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CN-122017911-A - Method, device, equipment, medium and product for processing ambiguity in satellite positioning

CN122017911ACN 122017911 ACN122017911 ACN 122017911ACN-122017911-A

Abstract

The embodiment of the application provides a method, a device, equipment, a medium and a product for processing ambiguity in satellite positioning. The method comprises the steps of obtaining a first parameter vector to be estimated and a whole-cycle ambiguity set of a current epoch under the condition that a fixed result of the ambiguity fixing process meets a first preset condition, wherein the first parameter vector to be estimated comprises floating ambiguity, updating the first parameter vector to be estimated based on Kalman filtering according to the whole-cycle ambiguity set to obtain a second parameter vector to be estimated of the current epoch, wherein the second parameter vector to be estimated comprises updated floating ambiguity, performing regularity checking on the updated floating ambiguity to obtain a checking result of the updated floating ambiguity, and taking the updated floating ambiguity with the checking result being an integer solution as an initial parameter of the ambiguity fixing process of the next epoch. The method is used for accurately fixing the ambiguity to obtain accurate integer ambiguity, and improves the accuracy of a positioning result of satellite positioning.

Inventors

  • TAO ZHENGGUANG

Assignees

  • 浙江吉利控股集团有限公司
  • 浙江时空道宇科技有限公司

Dates

Publication Date
20260512
Application Date
20260206

Claims (14)

  1. 1. A method for processing ambiguity in satellite positioning, comprising: Under the condition that a fixed result of the fixed processing of the ambiguity meets a first preset condition, a first parameter vector to be estimated of a current epoch and a whole-cycle ambiguity set are obtained, wherein the first parameter vector to be estimated comprises floating ambiguity, the whole-cycle ambiguity set comprises a plurality of whole-cycle ambiguities, the numerical value of the whole-cycle ambiguities is an integer, the whole-cycle ambiguities are obtained by the fixed processing based on the floating ambiguity, the numerical value of the floating ambiguity is a real number, the first preset condition is that the fixed result of the ambiguity in M consecutive epochs is all fixed or partially fixed, and M is an integer larger than 1; Updating the first parameter vector to be estimated based on Kalman filtering according to the integer ambiguity set to obtain a second parameter vector to be estimated of the current epoch, wherein the second parameter vector to be estimated comprises updated floating ambiguity; Performing regularity verification on the updated floating ambiguity to obtain a verification result of the updated floating ambiguity, wherein the verification result represents that the updated floating ambiguity is an integer solution or a non-integer solution; and taking the updated floating ambiguity of which the check result is an integer solution as an initial parameter of the ambiguity fixing process of the next epoch.
  2. 2. The method of claim 1, wherein performing a regularity check on the updated floating ambiguity to obtain a check result of the updated floating ambiguity, comprises: Determining an error value corresponding to the updated floating ambiguity according to the updated floating ambiguity; And if the error value is determined to be in the preset numerical range, determining that the updated checking result of the floating ambiguity is an integer solution, otherwise, determining that the updated checking result of the floating ambiguity is a non-integer solution.
  3. 3. The method of claim 2, wherein determining an error value corresponding to the updated floating ambiguity based on the updated floating ambiguity comprises: Rounding operation is carried out on the updated floating ambiguity to obtain an integer value, wherein the integer value is the integer value closest to the updated floating ambiguity; determining a difference between the updated floating ambiguity and the integer value; And determining the absolute value of the difference value as an error value corresponding to the updated floating ambiguity.
  4. 4. The method of claim 1, wherein updating the first parameter vector to be estimated based on kalman filtering based on the integer ambiguity set to obtain a second parameter vector to be estimated for a current epoch, comprises: Taking all integer ambiguities in the integer ambiguity set as observed values respectively, wherein the observed values correspond to the integer ambiguities; And updating the first parameter vector to be estimated based on Kalman filtering according to each observation value in sequence to obtain a second parameter vector to be estimated of the current epoch.
  5. 5. The method according to any one of claims 1-4, further comprising: Obtaining a parameter matrix corresponding to the floating ambiguity of the current epoch, wherein the parameter matrix comprises a variance and a covariance corresponding to the floating ambiguity of the current epoch; And fixing the ambiguity according to the floating ambiguity of the current epoch and the corresponding parameter matrix to obtain a fixed result of the ambiguity of the current epoch.
  6. 6. The method of claim 5, wherein the fixing the ambiguity based on the floating ambiguity of the current epoch and the corresponding parameter matrix to obtain a fixed result of the ambiguity of the current epoch comprises: according to the floating ambiguity of the current epoch and the corresponding parameter matrix, a first ambiguity and a second ambiguity corresponding to the floating ambiguity of the current epoch are obtained based on a least square ambiguity-reduction correlation adjustment algorithm, wherein the first ambiguity is the optimal integer ambiguity of the floating ambiguity of the current epoch, and the second ambiguity is the suboptimal integer ambiguity of the floating ambiguity of the current epoch; and determining a fixed result of the ambiguity of the current epoch according to the floating ambiguity of the current epoch, the corresponding parameter matrix, the first ambiguity and the second ambiguity.
  7. 7. The method of claim 6, wherein determining a fixed result of the ambiguity of the current epoch based on the floating ambiguity of the current epoch, the corresponding parameter matrix, the first ambiguity, and the second ambiguity, comprises: Determining a first statistics according to the floating ambiguity of the current epoch, the corresponding parameter matrix and the first ambiguity; Determining a second statistic according to the floating ambiguity of the current epoch, the corresponding parameter matrix and the second ambiguity; and if the ratio of the second statistic to the first statistic is greater than a preset threshold, determining that the fixed result of the ambiguity of the current epoch is all fixed.
  8. 8. The method of claim 7, wherein if the ratio of the second statistic to the first statistic is less than or equal to a predetermined threshold, the method further comprises: And if the floating ambiguity of the part is successfully fixed, determining that the fixed result of the ambiguity of the current epoch is part fixed.
  9. 9. The method of claim 8, wherein the method further comprises: if the floating ambiguity fixing of the part fails, calculating a first coordinate parameter according to the floating ambiguity of the current epoch, and outputting the first coordinate parameter as a positioning result of satellite positioning.
  10. 10. The method of claim 8, wherein in the case where the fixed result of the ambiguity of the current epoch is either wholly fixed or partially fixed, the method further comprises: And calculating a second coordinate parameter according to the first ambiguity or calculating the second coordinate parameter according to the fixed successful partial ambiguity, and outputting the second coordinate parameter as a positioning result of satellite positioning.
  11. 11. A device for processing ambiguity in satellite positioning, comprising: the acquisition module is used for acquiring a first parameter vector to be estimated of a current epoch and a whole-cycle ambiguity set under the condition that a fixed result of the ambiguity is met with a first preset condition, wherein the first parameter vector to be estimated comprises floating ambiguity, the whole-cycle ambiguity set comprises a plurality of whole-cycle ambiguities, the numerical value of the whole-cycle ambiguities is an integer, the whole-cycle ambiguities are obtained by carrying out fixed processing on the basis of the floating ambiguity, the numerical value of the floating ambiguity is a real number, the first preset condition is that the fixed result of the ambiguity in continuous M epochs is all fixed or part fixed, and M is an integer larger than 1; The processing module is used for updating the first parameter vector to be estimated based on Kalman filtering according to the integer ambiguity set to obtain a second parameter vector to be estimated of the current epoch, wherein the second parameter vector to be estimated comprises updated floating ambiguity; The processing module is further used for performing regularity verification on the updated floating ambiguity to obtain a verification result of the updated floating ambiguity, wherein the verification result represents that the updated floating ambiguity is an integer solution or a non-integer solution; and the processing module is also used for taking the updated floating ambiguity of which the check result is an integer solution as an initial parameter for carrying out ambiguity fixing processing on the next epoch.
  12. 12. An electronic device is characterized by comprising a memory and a processor; The memory stores computer-executable instructions; The processor executing computer-executable instructions stored in the memory, causing the processor to perform the method of any one of claims 1-10.
  13. 13. A computer readable storage medium having stored therein computer executable instructions which when executed by a processor are adapted to carry out the method of any one of claims 1-10.
  14. 14. A computer program product comprising a computer program which, when executed by a processor, implements the method of any of claims 1-10.

Description

Method, device, equipment, medium and product for processing ambiguity in satellite positioning Technical Field The present application relates to the field of satellite positioning technologies, and in particular, to a method, an apparatus, a device, a medium, and a product for processing ambiguity in satellite positioning. Background In the global navigation satellite positioning technology, the ambiguity is required to be quickly and accurately fixed on the premise of obtaining a high-precision positioning result. In some techniques, the floating ambiguity is subjected to a decorrelation process by a conventional algorithm, and the nearest integer solution is searched, i.e., the ambiguity is subjected to a fixed process to obtain the integer ambiguity. However, during the transmission of satellite signals, they are susceptible to measurement noise and multipath effects, resulting in residual errors in the satellite signals, and hence the integer nature of the ambiguity is destroyed. Resulting in inaccurate computation of integer ambiguity. Therefore, a scheme capable of accurately fixing the ambiguity to obtain the integer ambiguity is needed. Disclosure of Invention The method, the device, the equipment, the medium and the product for processing the ambiguity in satellite positioning are used for accurately fixing the ambiguity so as to obtain the accurate whole-cycle ambiguity and further improve the accuracy of the positioning result of satellite positioning. In a first aspect, an embodiment of the present application provides a method for processing ambiguity in satellite positioning, including: Under the condition that a fixed result of the fixed processing of the ambiguity meets a first preset condition, a first parameter vector to be estimated of a current epoch and a whole-cycle ambiguity set are obtained, wherein the first parameter vector to be estimated comprises floating ambiguity, the whole-cycle ambiguity set comprises a plurality of whole-cycle ambiguities, the numerical value of the whole-cycle ambiguities is an integer, the whole-cycle ambiguities are obtained by the fixed processing based on the floating ambiguity, the numerical value of the floating ambiguity is a real number, the first preset condition is that the fixed result of the ambiguity in M epochs is wholly fixed or partially fixed, and M is an integer larger than 1; Updating the first parameter vector to be estimated based on Kalman filtering according to the integer ambiguity set to obtain a second parameter vector to be estimated of the current epoch, wherein the second parameter vector to be estimated comprises updated floating ambiguity; Performing regularity verification on the updated floating ambiguity to obtain a verification result of the updated floating ambiguity, wherein the verification result represents that the updated floating ambiguity is an integer solution or a non-integer solution; and taking the updated floating ambiguity of which the check result is an integer solution as an initial parameter of the ambiguity fixing process of the next epoch. In one possible implementation manner, performing regularity verification on the updated floating ambiguity to obtain a verification result of the updated floating ambiguity, including: Determining an error value corresponding to the updated floating ambiguity according to the updated floating ambiguity; If the error value is determined to be in the preset numerical range, the updated checking result of the floating ambiguity is determined to be an integer solution, otherwise, the updated checking result of the floating ambiguity is determined to be a non-integer solution. In one possible implementation, determining an error value corresponding to the updated floating ambiguity based on the updated floating ambiguity includes: rounding operation is carried out on the updated floating ambiguity to obtain an integer value, wherein the integer value is the integer value closest to the updated floating ambiguity; Determining a difference value between the updated floating ambiguity and the integer value; The absolute value of the difference is determined to be the error value corresponding to the updated floating ambiguity. In one possible implementation manner, updating the first parameter vector to be estimated based on kalman filtering according to the integer ambiguity set to obtain a second parameter vector to be estimated of the current epoch includes: Taking all integer ambiguities in the integer ambiguity set as observed values respectively, wherein the observed values correspond to the integer ambiguities; And according to each observation value, updating the first parameter vector to be estimated based on Kalman filtering in sequence to obtain a second parameter vector to be estimated of the current epoch. In one possible embodiment, the method further comprises: Obtaining a parameter matrix corresponding to the floating ambiguity of the current epoch, wherein