy rating, also eliminated residual error item, formula (15) has:

$\begin{array}{c}{\mathrm{<figure-callout\; id="2"\; label="LMC"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMC</figure-callout>}}_2\&CenterDot;{\mathrm{\&Phi;}}_{C2}-{\mathrm{<figure-callout\; id="2"\; label="LMG"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMG</figure-callout>}}_2\&CenterDot;{\mathrm{\&Phi;}}_{\mathrm{<figure-callout\; id="2"\; label="G"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">G</figure-callout>}2}+{\mathrm{COR}}_C-{\mathrm{COR}}_G\\ ={\mathrm{\&rho;}}_C-{\mathrm{\&rho;}}_G-({\mathrm{<figure-callout\; id="2"\; label="LMC"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMC</figure-callout>}}_2\&CenterDot;{\mathrm{<figure-callout\; id="2"\; label="N\; C"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_C^2-{\mathrm{<figure-callout\; id="2"\; label="LMG"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMG</figure-callout>}}_2\&CenterDot;{\mathrm{<figure-callout\; id="2"\; label="N\; G"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_G^2+{\mathrm{<figure-callout\; id="2"\; label="LMG"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMG</figure-callout>}}_2\&CenterDot;({\mathrm{<figure-callout\; id="2"\; label="N\; C"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_C^2-{\mathrm{<figure-callout\; id="2"\; label="N\; G"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_G^2))\end{array}---\left(16\right)$

In formula, N ' _c2-N ' _g2be difference integer ambiguity parameter between the B2/L2 frequency carrier phase mixing star of observation equation (16), integer ambiguity N ' now _c2-N ' _g2resolve identical with traditional baseline Ambiguity Solution Methods;

Step 4: B2/L2 frequency carrier phase observations value mixing difference integer ambiguity N ' between star _c2-N ' _g2after determining, utilize formula (11) or formula (16) to calculate survey station location parameter, then by survey station location parameter, calculate again the initial integer solution of BDS system B2 frequency carrier phase ambiguity and gps system L2 frequency carrier phase ambiguity, utilize definite integer ambiguity to carry out the iterative computation of the initial integer solution of blur level, determine difference integer ambiguity between final B2/L2 frequency carrier phase place star, between recycling B2/L2 frequency carrier phase place star, between difference carrier phase observations value and B2/L2 frequency carrier phase place star, difference blur level determines that user BDS/GPS receiver is to satellite distance.

Beneficial effect of the present invention: mixing difference method between the B2/L2 carrier phase star of a kind of BDS and GPS.The method is carried out between mixing star after difference combination in BDS system and gps system B2 frequency, L2 frequency carrier phase observations value, by the calculating of BDS system and single satellite B2 frequency of gps system, L2 frequency carrier phase ambiguity initial value, observation equation between the star of BDS system and gps system B2/L2 frequency carrier phase place is converted, and the reduction of BDS system and gps system B2/L2 frequency carrier phase ambiguity initial value of take is B2/L2 frequency carrier phase ambiguity parameter.Can avoid the impact that BDS system B2 carrier phase is different from the two frequency of gps system L2 carrier phase, make the blur level parameter of difference between B2/L2 frequency carrier phase mixing star recover integer characteristic.Can be when BDS system and gps system single system observation satellite negligible amounts, by difference between star, can eliminate the receiver error in BDS system and gps system B2 frequency, L2 frequency carrier phase observations value.Again can be for single resolving real-time of poor B2/L2 frequency carrier phase ambiguity between star provides condition precedent, between star, single poor B2/L2 frequency carrier phase ambiguity parameter has integer characteristic.The present invention carries out difference between star to different system different frequency B2 frequency, L2 frequency carrier phase place, the integer characteristic that keeps difference B2 frequency, L2 frequency carrier phase ambiguity parameter between dual system star, in the time of can solving BDS system and gps system single system observation satellite number deficiency, how to utilize B2, L2 single-frequency carrier phase observation data to realize the problem of Dynamic High-accuracy location.

Accompanying drawing explanation

Fig. 1 is mixing difference method process flow diagram between the B2/L2 carrier phase star of embodiment of the present invention BDS and GPS;

Fig. 2 is the time series schematic diagram of the L2 carrier phase ambiguity integer initial value of embodiment of the present invention gps system G05 satellite;

Fig. 3 is embodiment of the present invention residual error 0.01664N ' _g2value schematic diagram;

Fig. 4 is the difference schematic diagram of receiver location after embodiment of the present invention is calculated and known receiver actual coordinate.

Embodiment

Below in conjunction with accompanying drawing, embodiments of the present invention are described in further detail.

A mixing difference method between the B2/L2 carrier phase star of BDS and GPS, its flow process as shown in Figure 1, comprises the following steps:

Step 1: receiver user receive BDS system and gps system dual system separately satellite broadcast the observation data to receiver user, specifically comprise:

The pseudorange observation data of the B2 frequency of BDS system and carrier phase observation data.The Pseudo-range Observations of B2 frequency is for the calculating of BDS system B2 carrier phase ambiguity initial value integer solution.

The pseudorange observation data of the L2 frequency of gps system and carrier phase observation data.The Pseudo-range Observations of L2 frequency is for the calculating of gps system L2 carrier phase ambiguity initial value integer solution.

The frequency of the B2 carrier phase of BDS system is 1207.140MHz, and the L2 carrier phase frequency of gps system is 1227.60MHz, and the two frequency is comparatively approaching, but different.The wavelength of BDS system B2 carrier phase is 0.24834 meter, and the wavelength of gps system L2 carrier phase is 0.24421 meter.

Step 2: determine the ambiguity of carrier phase of BDS system B2 frequency and the ambiguity of carrier phase of gps system L2 frequency;

(1) for BDS system: by the carrier phase observation equation of BDS system B2 frequency, determine the B2 frequency carrier Phase integer ambiguity of BDS system, the formula of BDS system B2 frequency carrier phase observations equation is:

LMC ₂·Φ _C2＝ρ _C+c·(t _r-t _Cs)-LMC ₂·N _C2+O _C-I _C2+T _C+M _C2+ε′ _C2 (1)

In formula, LMC ₂it is the wavelength of BDS system B2 frequency carrier phase place; Φ _c2be BDS system B2 frequency carrier phase observations value, subscript C represents BDS system; ρ _cfor the geometric distance of BDS satellite to receiver, by survey station initial position coordinate and BDS co-ordinates of satellite, calculated, wherein, the initial position coordinate of survey station receiver antenna phase center is to be located and obtained by the pseudorange single-point of gps system, broadcast ephemeris in the BDS system navigate file that co-ordinates of satellite is recorded by receiver, utilizes track extrapolation to determine by Kepler's six parameters; C is the light velocity in vacuum; t _rfor receiver clock correction, i.e. the time of receiver clock hourly observation data and the difference between BDS system time, unit is second; t _csfor the clock correction of BDS system satellite clock, in subscript, s represents satellite clock correction, is the difference between BDS satellite clock and BDS system time; LMC ₂wavelength for BDS system B2 frequency carrier phase place; N _c2it is BDS system B2 frequency carrier Phase integer ambiguity; O _cbDS system satellite orbital error, the BDS system coordinate of the satellite position calculating by broadcast ephemeris and the difference of satellite actual position coordinate; I _c2that BDS system B2 frequency carrier phase observations is worth suffered ionosphere delay error; T _cit is BDS system tropospheric delay error; M _c2multipath effect error for BDS system B2 frequency carrier phase observations value; ε _c2for BDS system B2 frequency carrier phase observations noise and non-model errors;

(2) for gps system: by the carrier phase observation equation of gps system L2 frequency, determine the L2 ambiguity of carrier phase of gps system, the formula of gps system L2 carrier phase observation equation is:

LMG ₂·Φ _G2＝ρ _G+c·(t _r-t _Gs)-LMG ₂·N _G2+O _G-I _G2+T _G+M _G2+ε′ _G2 (2)

In formula, LMG ₂for the wavelength of gps system L2 frequency carrier phase place, Φ _g2be gps system L2 frequency carrier phase observations value, subscript G represents gps system; ρ _gfor the geometric distance of gps satellite to receiver, by survey station initial position coordinate and gps satellite coordinate, calculated, wherein survey station initial position coordinate is to be located and obtained by the pseudorange single-point of gps system, broadcast ephemeris in the gps system navigate file that co-ordinates of satellite is recorded by receiver, determines by the track extrapolation of Kepler's six parameters; t _rfor receiver clock correction, be the time of receiver clock record and the difference between BDS system time herein, unit is second; t _gsclock correction for gps system satellite clock, for gps satellite clock and the difference of gps system time, when gps system observation data is obtained, be to be as the criterion with the gps system time, present embodiment is unified gps system time and BDS system time after gps system observation data is obtained, and converts to and take BDS system time as benchmark; N _g2it is the integer ambiguity of the carrier phase observation data of gps system L2 frequency; O _ggps system satellite orbital error, the gps system coordinate of the satellite position calculating by broadcast ephemeris and the difference of satellite actual position coordinate; I _g2that gps system L2 frequency carrier phase observations is worth suffered ionosphere delay error; T _git is the tropospheric delay error of gps system satellite; M _g2multipath effect error for gps system L2 frequency carrier phase observations value; ε _g2for gps system L2 frequency carrier phase observations noise and non-model errors;

Step 3: take the coefficient of BDS system B2 frequency carrier phase wave length or gps system L2 carrier phase wavelength difference B2/L2 frequency carrier phase ambiguity parameter as between star, build the observation equation of mixing difference between BDS system and gps system B2/L2 frequency carrier phase place star, and recover the integer characteristic of mixing difference blur level parameter between B2/L2 frequency carrier phase place star, allow to realize resolving of mixing difference integer ambiguity between BDS system and gps system B2/L2 frequency carrier phase place star.Take respectively BDS system B2 carrier phase wavelength and gps system L2 frequency carrier phase wave length one of them be coefficient, recover the integer characteristic of mixing difference blur level parameter between BDS system and gps system B2/L2 frequency carrier phase place star;

Wherein, take the coefficient of BDS system B2 frequency carrier phase wave length mixing difference blur level parameter as between B2/L2 frequency carrier phase place star, the integer characteristic of recovering mixing difference blur level parameter between BDS system and gps system B2/L2 frequency carrier phase place star comprises the following steps:

Step 3.1: the poor correction COR of non-mistake that utilizes the BDS system B2 frequency carrier phase place that external reference station provides _c2, gps system L2 frequency carrier phase place the poor correction COR of non-mistake _g2, the formula in step 2 (1) and formula (2) are carried out to error correction.If use an external reference station, according to a reference station observation data, obtain the required Correction of Errors information of subscriber station, if use a plurality of external references station, according to a plurality of reference stations, with respect to the position of subscriber station and the Correction of Errors information of each reference station, utilize the method for error interpolation matching to obtain the required Correction of Errors information of subscriber station.By the Correction of Errors information of utilizing external reference station to provide, the impact of formula in removal process 2 (1) and formula (2) tropospheric delay error, ionosphere delay error, satellite orbital error and satellite clock error, concrete formula is as follows:

For BDS system, the formula after B2 frequency carrier phase observations equation round-off error is:

LMC ₂·Φ _C2+COR _C2＝ρ _C+c·t _r-LMC ₂·N _C2+M _C2+ε′ _C2 (3)

In formula, ε ' _c2observation noise for BDS system B2 frequency carrier phase place.

For gps system, after L2 frequency carrier phase observations equation round-off error, formula is:

LMG ₂·Φ _G2+COR _G2＝ρ _G+c·t _r-LMG ₂·N _G2+M _G2+ε′ _G2 (4)

In formula, ε ' _g2observation noise for gps system L2 frequency carrier phase place.

In the revised B2 frequency of the poor correction of non-mistake, L2 frequency carrier phase observations equation formula (3), formula (4), eliminated the impact of tropospheric delay error, ionosphere delay error, satellite orbital error, gps satellite clock correction and BDS system satellite clock correction.But still comprising the impact of receiver clock correction and observation noise, the observation noise of B2 frequency, L2 frequency carrier phase place is very little, can ignore its impact on B2/L2 frequency carrier phase ambiguity.Then by difference between BDS system B2 carrier phase and gps system L2 carrier phase mixing star, eliminate the receiver clock correction in formula (3), formula (4).

Step 3.2:BDS system B2 frequency carrier phase observations equation and gps system L2 frequency carrier phase observations equation carry out difference between mixing star, to eliminate the receiver clock correction t in formula (3) and formula (4) _r, concrete formula is:

LMC ₂·Φ _C2-LMG ₂·Φ _G2+COR _C2-COR _G2＝ρ _C-ρ _G-(LMC ₂·N _C2-LMG ₂·N _G2)

(5)

The LMC on formula (5) equation right side ₂n _c2-LMG ₂n _g2the blur level of difference between item expression BDS system and gps system B2 frequency, L2 frequency carrier phase mixing star, formula (5) is the observation equation of difference between BDS system B2 frequency carrier phase place and gps system L2 frequency carrier phase mixing star;

By difference blur level LMC between BDS system and gps system B2/L2 frequency carrier phase mixing star ₂n _c2-LMG ₂n _g2by the form of B2, L2 carrier phase ambiguity integer initial value and an integer reduction, represent, formula is:

${\mathrm{<figure-callout\; id="2"\; label="LMC"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMC</figure-callout>}}_2\&CenterDot;N_{C2}-{\mathrm{<figure-callout\; id="2"\; label="LMG"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMG</figure-callout>}}_2\&CenterDot;{\mathrm{<figure-callout\; id="2"\; label="N\; G"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_G={\mathrm{<figure-callout\; id="2"\; label="LMC"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMC</figure-callout>}}_2\&CenterDot;{\mathrm{<figure-callout\; id="2"\; label="N\; C"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_C^2-{\mathrm{<figure-callout\; id="2"\; label="LMG"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMG</figure-callout>}}_2\&CenterDot;{\mathrm{<figure-callout\; id="2"\; label="N\; G"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_G^2+({\mathrm{<figure-callout\; id="2"\; label="LMC"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMC</figure-callout>}}_2\&CenterDot;{\mathrm{<figure-callout\; id="2"\; label="N\; C"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_C^2-{\mathrm{<figure-callout\; id="2"\; label="LMG"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMG</figure-callout>}}_2\&CenterDot;{\mathrm{<figure-callout\; id="2"\; label="N\; G"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_G^2)---\left(6\right)$

In formula,

for the initial integer solution of BDS system B2 frequency carrier phase ambiguity, initial integer solution for gps system L2 frequency carrier phase ambiguity; N ' _c2for the integer reduction of BDS system B2 frequency carrier Phase integer ambiguity, N ' _g2integer reduction for gps system L2 frequency carrier phase ambiguity.The size of the integer reduction of B2 frequency, L2 frequency carrier phase ambiguity is relevant with the integer initial value of B2 frequency, L2 frequency carrier phase ambiguity, i.e. integer reduction N ' _c2, N ' _g2for B2 frequency, L2 frequency carrier phase ambiguity integer initial value

precision.Present embodiment is by controlling integer reduction N ' _c2, N ' _g2numerical values recited recover the integer characteristic of difference blur level between BDS system and gps system B2/L2 frequency mixing star.Integer reduction N ' _c2, N ' _g2numerical value must be less;

Calculating the B2 frequency carrier phase ambiguity integer initial value of BDS system l2 frequency carrier phase ambiguity integer initial value with gps system

situation under, B2 frequency, L2 frequency carrier phase ambiguity integer initial value be as given value, the integer reduction N ' in formula (6) _c2, N ' _g2become B2 frequency, L2 frequency carrier Phase integer ambiguity parameter in formula (5).By the integer reduction N ' of the B2 frequency carrier phase ambiguity of a satellite in BDS system _c2, a satellite in gps system the integer reduction N ' of L2 frequency carrier phase ambiguity _g2by difference between star, form a B2/L2 frequency carrier phase ambiguity parameter, and to take BDS system B2 frequency carrier phase ambiguity wavelength be coefficient, formula is:

${\mathrm{<figure-callout\; id="2"\; label="LMC"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMC</figure-callout>}}_2\&CenterDot;N_{C2}-{\mathrm{<figure-callout\; id="2"\; label="LMG"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMG</figure-callout>}}_2\&CenterDot;{\mathrm{<figure-callout\; id="2"\; label="N\; G"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_G={\mathrm{<figure-callout\; id="2"\; label="LMC"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMC</figure-callout>}}_2\&CenterDot;{\mathrm{<figure-callout\; id="2"\; label="N\; C"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_C^2-{\mathrm{<figure-callout\; id="2"\; label="LMG"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMG</figure-callout>}}_2\&CenterDot;{\mathrm{<figure-callout\; id="2"\; label="N\; G"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_G^2+{\mathrm{<figure-callout\; id="2"\; label="LMC"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMC</figure-callout>}}_2\&CenterDot;({\mathrm{<figure-callout\; id="2"\; label="N\; C"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_C^2-\frac{{\mathrm{<figure-callout\; id="2"\; label="LMG"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMG</figure-callout>}}_2}{{\mathrm{<figure-callout\; id="2"\; label="LMC"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMC</figure-callout>}}_2}\&CenterDot;{\mathrm{<figure-callout\; id="2"\; label="N\; G"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_G^2)---\left(7\right)$

For formula (5), have:

$\begin{array}{c}{\mathrm{<figure-callout\; id="2"\; label="LMC"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMC</figure-callout>}}_2\&CenterDot;{\mathrm{\&Phi;}}_{C2}-{\mathrm{<figure-callout\; id="2"\; label="LMG"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMG</figure-callout>}}_2\&CenterDot;{\mathrm{\&Phi;}}_{\mathrm{<figure-callout\; id="2"\; label="G"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">G</figure-callout>}2}+{\mathrm{COR}}_{C2}-{\mathrm{<figure-callout\; id="2"\; label="COR\; G"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">COR</figure-callout>}}_G\\ ={\mathrm{\&rho;}}_C-{\mathrm{\&rho;}}_G-({\mathrm{<figure-callout\; id="2"\; label="LMC"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMC</figure-callout>}}_2\&CenterDot;{\mathrm{<figure-callout\; id="2"\; label="N\; C"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_C^2-{\mathrm{<figure-callout\; id="2"\; label="LMG"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMG</figure-callout>}}_2\&CenterDot;{\mathrm{<figure-callout\; id="2"\; label="N\; G"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_G^2+{\mathrm{<figure-callout\; id="2"\; label="LMC"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMC</figure-callout>}}_2\&CenterDot;({\mathrm{<figure-callout\; id="2"\; label="N\; C"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_C^2-\frac{{\mathrm{<figure-callout\; id="2"\; label="LMG"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMG</figure-callout>}}_2}{{\mathrm{<figure-callout\; id="2"\; label="LMC"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMC</figure-callout>}}_2}\&CenterDot;{\mathrm{<figure-callout\; id="2"\; label="N\; G"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_G^2))\end{array}---\left(8\right)$

Step 3.3: difference blur level parameter between the middle B2/L2 frequency carrier phase mixing star of the observation equation formula (8) of difference between recovery BDS system B2 frequency carrier phase place and gps system L2 frequency carrier phase mixing star

integer characteristic, detailed process is:

BDS system B2 frequency carrier phase place is different with gps system L2 frequency carrier phase wave length, due to, the B2 frequency carrier phase wave length LMG of BDS system ₂=0.24421 meter, the L2 frequency carrier phase wave length LMC of gps system ₂=0.24834 meter.Ask gps system L2 frequency carrier phase ambiguity parameter N in formula (8) ' _g2coefficient

be the wavelength ratio of BDS system B2 frequency carrier phase place and gps system L2 frequency carrier phase place, have:

$\frac{{\mathrm{<figure-callout\; id="2"\; label="LMG"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMG</figure-callout>}}_2}{{\mathrm{<figure-callout\; id="2"\; label="LMC"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMC</figure-callout>}}_2}=0.98336---\left(9\right)$

In formula, $\frac{{\mathrm{<figure-callout\; id="2"\; label="LMG"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMG</figure-callout>}}_2}{{\mathrm{<figure-callout\; id="2"\; label="LMC"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMC</figure-callout>}}_2}=A\&Element;\left(\mathrm{0,1}\right)$

For formula (7), the poor blur level parameter N of mixing list between B2/L2 frequency carrier phase place star wherein ' _c2-0.98336N ' _g2further replace with:

${\mathrm{<figure-callout\; id="2"\; label="N\; C"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_C^2-\frac{{\mathrm{<figure-callout\; id="2"\; label="LMG"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMG</figure-callout>}}_2}{{\mathrm{<figure-callout\; id="2"\; label="LMC"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMC</figure-callout>}}_2}\&CenterDot;{\mathrm{<figure-callout\; id="2"\; label="N\; G"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_G^2={\mathrm{<figure-callout\; id="2"\; label="N\; C"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_C^2-0.98336\&CenterDot;{\mathrm{<figure-callout\; id="2"\; label="N\; G"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_G^2={\mathrm{<figure-callout\; id="2"\; label="N\; C"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_C^2-{\mathrm{<figure-callout\; id="2"\; label="N\; G"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_G^2+0.01664\&CenterDot;{\mathrm{<figure-callout\; id="2"\; label="N\; G"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_G^2---\left(10\right)$

In formula, B2 frequency carrier phase ambiguity integer initial value

integer reduction N ' _c2with L2 frequency carrier phase ambiguity integer initial value

integer reduction N ' _g2be all unknown complete cycle number, that is to say N ' _c2-N ' _g2for the differentiated blur level parameter of mixing between BDS system and gps system B2/L2 frequency carrier phase place star, 0.01664N ' _g2be mixing difference blur level parameter N between B2/L2 frequency carrier phase place star ' _c2-N ' _g2residual error item, for formula (8), have:

$\begin{array}{c}{\mathrm{<figure-callout\; id="2"\; label="LMC"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMC</figure-callout>}}_2\&CenterDot;{\mathrm{\&Phi;}}_{C2}-{\mathrm{<figure-callout\; id="2"\; label="LMG"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMG</figure-callout>}}_2\&CenterDot;{\mathrm{\&Phi;}}_{\mathrm{<figure-callout\; id="2"\; label="G"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">G</figure-callout>}2}+{\mathrm{COR}}_{C2}-{\mathrm{<figure-callout\; id="2"\; label="COR\; G"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">COR</figure-callout>}}_G\\ ={\mathrm{\&rho;}}_C-{\mathrm{\&rho;}}_G-({\mathrm{<figure-callout\; id="2"\; label="LMC"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMC</figure-callout>}}_2\&CenterDot;{\mathrm{<figure-callout\; id="2"\; label="N\; C"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_C^2-{\mathrm{<figure-callout\; id="2"\; label="LMG"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMG</figure-callout>}}_2\&CenterDot;{\mathrm{<figure-callout\; id="2"\; label="N\; G"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_G^2+{\mathrm{<figure-callout\; id="2"\; label="LMC"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMC</figure-callout>}}_2\&CenterDot;({\mathrm{<figure-callout\; id="2"\; label="N\; C"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_C^2-{\mathrm{<figure-callout\; id="2"\; label="N\; G"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_G^2+0.01664\&CenterDot;{\mathrm{<figure-callout\; id="2"\; label="N\; G"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_G^2))\end{array}---\left(11\right)$

Step 3.4: determine the integer initial value of gps system L2 frequency carrier phase ambiguity, make residual error item 0.01664N ' _g2do not affect in formula (11) resolving of mixing difference blur level parameter between B2/L2 frequency carrier phase place star, i.e. residual error item 0.01664N ' _g2size can recover and keep mixing difference blur level parameter N between B2/L2 frequency carrier phase place star ' _c2-N ' _g2integer characteristic;

Residual error item 0.01664N ' _g2the absolute value of value is less than at 0.5 o'clock, residual error item 0.01664N ' _g2do not affect resolving of mixing difference blur level parameter between B2/L2 frequency carrier phase place star, can recover the integer characteristic of mixing difference blur level parameter between B2/L2 frequency carrier phase place star:

For current gps system, present embodiment utilizes the GPS Pseudo-range Observations of L2 frequency to calculate the integer initial value of L2 carrier phase ambiguity.The formula of the observation equation of GPS Pseudo-range Observations after the non-poor Correction of Errors in external reference station is:

P _G2+COR _GP2＝ρ _G+c·t _r+M _GP2+ε′ _GP2 (12)

In formula, P _g2pseudo-range Observations for gps system L2 frequency; COR _gP2the poor correction of non-mistake for L2 frequency Pseudo-range Observations, is provided by external reference station, identical with the source of the poor correction of non-mistake of receiver user in step 3.1; ρ _gfor the geometric distance of gps satellite to receiver, t _rfor receiver clock correction, unit is second, and the implication of the two is identical with formula (2); M _gP2multipath effect error for gps system L2 frequency Pseudo-range Observations; ε ' _gP2for gps system L2 frequency s pseudorange observation noise and non-model errors.

Utilize the Pseudo-range Observations of gps system L2 frequency after the poor correction correction of the non-mistake in external reference station, calculate the integer initial value of L2 carrier phase ambiguity.According to formula (4), formula (12), ignore multipath effect, observation noise and non-model errors, calculate the integer initial value of L2 carrier phase ambiguity

formula be:

${\mathrm{<figure-callout\; id="2"\; label="N\; G"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_G^2=\mathrm{INT}({\mathrm{<figure-callout\; id="2"\; label="P\; G"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">P</figure-callout>}}_G/{\mathrm{<figure-callout\; id="2"\; label="LMG"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMG</figure-callout>}}_2+{\mathrm{<figure-callout\; id="2"\; label="COR\; GP"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">COR</figure-callout>}}_{\mathrm{GP}}/{\mathrm{LMG}}_2-{\mathrm{<figure-callout\; id="2"\; label="COR\; G"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">COR</figure-callout>}}_G/{\mathrm{LMG}}_2-{\mathrm{\&Phi;}}_{G2})---\left(13\right)$

In formula, INT is round numbers symbol, and the value being about in the bracket of equation right side is got its immediate integer.The precision that use formula (13) is calculated L2 frequency carrier phase ambiguity integer initial value depends primarily on gps system L2 frequency Pseudo-range Observations P _g2precision.For current gps system, at the absolute value of residual error item value, be less than at 0.25 o'clock:

Utilize the integer reduction N ' of the gps system L2 frequency carrier phase ambiguity initial value of formula (13) calculating _g2absolute value should be less than 15 weeks, the equivalent distances precision of Pseudo-range Observations is 3.66 meters of left and right, i.e. 0.25 < 0.01664N ' _g2< 0.25, do not affect blur level N ' _c2-N ' _g2integer characteristic;

Absolute value in residual error item value is less than at 0.5 o'clock:

If there is rough error in gps system L2 frequency Pseudo-range Observations, the gps system L2 frequency carrier phase ambiguity initial value that utilizes formula (13) to calculate

the absolute value of integer reduction should be less than 30 weeks, namely integer reduction N ' _g2absolute value be less than 28, the equivalent distances precision of Pseudo-range Observations is 7.3 meters, i.e. residual error item-0.5 < 0.01664N ' _g2< 0.5, do not affect blur level N ' _c2-N ' _g2integer characteristic.Generally, for current gps system, the rough error of the gps system L2 frequency Pseudo-range Observations in formula (13) can meet this accuracy requirement;

The integer initial value that utilizes the Pseudo-range Observations calculating L2 frequency carrier phase ambiguity of gps system L2 frequency, is used two kinds of methods.A kind of is the integer initial value that uses the Pseudo-range Observations calculating L2 frequency carrier phase ambiguity of an epoch, it is mainly the observation noise impact of Pseudo-range Observations, but for gps system, the precision of above-mentioned L2 frequency carrier phase ambiguity initial value is can meet completely.This method is to utilize the Pseudo-range Observations of an epoch by formula (13), to calculate the integer initial value of L2 frequency carrier phase ambiguity; The second is in order to improve Pseudo-range Observations, to calculate the precision of the integer initial value of L2 frequency carrier phase ambiguity, use the Pseudo-range Observations of a plurality of epoch before current epoch to calculate the integer initial value of L2 frequency carrier phase ambiguity, then the integer initial value of a plurality of identical L2 frequency carrier phase ambiguities is averaged, to improve the precision of L2 frequency carrier phase ambiguity integer initial value, utilize the Pseudo-range Observations of same satellite a plurality of epoch to calculate the initial value of L2 frequency ambiguity degree by formula (13), then be averaged.

For gps system, the precision of above-mentioned L2 frequency carrier phase ambiguity initial value is can meet completely.For the above-mentioned situation with different residual error items, in L2 frequency carrier phase ambiguity initial value accuracy rating, also eliminated residual error item, formula (11) abbreviation is:

$\begin{array}{c}{\mathrm{<figure-callout\; id="2"\; label="LMC"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMC</figure-callout>}}_2\&CenterDot;{\mathrm{\&Phi;}}_{C2}-{\mathrm{<figure-callout\; id="2"\; label="LMG"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMG</figure-callout>}}_2\&CenterDot;{\mathrm{\&Phi;}}_{\mathrm{<figure-callout\; id="2"\; label="G"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">G</figure-callout>}2}+{\mathrm{COR}}_{C2}-{\mathrm{<figure-callout\; id="2"\; label="COR\; G"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">COR</figure-callout>}}_G\\ ={\mathrm{\&rho;}}_C-{\mathrm{\&rho;}}_G-({\mathrm{<figure-callout\; id="2"\; label="LMC"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMC</figure-callout>}}_2\&CenterDot;{\mathrm{<figure-callout\; id="2"\; label="N\; C"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_C^2-{\mathrm{<figure-callout\; id="2"\; label="LMG"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMG</figure-callout>}}_2\&CenterDot;{\mathrm{<figure-callout\; id="2"\; label="N\; G"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_G^2+{\mathrm{<figure-callout\; id="2"\; label="LMC"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMC</figure-callout>}}_2\&CenterDot;({\mathrm{<figure-callout\; id="2"\; label="N\; C"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_C^2-{\mathrm{<figure-callout\; id="2"\; label="N\; G"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_G^2))\end{array}---\left(14\right)$

In formula, N ' _c2-N ' _g2for the integer ambiguity of mixing difference combination between B2/L2 frequency carrier phase place star, the integer ambiguity parameter N of mixing difference combination between B2/L2 frequency carrier phase place star now ' _c2-N ' _g2resolve identical with traditional baseline Ambiguity Solution Methods;

Fig. 2, for utilizing the Pseudo-range Observations of formula (13) use L2 frequency, calculates the time series of the L2 carrier phase ambiguity integer initial value of gps system G05 satellite, and transverse axis represents that observation time is interior second of week, and the longitudinal axis represents that blur level is big or small, and unit is week.The observation duration of this group BDS system and gps system B2, L2 carrier phase observation data is about 3 hours.The exact value of the L2 carrier phase ambiguity of gps system G05 satellite is 1.According to the right value of the result in Fig. 2 and L2 carrier phase ambiguity, calculate the reduction N ' of blur level integer initial value _g2, and then calculating blur level parameter N ' _c2-N ' _g2residual error 0.01664N ' _g2.Fig. 3 is residual error 0.01664N ' _g2value, transverse axis represents that observation time is in week second, the longitudinal axis represents the size of residual error, unit be all, residual error 0.01664N ' _g2the RMS of numerical value is 0.032 week, much smaller than 0.25 week, do not affect blur level parameter N ' _c2-N ' _g2integer characteristic.Can by blur level parameter N ' _c2-N ' _g2determine, and then calculate BDS system and gps system satellite to the distance of receiver, realize the position calculation of receiver user.

Take the coefficient of gps system L2 frequency carrier phase wave length mixing difference combinational fuzzy degree parameter as between B2/L2 frequency carrier phase place star, and recover the integer characteristic of mixing difference combinational fuzzy degree parameter between B2/L2 frequency carrier phase place star, comprise the following steps:

Step 3.5: calculating the B2 frequency carrier phase ambiguity integer initial value of BDS system

l2 frequency carrier phase ambiguity integer initial value with gps system

situation under, B2 frequency, L2 frequency carrier phase place star blur level integer initial value be as given value, the integer reduction N ' in formula (6) _c2, N ' _g2become two ambiguity of carrier phase parameters in formula (5).By the integer reduction N ' of the B2 frequency carrier phase ambiguity of a satellite in BDS system _c2, the integer reduction N ' of the L2 frequency carrier phase ambiguity of a satellite in gps system _g2by the synthetic blur level parameter of differential set between mixing star, and to take gps system L2 frequency carrier phase ambiguity wavelength be coefficient, and formula is as follows:

${\mathrm{<figure-callout\; id="2"\; label="LMC"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMC</figure-callout>}}_2\&CenterDot;N_{C2}-{\mathrm{<figure-callout\; id="2"\; label="LMG"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMG</figure-callout>}}_2\&CenterDot;{\mathrm{<figure-callout\; id="2"\; label="N\; G"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_G={\mathrm{<figure-callout\; id="2"\; label="LMC"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMC</figure-callout>}}_2\&CenterDot;{\mathrm{<figure-callout\; id="2"\; label="N\; C"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_C^2-{\mathrm{<figure-callout\; id="2"\; label="LMG"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMG</figure-callout>}}_2\&CenterDot;{\mathrm{<figure-callout\; id="2"\; label="N\; G"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_G^2+{\mathrm{<figure-callout\; id="2"\; label="LMG"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMG</figure-callout>}}_2\&CenterDot;(\frac{{\mathrm{<figure-callout\; id="2"\; label="LMC"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMC</figure-callout>}}_2}{{\mathrm{<figure-callout\; id="2"\; label="LMG"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMG</figure-callout>}}_2}\&CenterDot;{\mathrm{<figure-callout\; id="2"\; label="N\; C"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_C^2-{\mathrm{<figure-callout\; id="2"\; label="N\; G"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_G^2)---\left(15\right)$

For formula (5), have:

$\begin{array}{c}{\mathrm{<figure-callout\; id="2"\; label="LMC"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMC</figure-callout>}}_2\&CenterDot;{\mathrm{\&Phi;}}_{C2}-{\mathrm{<figure-callout\; id="2"\; label="LMG"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMG</figure-callout>}}_2\&CenterDot;{\mathrm{\&Phi;}}_{\mathrm{<figure-callout\; id="2"\; label="G"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">G</figure-callout>}2}+{\mathrm{COR}}_{C2}-{\mathrm{<figure-callout\; id="2"\; label="COR\; G"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">COR</figure-callout>}}_G\\ ={\mathrm{\&rho;}}_C-{\mathrm{\&rho;}}_G-({\mathrm{<figure-callout\; id="2"\; label="LMC"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMC</figure-callout>}}_2\&CenterDot;{\mathrm{<figure-callout\; id="2"\; label="N\; C"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_C^2-{\mathrm{<figure-callout\; id="2"\; label="LMG"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMG</figure-callout>}}_2\&CenterDot;{\mathrm{<figure-callout\; id="2"\; label="N\; G"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_G^2+{\mathrm{<figure-callout\; id="2"\; label="LMG"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMG</figure-callout>}}_2\&CenterDot;(\frac{{\mathrm{<figure-callout\; id="2"\; label="LMC"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMC</figure-callout>}}_2}{{\mathrm{<figure-callout\; id="2"\; label="LMG"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMG</figure-callout>}}_2}\&CenterDot;{{\mathrm{<figure-callout\; id="2"\; label="N\; C"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_C^2-\mathrm{<figure-callout\; id="2"\; label="N\; G"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_G^2))\end{array}---\left(\text{16}\right)$

In formula (15), formula (16),

blur level parameter for difference combination between BDS system and gps system B2/L2 frequency carrier phase mixing star.

Step 3.6: difference blur level parameter between observation equation formula (16) culminant star of difference between recovery BDS system and gps system B2/L2 frequency carrier phase mixing star

integer characteristic, detailed process is:

Due to, BDS system B2 carrier phase is different with gps system L2 frequency carrier phase wave length, the B2 frequency carrier phase wave length LMG of BDS system ₂=0.24421 meter, the L2 frequency carrier phase wave length LMC of gps system ₂=0.24834 meter.So blur level parameter in formula (16)

do not there is integer characteristic.By BDS system B2 frequency carrier phase place and gps system L2 frequency carrier phase wave length, ask B2 frequency carrier phase ambiguity parameter N in formula (16) ' _c2coefficient be the wavelength ratio of BDS system B2 frequency carrier phase place and gps system L2 frequency carrier phase place, have:

$\frac{{\mathrm{<figure-callout\; id="2"\; label="LMC"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMC</figure-callout>}}_2}{{\mathrm{<figure-callout\; id="2"\; label="LMG"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMG</figure-callout>}}_2}=1.01691---\left(17\right)$

In formula, $\frac{{\mathrm{<figure-callout\; id="2"\; label="LMC"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMC</figure-callout>}}_2}{{\mathrm{<figure-callout\; id="2"\; label="LMG"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMG</figure-callout>}}_2}=B\&Element;\left(\mathrm{1,2}\right);$

According to formula (17), mixing difference blur level between the B2/L2 frequency carrier phase place star in formula (15)

further write as:

$\frac{{\mathrm{<figure-callout\; id="2"\; label="LMC"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMC</figure-callout>}}_2}{{\mathrm{<figure-callout\; id="2"\; label="LMG"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMG</figure-callout>}}_2}\&CenterDot;{\mathrm{<figure-callout\; id="2"\; label="N\; C"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_C^2-{\mathrm{<figure-callout\; id="2"\; label="N\; G"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_G^2={B\&CenterDot;\mathrm{<figure-callout\; id="2"\; label="N\; C"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_C^2-{\mathrm{<figure-callout\; id="2"\; label="N\; G"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_G^2=1.01691\&CenterDot;{\mathrm{<figure-callout\; id="2"\; label="N\; C"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_C^2-{\mathrm{<figure-callout\; id="2"\; label="N\; G"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_G^2={\mathrm{<figure-callout\; id="2"\; label="N\; C"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_C^2-{\mathrm{<figure-callout\; id="2"\; label="N\; G"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_G^2+0.01691\&CenterDot;{\mathrm{<figure-callout\; id="2"\; label="N\; C"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_C^2---\left(18\right)$

B2 carrier phase ambiguity integer initial value

integer reduction N ' _c2with L2 frequency carrier phase ambiguity integer initial value

integer reduction N ' _g2be all unknown complete cycle number, that is to say N ' _c2-N ' _g2for the differentiated blur level parameter of mixing between BDS system and gps system B2/L2 frequency carrier phase place star, 0.01691N ' _c2be difference blur level parameter N between B2/L2 frequency carrier phase mixing star ' _c2-N ' _g2residual error item, for formula (16), have:

$\begin{array}{c}{\mathrm{<figure-callout\; id="2"\; label="LMC"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMC</figure-callout>}}_2\&CenterDot;{\mathrm{\&Phi;}}_{C2}-{\mathrm{<figure-callout\; id="2"\; label="LMG"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMG</figure-callout>}}_2\&CenterDot;{\mathrm{\&Phi;}}_{\mathrm{<figure-callout\; id="2"\; label="G"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">G</figure-callout>}2}+{\mathrm{COR}}_{C2}-{\mathrm{<figure-callout\; id="2"\; label="COR\; G"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">COR</figure-callout>}}_G\\ ={\mathrm{\&rho;}}_C-{\mathrm{\&rho;}}_G-({\mathrm{<figure-callout\; id="2"\; label="LMC"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMC</figure-callout>}}_2\&CenterDot;{\mathrm{<figure-callout\; id="2"\; label="N\; C"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_C^2-{\mathrm{<figure-callout\; id="2"\; label="LMG"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMG</figure-callout>}}_2\&CenterDot;{\mathrm{<figure-callout\; id="2"\; label="N\; G"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_G^2+{\mathrm{<figure-callout\; id="2"\; label="LMG"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMG</figure-callout>}}_2\&CenterDot;({\mathrm{<figure-callout\; id="2"\; label="N\; C"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_C^2-{\mathrm{<figure-callout\; id="2"\; label="N\; G"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_G^2+0.01691\&CenterDot;{\mathrm{<figure-callout\; id="2"\; label="N\; C"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_C^2))\end{array}---\left(19\right)$

If make difference blur level parameter N between B2/L2 frequency carrier phase mixing star ' _c2-N ' _g2recover integer characteristic, so that carry out Carrier Phase Ambiguity Resolution, need to be by residual error item 0.01691N ' _c2impact be reduced to and do not affect N ' _c2-N ' _g2complete cycle characteristic;

Step 3.7: determine the integer initial value of BDS system B2 frequency carrier phase ambiguity, make residual error item 0.01691N ' _c2do not affect resolving of the middle blur level parameter of formula (19), i.e. residual error item 0.01691N ' _c2size can recover and keep the integer characteristic of difference blur level parameter between B2/L2 frequency carrier phase mixing star;

Residual error item 0.01691N ' _c2the absolute value of value is less than at 0.5 o'clock, residual error item 0.01691N ' _c2do not affect resolving of difference blur level between B2/L2 frequency carrier phase mixing star, can recover the integer characteristic of difference blur level parameter between B2/L2 frequency carrier phase mixing star:

For current BDS system, present embodiment utilizes the Pseudo-range Observations of BDS system B2 frequency to calculate the integer initial value of B2 carrier phase ambiguity.The formula of the observation equation of BDS system B2 frequency Pseudo-range Observations after the non-poor Correction of Errors in external reference station is:

P _C2+COR _CP2＝ρ _C+c·t _r+M _CP2+ε′ _CP2 (20)

In formula, P _c2pseudo-range Observations for BDS system B2 frequency; COR _cP2correction of Errors number for B2 frequency Pseudo-range Observations, is provided by external reference station, identical with the source of the poor correction of non-mistake of receiver user in step 3.1; ρ _cfor the geometric distance of BDS system satellite to receiver, t _rfor receiver clock correction, unit is second, and the implication of the two is identical with formula (1); M _cP2multipath effect error for BDS system B2 frequency Pseudo-range Observations; ε ' _cP2for BDS system B2 frequency pseudorange observation noise and non-model errors.

Utilize the BDS system Pseudo-range Observations of B2 frequency after the non-poor Correction of Errors in external reference station, calculate the integer initial value of B2 frequency carrier phase ambiguity.According to formula (3), formula (20), ignore multipath effect, observation noise and non-model errors, calculate the integer initial value of B2 frequency carrier phase ambiguity

formula be:

${\mathrm{<figure-callout\; id="2"\; label="N\; C"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_C^2=\mathrm{INT}({\mathrm{<figure-callout\; id="2"\; label="P\; C"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">P</figure-callout>}}_C/{\mathrm{<figure-callout\; id="2"\; label="LMC"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMC</figure-callout>}}_2+{\mathrm{<figure-callout\; id="2"\; label="COR\; CP"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">COR</figure-callout>}}_{\mathrm{CP}}/{\mathrm{LMC}}_2-{\mathrm{<figure-callout\; id="2"\; label="COR\; C"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">COR</figure-callout>}}_C/{\mathrm{LMC}}_2-{\mathrm{\&Phi;}}_{C2})---\left(21\right)$

In formula, INT is round numbers symbol, and the value being about in the bracket of equation right side is got its immediate integer.The precision that use formula (21) is calculated B2 frequency carrier phase ambiguity integer initial value depends primarily on BDS system B2 frequency Pseudo-range Observations P _c2precision.

For current BDS system, at residual error item 0.01691N ' _c2the absolute value of value is less than at 0.25 o'clock:

The BDS system B2 frequency carrier phase ambiguity initial value that utilizes formula (21) to calculate

integer reduction N ' _c2absolute value should be less than 15 weeks, the equivalent distances precision of B2 frequency Pseudo-range Observations is 3.7 meters, for residual error item 0.01691N ' _c2, have-0.25 < 0.01691N ' _c2< 0.25, do not affect difference blur level parameter N between B2/L2 frequency carrier phase mixing star ' _c2-N ' _g2integer characteristic;

At residual error item 0.01691N ' _c2the absolute value of value is less than at 0.5 o'clock:

The BDS system B2 frequency carrier phase ambiguity initial value that utilizes formula (21) to calculate

precision should be less than 30 weeks, integer reduction N ' namely _c2the absolute value equivalent distances precision that is less than 30, B2 frequency Pseudo-range Observations be 7.4 meters, i.e. residual error item-0.5 < 0.01691N ' _c2< 0.5, do not affect blur level N ' _c2-N ' _g2integer characteristic.Generally, for current BDS system, the rough error of the BDS single-frequency Pseudo-range Observations in formula (21) can meet this accuracy requirement;

Utilize BDS system B2 frequency Pseudo-range Observations to calculate the integer initial value of B2 frequency carrier phase ambiguity, have two kinds of methods.Be an integer initial value that uses the B2 frequency Pseudo-range Observations calculating B2 frequency carrier phase ambiguity of an epoch, its precision is affected by the observation noise of B2 frequency Pseudo-range Observations mainly.For BDS system, the precision of above-mentioned B2 frequency carrier phase ambiguity initial value is can meet completely.This method is to utilize the Pseudo-range Observations of an epoch by formula (21), to calculate the integer initial value of B2 frequency carrier phase ambiguity; The second is in order to improve B2 frequency Pseudo-range Observations, to calculate the precision of the integer initial value of B2 frequency carrier phase ambiguity, use the B2 frequency Pseudo-range Observations of a plurality of epoch before current epoch to calculate the integer initial value of B2 frequency carrier phase ambiguity, then the integer initial value of a plurality of identical B2 frequency carrier phase ambiguities is averaged, to improve the precision of B2 frequency carrier phase ambiguity integer initial value, utilize the B2 frequency Pseudo-range Observations of same satellite a plurality of epoch to calculate the initial value of B2 frequency ambiguity degree by formula (21), then be averaged.

For BDS system, the precision of above-mentioned B2 frequency carrier phase ambiguity initial value is can meet completely.For the above-mentioned situation with different residual error items, in the scope of B2 frequency carrier phase ambiguity initial value accuracy requirement, also eliminated residual error item, formula (19) abbreviation is:

$\begin{array}{c}{\mathrm{<figure-callout\; id="2"\; label="LMC"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMC</figure-callout>}}_2\&CenterDot;{\mathrm{\&Phi;}}_{C2}-{\mathrm{<figure-callout\; id="2"\; label="LMG"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMG</figure-callout>}}_2\&CenterDot;{\mathrm{\&Phi;}}_{\mathrm{<figure-callout\; id="2"\; label="G"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">G</figure-callout>}2}+{\mathrm{COR}}_{C2}-{\mathrm{<figure-callout\; id="2"\; label="COR\; G"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">COR</figure-callout>}}_G\\ ={\mathrm{\&rho;}}_C-{\mathrm{\&rho;}}_G-({\mathrm{<figure-callout\; id="2"\; label="LMC"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMC</figure-callout>}}_2\&CenterDot;{\mathrm{<figure-callout\; id="2"\; label="N\; C"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_C^2-{\mathrm{<figure-callout\; id="2"\; label="LMG"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMG</figure-callout>}}_2\&CenterDot;{\mathrm{<figure-callout\; id="2"\; label="N\; G"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_G^2+{\mathrm{<figure-callout\; id="2"\; label="LMG"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">LMG</figure-callout>}}_2\&CenterDot;({\mathrm{<figure-callout\; id="2"\; label="N\; C"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_C^2-{\mathrm{<figure-callout\; id="2"\; label="N\; G"\; filenames="HDA0000449727870000021.png"\; state="\{\{state\}\}">N</figure-callout>}}_G^2))\end{array}---\left(22\right)$

In formula, N ' _c2-N ' _g2be difference integer ambiguity parameter between the B2/L2 frequency carrier phase mixing star of observation equation (22), difference integer ambiguity N ' between B2/L2 frequency carrier phase mixing star now _c2-N ' _g2resolve identical with traditional baseline Ambiguity Solution Methods;

Step 4: difference integer ambiguity N ' between BDS system and gps system B2/L2 frequency carrier phase mixing star _c2-N ' _g2after determining, utilize formula (14) or formula (22) to calculate survey station location parameter, then by survey station location parameter, utilize formula (3), formula (4), calculate the initial integer solution of BDS system B2 frequency carrier phase ambiguity and gps system L2 frequency carrier phase ambiguity, wherein the receiver clock correction of formula (3), formula (4), calculates by formula (12) or formula (20).Utilize definite integer ambiguity to carry out the iterative computation of the initial integer solution of blur level, determine final integer ambiguity, between recycling B2/L2 frequency carrier phase mixing star, difference observed reading and blur level determine that user BDS/GPS receiver is to satellite distance.Realize the calculating of mixing difference combined method and receiver location between the B2/L2 frequency carrier phase place star of BDS and GPS.

For the experimental data of Fig. 2, Fig. 3, after determining the L2 carrier phase ambiguity integer initial value of gps system, eliminated the error residue item 0.01664N ' of L2 ambiguity of carrier phase parameter _g2, and difference integer ambiguity parameter between definite B2/L2 carrier phase star.Utilize formula (14) to calculate BDS/GPS receiver to the distance ρ of satellite _c-ρ _g, and then carry out the calculating of receiver location.Obtain receiver after the position coordinates of three coordinate components X, Y, Z, the known accurate coordinate of its result and receiver location is compared, as shown in Figure 4, transverse axis represents that observation time is second in week to its difference, and the longitudinal axis represents the size of difference, and unit is rice.The RMS of X, Y, tri-coordinate components differences of Z is respectively 0.021 meter, 0.024 meter, 0.022 meter.Proved that present embodiment can realize difference combination between the mixing star of BDS system and gps system B2/L2 carrier phase observation data, kept the integer characteristic of difference blur level parameter between dual system star, realized the hi-Fix of dual system receiver.

Although more than described the specific embodiment of the present invention, the those skilled in the art in this area should be appreciated that these only illustrate, and can make various changes or modifications to these embodiments, and not deviate from principle of the present invention and essence.Scope of the present invention is only limited by appended claims.

Claims (6)

1. a mixing difference method between the B2/L2 carrier phase star of BDS and GPS, is characterized in that: first utilize the non-Correction of Errors number under two kinds of frequencies of B2 frequency, L2 frequency that external reference station provides to eliminate satellite orbital error, tropospheric delay error and the ionosphere delay error in carrier phase observation data;

Poor to the B2/L2 carrier phase observation data of BDS system and gps system again, eliminate same receiver to the receiver error in different satellite B2, L2 carrier phase observation data, and recover the integer characteristic of difference blur level between the star of B2/L2 frequency carrier phase observations value and then definite BDS system and gps system B2/L2 carrier phase observation data;

Finally utilize this observed reading, determine that BDS system and gps system satellite are to the distance between receiver.

2. mixing difference method between the B2/L2 carrier phase star of BDS according to claim 1 and GPS, it is characterized in that: same receiver of described elimination is to the receiver error in different satellite carrier phase observations values, method is to make the carrier phase ambiguity parameter of BDS system B2 frequency and the carrier phase ambiguity parameter of gps system L2 frequency merge into a blur level parameter, use following 2 kinds of methods any:

(1) in BDS system, the integer reduction of the B2 frequency carrier phase ambiguity of a satellite forms a blur level parameter, the integer reduction of the L2 frequency carrier phase ambiguity of a satellite in gps system passes through difference between star, the B2 frequency carrier phase ambiguity wavelength of BDS system of take is again coefficient, change into difference blur level between star, formula is:

${\mathrm{LMC}}_2\&CenterDot;N_{C2}-{\mathrm{LMG}}_2\&CenterDot;N_{G2}={\mathrm{LMC}}_2\&CenterDot;N_{C2}^0-{\mathrm{LMG}}_2\&CenterDot;N_{G2}^0+({\mathrm{LMC}}_2\&CenterDot;N_{C2}^{\&prime;}-{\mathrm{LMG}}_2\&CenterDot;N_{G2}^{\&prime;})---\left(1\right)$

In formula, LMC ₂it is the wavelength of BDS system B2 frequency carrier phase place; N _c2it is the integer ambiguity of the B2 frequency carrier phase observations value of BDS system; LMG ₂for the wavelength of gps system L2 frequency carrier phase place, N _g2it is the integer ambiguity of the L2 frequency carrier phase observations value of gps system; for the initial integer solution of BDS system B2 frequency carrier phase ambiguity,

initial integer solution for the L2 frequency carrier phase ambiguity of gps system; N ' _c2for the integer reduction of BDS system B2 frequency carrier Phase integer ambiguity, N ' _g2for the integer reduction of gps system L2 frequency carrier phase ambiguity, the size of the integer reduction of B2/L2 frequency carrier phase ambiguity is relevant with the integer initial value of blur level;

(2) the integer reduction of the integer reduction of the B2 frequency carrier phase ambiguity of a satellite of BDS system and the L2 frequency carrier phase ambiguity of a satellite of gps system, by being combined into a blur level after difference between star, and to take the L2 frequency carrier phase ambiguity wavelength of gps system be coefficient, form difference blur level between star, formula is as follows:

${\mathrm{LMC}}_2\&CenterDot;N_{C2}-{\mathrm{LMG}}_2\&CenterDot;N_{G2}={\mathrm{LMC}}_2\&CenterDot;N_{C2}^0-{\mathrm{LMG}}_2\&CenterDot;N_{G2}^0+{\mathrm{LMC}}_2\&CenterDot;(N_{C2}^{\&prime;}-\frac{{\mathrm{LMG}}_2}{{\mathrm{LMC}}_2}\&CenterDot;N_{G2}^{\&prime;})---\left(2\right)$

In formula,

blur level parameter for difference combination between BDS system B2 frequency carrier phase place and gps system L2 frequency carrier phase place star.

3. mixing difference method between the B2/L2 carrier phase star of BDS according to claim 2 and GPS, is characterized in that: for difference blur level between determined star in (1)

the method of recovering its integer characteristic is:

The B2 of BDS system and gps system, L2 carrier phase wavelength are different, ask for wavelength ratio, and formula is:

$\frac{{\mathrm{LMG}}_2}{{\mathrm{LMC}}_2}=A---\left(3\right)$

In formula, A represents L2, the B2 carrier phase wavelength ratio of gps system and BDS system, and has A ∈ (0,1);

Single poor blur level parameter between the star in formula (7)

further replace with:

$N_{C2}^{\&prime;}-\frac{{\mathrm{LMG}}_2}{{\mathrm{LMC}}_2}\&CenterDot;N_{G2}^{\&prime;}=N_{C2}^{\&prime;}-A\&CenterDot;N_{G2}^{\&prime;}=N_{C2}^{\&prime;}-N_{G2}^{\&prime;}+(1-A)\&CenterDot;N_{G2}^{\&prime;}---\left(4\right)$

In formula, N ' _c2and N ' _g2be all unknown complete cycle number, i.e. N ' _c2-N ' _g2for differentiated blur level parameter between BDS system B2 frequency carrier phase place and gps system L2 frequency carrier phase place star, (1-A) N ' _g2be single poor blur level parameter N between star ' _c2-N ' _g2residual error item, have:

$\begin{array}{c}{\mathrm{LMC}}_2\&CenterDot;{\mathrm{\&Phi;}}_{C2}-{\mathrm{LMG}}_2\&CenterDot;{\mathrm{\&Phi;}}_{G2}+{\mathrm{COR}}_{C2}-{\mathrm{COR}}_{G2}\\ ={\mathrm{\&rho;}}_C-{\mathrm{\&rho;}}_G-({\mathrm{LMC}}_2\&CenterDot;N_{C2}^0-{\mathrm{LMG}}_2\&CenterDot;N_{G2}^0+{\mathrm{LMC}}_2\&CenterDot;(N_{C2}^{\&prime;}-\frac{{\mathrm{LMG}}_2}{{\mathrm{LMC}}_2}\&CenterDot;N_{G2}^{\&prime;}))\\ ={\mathrm{\&rho;}}_C-{\mathrm{\&rho;}}_G-({\mathrm{LMC}}_2\&CenterDot;N_{C2}^0-{\mathrm{LMG}}_2\&CenterDot;N_{G2}^0+{\mathrm{LMC}}_2\&CenterDot;(N_{C2}^{\&prime;}-N_{G2}^{\&prime;}-(A-1)\&CenterDot;N_{G2}^{\&prime;}))\end{array}---\left(5\right)$

In formula, Φ _c2be BDS system B2 carrier phase observation data, subscript C represents BDS system; Φ _g2be gps system L2 frequency carrier phase observations value, subscript G represents gps system; COR _c2the poor correction of non-mistake of the BDS system B2 frequency carrier phase place providing for external reference station; COR _g2the poor correction of non-mistake for gps system L2 frequency carrier phase place; ρ _cfor the geometric distance of BDS satellite to receiver; ρ _gfor the geometric distance of gps satellite to receiver;

Determine the integer initial value of gps system L2 frequency carrier phase ambiguity, residual error item is eliminated, recover blur level integer characteristic.

4. mixing difference method between the B2/L2 carrier phase star of BDS according to claim 2 and GPS, is characterized in that: for difference blur level between the determined star described in (2) the method of recovering its integer characteristic is:

The B2 of BDS system and gps system, L2 carrier phase wavelength are different, ask for wavelength ratio, and formula is:

$\frac{{\mathrm{LMC}}_2}{{\mathrm{LMG}}_2}=B---\left(6\right)$

In formula, B represents the B2 frequency carrier phase wave length of BDS system and the L2 frequency carrier phase wave length ratio of gps system, and has B ∈ (1,2);

Single poor blur level between star

further write as:

$\frac{{\mathrm{LMC}}_2}{{\mathrm{LMG}}_2}\&CenterDot;N_{C2}^{\&prime;}-N_{G2}^{\&prime;}={\mathrm{BN}}_{C2}^{\&prime;}-N_{G2}^{\&prime;}=N_{C2}^{\&prime;}-N_{G2}^{\&prime;}-(1-B)\&CenterDot;N_{C2}^{\&prime;}---\left(7\right)$

In formula, (B-1) N ' _c1for complete cycle is counted N ' _c1-N ' _g1residual error item, have:

$\begin{array}{c}{\mathrm{LMC}}_2\&CenterDot;{\mathrm{\&Phi;}}_{C2}-{\mathrm{LMG}}_2\&CenterDot;{\mathrm{\&Phi;}}_{G2}+{\mathrm{COR}}_{C2}-{\mathrm{COR}}_{G2}\\ ={\mathrm{\&rho;}}_C-{\mathrm{\&rho;}}_G-({\mathrm{LMC}}_2\&CenterDot;N_{C2}^0-{\mathrm{LMG}}_2\&CenterDot;N_{G2}^0+{\mathrm{LMG}}_2\&CenterDot;(\frac{{\mathrm{LMC}}_2}{{\mathrm{LMG}}_2}\&CenterDot;N_{C2}^{\&prime;}-N_{G2}^{\&prime;}))\\ ={\mathrm{\&rho;}}_C-{\mathrm{\&rho;}}_G-({\mathrm{LMC}}_2\&CenterDot;N_{C2}^0-{\mathrm{LMG}}_2\&CenterDot;N_{G2}^0+{\mathrm{LMG}}_2\&CenterDot;(N_{C2}^{\&prime;}-N_{G2}^{\&prime;}+(B-1)\&CenterDot;N_{C2}^{\&prime;}))\end{array}---\left(8\right)$

Determine the integer initial value of BDS system B2 frequency carrier phase ambiguity, residual error item is eliminated, recover blur level integer characteristic.

5. mixing difference method between the B2/L2 carrier phase star of BDS according to claim 3 and GPS, is characterized in that: the integer initial value of described definite gps system L2 frequency carrier phase ambiguity, and method is:

For gps system, when the absolute value of residual error item value is less than 0.5:

If utilize the Pseudo-range Observations of gps system L2 frequency to calculate L2 frequency carrier phase ambiguity integer initial value, the deviation of gps system L2 carrier phase ambiguity initial value should be less than 30 weeks;

Absolute value in residual error item value is less than at 0.25 o'clock:

If the Pseudo-range Observations of the Pseudo-range Observations of gps system L2 frequency calculates L2 frequency carrier phase ambiguity integer initial value, the deviation of gps system L2 frequency carrier phase ambiguity initial value should be less than 15 weeks.

6. according to mixing difference method between the B2/L2 carrier phase star of BDS according to claim 4 and GPS, it is characterized in that: the integer initial value of described definite BDS system B2 frequency carrier phase ambiguity, method is:

Utilize BDS system B2 frequency Pseudo-range Observations to calculate the initial value of BDS system B2 frequency carrier phase ambiguity, the minimum requirements that initial value should be satisfied is:

For current BDS system, at the absolute value of residual error item value, be less than at 0.5 o'clock:

If utilize the Pseudo-range Observations of BDS system B2 frequency to calculate B2 carrier phase ambiguity integer initial value, the deviation of BDS system B2 frequency carrier phase ambiguity initial value should be less than 30 weeks;

Absolute value in residual error item value is less than at 0.25 o'clock:

If utilize the Pseudo-range Observations of BDS system B2 frequency to calculate B2 carrier phase ambiguity integer initial value, the deviation of BDS system B2 frequency carrier phase ambiguity initial value should be less than 15 weeks.

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