CN114280644A - PPP-B2B service-based precise point positioning system and method - Google Patents
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Abstract
The invention relates to the technical field of precise single-point positioning, and provides a precise single-point positioning system and a precise single-point positioning method based on PPP-B2B service, wherein the precise single-point positioning system comprises a receiver, a preprocessing module, a data processing module and an output module, wherein the receiver receives a PPP-B2B signal broadcasted by a Beidou No. three system through an antenna, observation data and broadcast ephemeris, the received signal is decoded and preprocessed by the preprocessing module to obtain a correction number, and then the correction number is input into the data processing module; the data processing module is preset with an ionosphere-free model, corrects the observation data according to the correction number, solves known items in the observation data through the ionosphere-free model, then sends the calculation result to the output module, and the output module outputs a corresponding precise single-point positioning result according to the user requirement. The method and the device for the precise single-point positioning of the satellite positioning system acquire data such as observation data, conventional ephemeris and correction data based on PPP-B2B service, do not need a user to input external data, and effectively improve the precise single-point positioning efficiency.
Description
Technical Field
The invention relates to the technical field of precise point positioning, in particular to a precise point positioning system and method based on PPP-B2B service.
Background
At present, a regional reference network enhanced precision single-point positioning (PPP-RTK) technology is mainly adopted in a precision single-point positioning technology, and although the PPP technology has the advantages of flexibility in positioning mode and high efficiency in a RTK positioning process, external data also needs to be input in the precision single-point positioning process.
The Beidou third system provides five public service signals B1I, B1C, B2a, B2B and B3I, and provides services such as basic navigation, precise single-point positioning, satellite-based augmentation, short message communication, medium-orbit search and rescue and the like for users. Among the signals broadcast by beidou No. three, the B2B signal is of great interest because it carries the precision point positioning service (PPP). The precise positioning service is provided by PPP-B2B signals, and is broadcast by three geosynchronous orbit (GEO) satellites of BeiDou III in China and surrounding areas, so that the precise positioning service can provide open and free high-precision service for users. With the publishing of PPP-B2B signal interface file (ICD), the user can analyze the signal according to the ICD description, obtain the data broadcasted by the user, and then cooperate with the corresponding observation data and the broadcast ephemeris to realize the precise single-point positioning function.
Disclosure of Invention
The invention provides a precise point positioning system based on PPP-B2B service and a precise point positioning method based on PPP-B2B service, aiming at overcoming the defects that external data is required to be input in the precise point positioning process and the efficiency is lower.
In order to solve the technical problems, the technical scheme of the invention is as follows:
a precise single-point positioning system based on PPP-B2B service comprises a receiver, a preprocessing module, a data processing module and an output module, wherein the receiver receives PPP-B2B signals, observation data and broadcast ephemeris, which are broadcast by a Beidou No. three system, through an antenna, the received PPP-B2B signals are decoded and preprocessed through the preprocessing module to obtain correction numbers, and then the correction numbers are input into the data processing module; the data processing module is preset with an ionosphere-free model, corrects observation data according to the correction number, solves known items in the observation data through the ionosphere-free model, and then sends a calculation result to the output module, and the output module outputs a corresponding precise single-point positioning result according to the user requirement.
Preferably, the preprocessing module comprises a text decoder and a correction number matching unit; the message decoder is used for carrying out message decoding on the received PPP-B2B signal to obtain observation data, a satellite orbit correction number, a satellite clock error correction number, an inter-code deviation correction number and a user ranging precision index; and the correction number matching unit matches the correction number of the corresponding time with the observation time corresponding to the observation data and outputs the result to the data processing module.
Preferably, the ionosphere-free model preset in the data processing module includes a dual-frequency combined ionosphere-free model, and an expression formula of the model is as follows:
in the formula, PIFPseudorange observations, L, for ionospheric-free model outputsIFPhase observed values output by the model without the ionized layer; f. of1、f2Are respectively L1And L2Frequency of the carrier phase observations; p1And P2Respectively represent L1And L2Pseudo-range observed values corresponding to the carriers; rho is the geometric distance of the satellite, c is the speed of light in vacuum, dT is the clock error of the receiver, dT is the clock error of the satellite, trp is the delay error of the troposphere, BIFFor dual-frequency ionospheric-free combined ambiguities, dm is the multipath effect of the combined pseudorange observations, δ m is the multipath effect of the combined phase observations, εPFor combining pseudo-range observation noise, epsilonLNoise is observed for the combined phase.
As a preferred scheme, the data processing module further comprises a correction unit and a parameter calculation unit; the correction unit acquires the correction number and the broadcast ephemeris sent by the preprocessing module, applies the correction number to the broadcast ephemeris and the observation data, and corrects the broadcast ephemeris and the observation data of the corresponding satellite; the parameter calculation unit calculates known items in the observation data according to the corrected observation data; known items in the observed data include single point positioning, receiver clock error, solid tide, sea tide, extreme tide, troposphere, relativistic effect correction, earth rotation error and cycle slip detection.
As a preferred scheme, the system further comprises a parameter estimation module, wherein a kalman filter is preset in the parameter estimation module and is used for adjusting the parameter to be estimated; the parameters to be estimated comprise station coordinates, receiver clock error, tropospheric delay and intersystem bias.
As a preferred scheme, the system further comprises a quality control module, wherein the quality control module is configured to perform inspection analysis on the adjustment result of the parameter estimation module, search for a maximum residual error, and perform judgment: if the maximum residual error is larger than the preset threshold value, the maximum residual error is judged to be gross error, and after the corresponding observation data is removed, the filtering is carried out again through the parameter estimation module until the maximum residual error is smaller than the preset threshold value.
Furthermore, the invention also provides a precise point positioning method based on PPP-B2B service, and a precise point positioning system based on PPP-B2B service, which is provided by applying any technical scheme. Which comprises the following steps:
s1, receiving PPP-B2B signals broadcast by the Beidou third system, observation data and broadcast ephemeris;
s2, decoding and preprocessing the received PPP-B2B signal to obtain a correction number;
s3, correcting the observation data according to the correction number, and solving known items in the observation data through the non-ionosphere model;
and S4, outputting a corresponding precise single-point positioning result according to the user requirement.
Preferably, in the step S3, the specific steps include:
s301, acquiring the preprocessed correction numbers and the broadcast ephemeris, applying the correction numbers to the broadcast ephemeris and the observation data, and correcting the broadcast ephemeris and the observation data of the corresponding satellite;
s302, calculating known items in the observation data according to the corrected observation data; known items in the observed data include single point positioning, receiver clock error, solid tide, sea tide, extreme tide, troposphere, relativistic effect correction, earth rotation error and cycle slip detection.
Preferably, in the step S3, the ionosphere-free model includes a dual-frequency combined ionosphere-free model, which is expressed by the following formula:
in the formula, PIFPseudorange observations, L, for ionospheric-free model outputsIFPhase observed values output by the model without the ionized layer; f. of1、f2Are respectively L1And L2Frequency of the carrier phase observations; rho is the geometric distance of the satellite, c is the speed of light in vacuum, dT is the clock error of the receiver, dT is the clock error of the satellite, trp is the delay error of the troposphere, BIFFor dual-frequency ionospheric-free combined ambiguities, dm is the multipath effect of the combined pseudorange observations, δ m is the multipath effect of the combined phase observations, εPFor combining pseudo-range observation noise, epsilonLNoise is observed for the combined phase.
Preferably, the step S3 further includes the following steps:
s303, adjusting parameters to be estimated by utilizing Kalman filtering, a function model, a random model and participation items in observation data; the parameters to be estimated comprise station coordinates, receiver clock error, tropospheric delay and intersystem deviation;
s304, carrying out residual error detection on the adjustment result, searching the maximum residual error and judging: if the maximum residual error is greater than the preset threshold value, the maximum residual error is judged to be gross error, after the corresponding observation data is removed, the step S303 is skipped to carry out filtering again until the maximum residual error is less than the preset threshold value.
Compared with the prior art, the technical scheme of the invention has the beneficial effects that: based on PPP-B2B service, the invention can realize precise single-point positioning without inputting external data by decoding and preprocessing the received PPP-B2B signal to obtain observation data, conventional ephemeris, correction number and other data, thereby effectively improving the precise single-point positioning efficiency; the invention adopts the model without the ionized layer to eliminate the low-order item of the ionized layer delay and further improve the precision of the precision single-point positioning result.
Drawings
Fig. 1 is an architecture diagram of a precise point location system based on PPP-B2B service according to embodiment 1.
Fig. 2 is a diagram illustrating the real-time decoding result of the PPP-B2B signal correction in embodiment 1.
Fig. 3 is an architecture diagram of a precise point location system based on PPP-B2B service in embodiment 2.
Fig. 4 is a flowchart of a method for fine point location based on PPP-B2B in embodiment 3.
Fig. 5 is a flowchart of a method for fine point location based on PPP-B2B in embodiment 4.
Fig. 6 is a real-time static precise single-point result diagram of the beijing T001 testing station of embodiment 4.
Fig. 7 is a real-time static precise single-point result diagram of the hainan T002 station of example 4.
Detailed Description
The drawings are for illustrative purposes only and are not to be construed as limiting the patent;
it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The technical solution of the present invention is further described below with reference to the accompanying drawings and examples.
Example 1
The present embodiment provides a precise point location system based on PPP-B2B service, which is an architecture diagram of the precise point location system based on PPP-B2B service in the present embodiment, as shown in fig. 1.
The precise point location system based on PPP-B2B proposed in this embodiment includes:
the receiver 1 is used for receiving PPP-B2B signals broadcast by a Beidou No. three system through an antenna through a configured antenna, and observing data and broadcast ephemeris;
the preprocessing module 2 is used for decoding and preprocessing the received PPP-B2B signal to obtain a correction number;
the data processing module 3 is provided with an ionosphere-free model in advance; the data processing module 3 is used for correcting the observation data according to the correction number and solving known items in the observation data through the non-ionosphere model;
and the output module 6 is used for outputting a corresponding precise single-point positioning result according to the user requirement.
In this embodiment, the preprocessing module 2 includes a text decoder 21 and a correction number matching unit 22; the message decoder 21 is configured to perform message decoding on the received PPP-B2B signal to obtain observation data, a satellite orbit correction number, a satellite clock error correction number, an inter-code deviation correction number, and a user ranging accuracy index; the correction number matching unit 22 matches the correction number of the corresponding time with the observation time corresponding to the observation data and outputs the result to the data processing module 3.
In this embodiment, the data processing module 3 further includes a correction unit 31 and a parameter calculation unit 32; the correcting unit 31 obtains the correction number and the broadcast ephemeris sent by the preprocessing module 2, applies the correction number to the broadcast ephemeris and the observation data, and corrects the broadcast ephemeris and the observation data of the corresponding satellite; the parameter calculation unit 32 calculates a known item in the observation data based on the corrected observation data; known items in the observation data comprise single-point positioning, receiver clock error, solid tide, sea tide, extreme tide, troposphere, relativistic effect correction, earth rotation error and cycle slip detection; the ionosphere-free model is provided within the parameter calculation unit 32 for calculating pseudorange observations and phase observations.
The non-ionized layer model comprises a dual-frequency combined non-ionized layer, and the expression formula is as follows:
in the formula, PIFPseudorange observations, L, for ionospheric-free model outputsIFPhase observed values output by the model without the ionized layer; f. of1、f2Are respectively L1And L2Frequency of the carrier phase observations; p1And P2Respectively represent L1And L2Pseudo-range observed values corresponding to the carriers; rho is the geometric distance of the satellite, c is the speed of light in vacuum, dT is the clock error of the receiver, dT is the clock error of the satellite, trp is the delay error of the troposphere, BIFFor dual-frequency ionospheric-free combined ambiguities, dm is the multipath effect of the combined pseudorange observations, δ m is the multipath effect of the combined phase observations, εPFor combining pseudo-range observation noise, epsilonLNoise is observed for the combined phase.
The ionospheric-free implementation eliminates the low order ionospheric delay through dual-frequency combining. Since the PPP generally adopts a precise ephemeris and a precise satellite clock error product, the satellite orbit error and the satellite clock error are not considered in the model. The code delay can be absorbed by the clock difference, while the initial phase and phase delays are absorbed by the ambiguity parameters and are generally not considered in the float solution. For the influence of other system errors, such as tropospheric delay dry components, phase center deviation and change of the satellite and the antenna at the receiver 1 end, phase winding, relativistic effect, solid tide, sea tide, extreme tide, earth rotation and other errors, the existing function model can be adopted for accurate correction. For some multipath effects and observed noise, it is mainly handled by stochastic models.
In the specific implementation process, the receiver 1 receives a PPP-B2B signal broadcast by a Beidou third system, observation data and broadcast ephemeris through an antenna. The broadcast ephemeris is CNAV1 ephemeris on Beidou III B1C, a CNAV1 navigation message is broadcast in a B1C signal, and message data is modulated on a B1C data component. The text length of each frame is 1800 sign bits, the symbol rate is 100sps, and the broadcasting period is 18 seconds. Compared with the traditional ephemeris, the CNAV1 ephemeris adds parameters such as the deviation of the semi-major axis of the reference time relative to the reference value, the change rate of the semi-major axis and the like, and can provide satellite ephemeris information with higher precision for a user.
The preprocessing module 2 decodes and preprocesses the received PPP-B2B signal to obtain a correction number. In the process of decoding the PPP-B2B signal, the PPP-B2B signal comprises an I branch component and a Q branch component, the first three GEO satellites of the third Beidou satellite are responsible for broadcasting the I branch component, and the symbol rate is 1000 sps. PPP-B2B signal supports PPP services for BDS, GPS, Galileo and Glonass four major systems, and currently (5 months by 2021) supports BDS3 and GPS systems. The basic frame broadcasting period is 1s, the synchronization head is the same as B2B, the reserved 6 symbols are used for identifying the state of PPP service, the highest bit is 0 to indicate that the satellite PPP service is available, and the meaning of other symbol bits is reserved. The currently defined information types are 1-7, the information types 8-62 are reserved information, the information type 63 is null information, and when no information is available, the system broadcasts the type to fill the blank period. By resolution, the types of PPP-B2B information currently broadcast by GEO satellites include 1, 2, 3, 4, 5, and 63. The current information type 4 is broadcast most frequently, on average once in 6 s. The information needed by the precise single-point positioning is 2, 3 and 4 information, 2 is track correction number, 3 is inter-code deviation correction number, and 4 is clock error correction number. Through the careful interpretation of the ICD document of the PPP-B2B signal, the understanding of the corresponding parameters is completed, and the acquisition of various PPP correction numbers is completed through the decoding of actual data. Fig. 2 is a schematic diagram of the real-time decoding result of the PPP-B2B signal correction in this embodiment.
And the data processing module 3 corrects the observation data according to the correction number, solves the known items in the observation data through the non-ionosphere model, and then sends the calculation result to the output module 6. For the satellite-end antenna phase center deviation, the track correction number of the Beidou satellite three-broadcasting is based on the broadcast ephemeris, so that correction is not needed, but for the user end, the antenna phase center deviation needs to be corrected. And finally, outputting a precision single-point positioning result such as coordinates and the like according to the requirement of a user through an output module 6.
In the embodiment, based on the PPP-B2B service, the received PPP-B2B signal is decoded and preprocessed to obtain observation data, conventional ephemeris, correction data and other data, so that the precise single-point positioning can be realized without inputting external data by a user, and the precise single-point positioning efficiency is effectively improved; the embodiment also adopts the model without the ionized layer to eliminate the ionized layer delay low-order terms, and can further improve the precision of the precision single-point positioning result.
Example 2
The present embodiment provides a precise point location system based on PPP-B2B service, which is an architecture diagram of the precise point location system based on PPP-B2B service in the present embodiment, as shown in fig. 3.
The precise point location system based on PPP-B2B proposed in this embodiment includes:
the receiver 1 is used for receiving PPP-B2B signals broadcast by a Beidou No. three system through an antenna through a configured antenna, and observing data and broadcast ephemeris;
the preprocessing module 2 is used for decoding and preprocessing the received PPP-B2B signal to obtain a correction number;
the data processing module 3 is provided with an ionosphere-free model in advance; the data processing module 3 is used for correcting the observation data according to the correction number and solving known items in the observation data through the non-ionosphere model;
and the output module 6 is used for outputting a corresponding precise single-point positioning result according to the user requirement.
Further, the precision single-point positioning system of this embodiment further includes a parameter estimation module 4, and a kalman filter is preset in the parameter estimation module 4, and is configured to perform adjustment on a parameter to be estimated; the parameters to be estimated comprise station coordinates, receiver clock error, tropospheric delay and intersystem bias.
The precision single-point positioning system of this embodiment further includes a quality control module 5, where the quality control module 5 is configured to perform inspection and analysis on the adjustment result of the parameter estimation module 4, search for the maximum residual error, and perform judgment: if the maximum residual error is greater than the preset threshold value, the maximum residual error is judged to be gross error, and after the corresponding observation data is removed, the filtering is carried out again through the parameter estimation module 4 until the maximum residual error is less than the preset threshold value.
In the specific implementation process, the receiver 1 receives a PPP-B2B signal, observation data and a broadcast ephemeris which are broadcast by a Beidou third system through an antenna, the received PPP-B2B signal is decoded and preprocessed by the preprocessing module 2 to obtain a correction number, and then the correction number is input into the data processing module 3; the data processing module 3 is preset with an ionosphere-free model, the data processing module 3 corrects the observation data according to the correction number, and the known item in the observation data is solved through the ionosphere-free model.
Further, the parameter estimation module 4 of this embodiment performs adjustment using the function model, the random model, and the participation items of the observed values to obtain parameters to be estimated, which mainly include station coordinates, receiver clock error, tropospheric delay, intersystem bias, and the like, and then performs residual error checking on the adjustment result of the parameter estimation module 4 through the quality control module 5, and eliminates the observation data that do not meet the requirement, and then performs the above processing in a loop to obtain the precision single-point positioning result that meets the precision requirement.
In this embodiment, the accuracy of the positioning result is improved by the added parameter estimation module 4 and the quality control module 5, wherein the parameter estimation module 4 mainly performs adjustment on the parameter to be estimated according to the PPP observation model and the stochastic model, and the quality control module 5 mainly performs analysis on the residual error after the verification, thereby reducing the influence of the gross error on the filtering result and improving the accuracy of the positioning result.
Example 3
The present embodiment provides a precise point location method based on PPP-B2B service, which is applied to the precise point location system based on PPP-B2B service provided in embodiment 1. Fig. 4 is a flowchart of the precise point location method based on PPP-B2B service according to this embodiment.
The precise point location method based on PPP-B2B service provided by this embodiment includes the following steps:
s1, receiving PPP-B2B signals broadcast by the Beidou third system, observation data and broadcast ephemeris;
s2, decoding and preprocessing the received PPP-B2B signal to obtain a correction number;
s3, correcting the observation data according to the correction number, and solving known items in the observation data through the non-ionosphere model;
and S4, outputting a corresponding precise single-point positioning result according to the user requirement.
In this embodiment, the specific step in the step S3 includes:
s301, acquiring the preprocessed correction numbers and the broadcast ephemeris, applying the correction numbers to the broadcast ephemeris and the observation data, and correcting the broadcast ephemeris and the observation data of the corresponding satellite;
s302, calculating known items in the observation data according to the corrected observation data; known items in the observed data include single point positioning, receiver clock error, solid tide, sea tide, extreme tide, troposphere, relativistic effect correction, earth rotation error and cycle slip detection.
The non-ionized layer model comprises a dual-frequency combined non-ionized layer, and the expression formula is as follows:
in the formula, PIFPseudorange observations, L, for ionospheric-free model outputsIFPhase observed values output by the model without the ionized layer; f. of1、f2Are respectively L1And L2Frequency of the carrier phase observations; rho is the geometric distance of the satellite, c is the speed of light in vacuum, dT is the clock error of the receiver, dT is the clock error of the satellite, trp is the delay error of the troposphere, BIFFor dual-frequency ionospheric-free combined ambiguities, dm is the multipath effect of the combined pseudorange observations, δ m is the multipath effect of the combined phase observations, εPFor combining pseudo-range observation noise, epsilonLNoise is observed for the combined phase.
In the embodiment, based on the PPP-B2B service, the received PPP-B2B signal is decoded and preprocessed to obtain observation data, conventional ephemeris, correction data and other data, so that the precise point location can be realized without inputting external data by a user, and the precise point location efficiency is effectively improved. The embodiment also adopts the model without the ionized layer to eliminate the ionized layer delay low-order terms, and can further improve the precision of the precision single-point positioning result.
Example 4
The present embodiment provides a precise point location method based on PPP-B2B service, and applies the precise point location system based on PPP-B2B service provided in embodiment 2. Fig. 5 is a flowchart of the precise point location method based on PPP-B2B service according to this embodiment.
The precise point location method based on PPP-B2B service provided by this embodiment includes the following steps:
s1, receiving PPP-B2B signals broadcast by the Beidou third-generation system, observation data and broadcast ephemeris.
S2, decoding and preprocessing the received PPP-B2B signal to obtain the correction number.
And S3, correcting the observation data according to the correction number, and solving the known items in the observation data through the non-ionosphere model.
S301, acquiring the correction number and the broadcast ephemeris sent by the preprocessing module 2, applying the correction number to the broadcast ephemeris and the observation data, and correcting the broadcast ephemeris and the observation data of the corresponding satellite.
S302, calculating known items in the observation data according to the corrected observation data; known items in the observed data include single point positioning, receiver clock error, solid tide, sea tide, extreme tide, troposphere, relativistic effect correction, earth rotation error and cycle slip detection.
S303, adjusting parameters to be estimated by utilizing Kalman filtering, a function model, a random model and participation items in observation data; the parameters to be estimated comprise station coordinates, receiver clock error, tropospheric delay and intersystem bias.
S304, carrying out residual error detection on the adjustment result, searching the maximum residual error and judging: if the maximum residual error is greater than the preset threshold value, the maximum residual error is judged to be gross error, after the corresponding observation data is removed, the step S303 is skipped to carry out filtering again until the maximum residual error is less than the preset threshold value.
And S4, outputting a corresponding precise single-point positioning result according to the user requirement.
In the embodiment, the parameters to be estimated are subjected to adjustment by using Kalman filtering, a function model, a random model and the participations in the observation data, and the adjustment result is further subjected to residual error detection analysis, so that the influence of gross error on the filtering result can be reduced, and the precision of the positioning result is further improved.
In a specific implementation process, 6 groups of test points located all over the country are selected, and the results of 7 days in total from 2021 years 027 to 033 of year age are adopted to perform real-time static PPP precision analysis. Wherein the reference value is derived from the last epoch result of a multi-system static solution based on IGS post-hoc fine point positioning. And the calculation result of each test point is displayed in the northeast direction of the local coordinate. The real-time static precise single-point positioning results of the two sets of data, namely T001 located in Beijing and T002 located in Hainan, are respectively shown in FIGS. 6 and 7.
As can be seen from fig. 6 and 7, the precise single-point positioning based on PPP-B2B service can be converged normally, and no significant jump occurs, which reflects the reliability of the present embodiment and the effectiveness of the correction number. To further analyze its performance, table 1 makes statistics of the mean RMS over a week for 6 test points located nationwide.
TABLE 1 statistical table of seven-day average RMS for real-time static precise single-point positioning
As can be seen from the table, the PPP results RMS of most stations are better than 5cm in the N direction, better than 8cm in the E direction, better than 10cm in the U direction, and high precision is achieved in the three directions. The effect of each direction of the positioning result of each test is that the north direction is superior to the east direction and is superior to the elevation direction; the positioning precision in the east direction is obviously better than that in the north direction, and the phenomenon is mainly caused by the distribution of satellites. The stations are widely distributed in various regions throughout the country, which shows that the service can be applied all over the country. All the measurement station results realize normal convergence, and the precision after convergence is superior to 10cm and reaches centimeter level.
Therefore, the precise point positioning method based on the PPP-B2B service provided by the embodiment can realize precise point positioning with high precision.
The same or similar reference numerals correspond to the same or similar parts;
it should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. A precise single-point positioning system based on PPP-B2B service is characterized by comprising a receiver, a preprocessing module, a data processing module and an output module, wherein the receiver receives a PPP-B2B signal, observation data and broadcast ephemeris, which are broadcast by a Beidou No. three system through an antenna, the received PPP-B2B signal is decoded and preprocessed by the preprocessing module to obtain a correction number, and then the correction number is input into the data processing module; the data processing module is preset with an ionosphere-free model, corrects observation data according to the correction number, solves known items in the observation data through the ionosphere-free model, and then sends a calculation result to the output module, and the output module outputs a corresponding precise single-point positioning result according to the user requirement.
2. The PPP-B2B service based precise point location system as recited in claim 1, wherein said preprocessing module comprises a text decoder and a correction number matching unit; the message decoder is used for carrying out message decoding on the received PPP-B2B signal to obtain observation data, a satellite orbit correction number, a satellite clock error correction number, an inter-code deviation correction number and a user ranging precision index; and the correction number matching unit matches the correction number of the corresponding time with the observation time corresponding to the observation data and outputs the result to the data processing module.
3. The PPP-B2B based precise point location system according to claim 1, wherein the data processing module further comprises a correction unit and a parameter calculation unit; the correction unit acquires the correction number and the broadcast ephemeris sent by the preprocessing module, applies the correction number to the broadcast ephemeris and the observation data, and corrects the broadcast ephemeris and the observation data of the corresponding satellite; the parameter calculation unit calculates known items in the observation data according to the corrected observation data; known items in the observation data comprise single-point positioning, receiver clock error, solid tide, sea tide, extreme tide, troposphere, relativistic effect correction, earth rotation error and cycle slip detection; the non-ionosphere model is arranged in the parameter calculation unit and used for calculating a pseudo-range observation value and a phase observation value.
4. The PPP-B2B based precise point location system according to claim 1, wherein the ionosphere-free model preset in the data processing module comprises a dual-frequency combination ionosphere-free model, which is expressed by the following formula:
in the formula, PIFPseudorange observations, L, for ionospheric-free model outputsIFPhase observed values output by the model without the ionized layer; f. of1、f2Are respectively L1And L2Frequency of the carrier phase observations; p1And P2Respectively represent L1And L2Pseudo-range observed values corresponding to the carriers; rho is the geometric distance of the satellite, c is the speed of light in vacuum, dT is the clock error of the receiver, dT is the clock error of the satellite, trp is the delay error of the troposphere, BIFFor dual-frequency ionospheric-free combined ambiguities, dm is the multipath effect of the combined pseudorange observations, δ m is the multipath effect of the combined phase observations, εPFor combining pseudo-range observation noise, epsilonLNoise is observed for the combined phase.
5. The precise point positioning system based on PPP-B2B service according to any of claims 1-4, wherein said system further comprises a parameter estimation module, in which a Kalman filter is pre-arranged for adjusting the parameter to be estimated; the parameters to be estimated comprise station coordinates, receiver clock error, tropospheric delay and intersystem bias.
6. The PPP-B2B service-based precise point location system according to claim 5, further comprising a quality control module, wherein the quality control module is configured to perform inspection and analysis on the adjustment result of the parameter estimation module, find the maximum residual error and determine: if the maximum residual error is larger than the preset threshold value, the maximum residual error is judged to be gross error, and after the corresponding observation data is removed, the filtering is carried out again through the parameter estimation module until the maximum residual error is smaller than the preset threshold value.
7. A precise point positioning method based on PPP-B2B service is characterized by comprising the following steps:
s1, receiving PPP-B2B signals broadcast by the Beidou third system, observation data and broadcast ephemeris;
s2, decoding and preprocessing the received PPP-B2B signal to obtain a correction number;
s3, correcting the observation data according to the correction number, and solving known items in the observation data through the non-ionosphere model;
and S4, outputting a corresponding precise single-point positioning result according to the user requirement.
8. The method for precise point-location based on PPP-B2B as claimed in claim 7, wherein in said S3 step, the specific steps include:
s301, acquiring the preprocessed correction numbers and the broadcast ephemeris, applying the correction numbers to the broadcast ephemeris and the observation data, and correcting the broadcast ephemeris and the observation data of the corresponding satellite;
s302, calculating known items in the observation data according to the corrected observation data; known items in the observed data include single point positioning, receiver clock error, solid tide, sea tide, extreme tide, troposphere, relativistic effect correction, earth rotation error and cycle slip detection.
9. The PPP-B2B based precise point location method of claim 8, wherein in the step S3, the ionosphere-free model comprises a dual-frequency combined ionosphere-free model expressed as follows:
in the formula, PIFPseudorange observations, L, for ionospheric-free model outputsIFPhase observed values output by the model without the ionized layer; f. of1、f2Are respectively L1And L2Frequency of the carrier phase observations; rho is the geometric distance of the satellite, c is the speed of light in vacuum, dT is the clock error of the receiver, dT is the clock error of the satellite, trp is the delay error of the troposphere, BIFFor dual-frequency ionospheric-free combined ambiguities, dm is the multipath effect of the combined pseudorange observations, δ m is the multipath effect of the combined phase observations, εPInto a groupResultant pseudo-range observation noise, εLNoise is observed for the combined phase.
10. The method for precise point-of-presence location based on PPP-B2B service according to claim 8, wherein said step of S3 further comprises the steps of:
s303, adjusting parameters to be estimated by utilizing Kalman filtering, a function model, a random model and participation items in observation data; the parameters to be estimated comprise station coordinates, receiver clock error, tropospheric delay and intersystem deviation;
s304, carrying out residual error detection on the adjustment result, searching the maximum residual error and judging: if the maximum residual error is greater than the preset threshold value, the maximum residual error is judged to be gross error, after the corresponding observation data is removed, the step S303 is skipped to carry out filtering again until the maximum residual error is less than the preset threshold value.
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