CN105572712A - Real-time determination method of ambiguity of whole cycles of carrier phase of Beidou system - Google Patents

Abstract

The invention provides a real-time determination method of the ambiguity of whole cycles of the carrier phase of a Beidou system. The method includes: calculating the wide-lane ambiguity of whole cycles of a B2 frequency carrier phase and a B3 frequency carrier phase of a Beidou system satellite; calculating the wide-lane ambiguity of whole cycles of a B1 frequency carrier phase and the B3 frequency carrier phase of the Beidou system satellite; calculating the wide-lane ambiguity of whole cycles of the B1 frequency carrier phase and the B2 frequency carrier phase of the Beidou system satellite; and calculating the three-frequency carrier phase ambiguity of whole cycles of the Beidou system satellite to obtain coordinates of Beidou system users. According to the method, single ambiguity parameters are regarded as objects, the solution of carrier phase observation equations is not needed, problems that the change of the geometric configuration of a Beidou system observation satellite is slow, and real-time determination of the ambiguity of whole cycles of the carrier phase is not facilitated can be overcome, the ambiguity of whole cycles of the carrier phase of the single Beidou system is regarded as the object for the calculation of the ambiguity of whole cycles of the carrier phase, the calculation amount is small, and the accuracy is high.

Description

A method for real-time determination of carrier phase integer ambiguity in Beidou system

technical field

The invention belongs to the technical field of satellite positioning system and positioning measurement, and in particular relates to a method for determining the ambiguity of the carrier phase of the Beidou system in real time.

Background technique

At present, the BeiDou Navigation Satellite System (BDS), which has independent property rights in my country, has officially provided navigation and positioning services to the Asia-Pacific region; The positioning service uses pseudo-range observations, which can only meet the requirements of low-precision navigation and positioning; the use of Beidou system carrier phase observation data can realize high-precision real-time positioning of Beidou system users; if it is necessary to use Beidou system carrier phase observation data to realize Beidou system users The core issue of high-precision real-time positioning is the real-time and accurate determination of the ambiguity of the carrier phase observation data of the Beidou system.

The positioning principle and signal structure of the Beidou system are similar to those of GPS. Therefore, the real-time determination method of the carrier phase integer ambiguity in the Beidou system's high-precision positioning mostly refers to or adopts the real-time resolution method of the carrier phase integer ambiguity of the GPS system. GPS is currently the most mature and stable satellite navigation and positioning system, while the Beidou system is inferior to the GPS system in terms of broadcast ephemeris satellite orbit accuracy and observation data quality. As a result, the real-time resolution method of the integer ambiguity of the GPS carrier phase observation value cannot well solve the problem of real-time and accurate determination of the carrier phase integer ambiguity of the Beidou system.

The motion period of the IGSO satellites in the Beidou system is about 24 hours, and the GEO satellites are relatively stationary relative to the earth. In a short period of time for the real-time determination of the carrier phase ambiguity of the Beidou system, the geometry of the satellites in orbit of the Beidou system observed by the user The configuration changes are small; therefore, the composition of the Beidou system satellite constellation (more GEO and IGSO satellites) results in poor geometric configuration of the observation satellites, which is not conducive to the real-time determination of the carrier phase ambiguity of the Beidou system.

Contents of the invention

Aiming at the shortcomings of the prior art, the present invention proposes a real-time determination method for the carrier phase ambiguity of the Beidou system. The method takes a single ambiguity parameter as an object, and first uses the B1 frequency pseudo-range observation value to calculate the B2 frequency carrier phase and B3 frequency The wide-lane integer ambiguity of frequency carrier phase, and then use the wide-lane integer ambiguity of B2 frequency carrier phase and B3 frequency carrier phase to calculate the wide-lane integer ambiguity of B1 frequency carrier phase and B3 frequency carrier phase, and then use B1 The wide-lane integer ambiguity of frequency carrier phase and B3 frequency carrier phase calculates the wide-lane integer ambiguity of B1 frequency carrier phase and B2 frequency carrier phase, and finally uses the wide-lane integer ambiguity of B1 frequency carrier phase and B2 frequency carrier phase Calculation of B1, B2, B3 three-frequency carrier phase integer ambiguity. It overcomes the problem that the geometric configuration of the Beidou system observation satellite changes slowly, which is not conducive to the real-time determination of the carrier phase integer ambiguity.

Technical scheme of the present invention is:

A method for determining the ambiguity of the carrier phase of the Beidou system in real time, comprising the following steps:

Step 1. Using the B1 frequency pseudo-range observation value of the Beidou system satellite, calculate the wide-lane integer ambiguity of the B2 frequency carrier phase and the B3 frequency carrier phase of the Beidou system satellite;

Step 2. Using the wide-lane integer ambiguity of the B2 frequency carrier phase and the B3 frequency carrier phase of the Beidou system satellite, calculate the wide-lane integer ambiguity of the B1 frequency carrier phase and the B3 frequency carrier phase of the Beidou system satellite;

Step 3. Using the wide-lane integer ambiguity of the B1 frequency carrier phase and the B3 frequency carrier phase of the Beidou system satellite, calculate the wide-lane integer ambiguity of the B1 frequency carrier phase and the B2 frequency carrier phase of the Beidou system satellite;

Step 4. Using the wide-lane integer ambiguity of the B1 frequency carrier phase and the B2 frequency carrier phase of the Beidou system satellite, calculate the tri-frequency carrier phase integer ambiguity of the Beidou system satellite, and then obtain the coordinates of the Beidou system user.

Described step 1 is carried out as follows:

Step 1-1. Each satellite of the Beidou system broadcasts the three-frequency non-difference carrier phase observation data and the B1 frequency non-difference pseudo-range observation data to the Beidou system user receiver;

Step 1-2, perform double-difference combination on the three-frequency non-difference carrier phase observation value received by the Beidou system receiver and the B1 frequency non-difference pseudo-range observation value;

Step 1-3, using the double-difference pseudo-range observations at frequency B1, to calculate the wide-lane integer ambiguities of the carrier phase at frequency B2 and the carrier phase at frequency B3.

Beneficial effect:

The invention proposes a real-time determination method for the carrier phase integer ambiguity of the Beidou system. The method takes a single ambiguity parameter as an object and does not need to solve the carrier phase observation equation group. First, use the B1 frequency pseudo-range observation value to calculate the wide-lane integer ambiguity of B2 frequency carrier phase and B3 frequency carrier phase, and then use the wide-lane integer ambiguity of B2 frequency carrier phase and B3 frequency carrier phase to calculate the B1 frequency carrier phase The wide-lane integer ambiguity with the B3 frequency carrier phase, and then use the wide-lane integer ambiguity between the B1 frequency carrier phase and the B3 frequency carrier phase to calculate the wide-lane integer ambiguity between the B1 frequency carrier phase and the B2 frequency carrier phase, and finally Using the wide-lane integer ambiguity of B1 frequency carrier phase and B2 frequency carrier phase to calculate the B1, B2, B3 three-frequency carrier phase integer ambiguity. The method of the present invention can overcome the problem that the geometric configuration of the Beidou system observation satellite changes slowly, which is not conducive to the real-time determination of the carrier phase ambiguity, and the carrier phase ambiguity is carried out with a single Beidou system carrier phase ambiguity as the object. The calculation of ambiguity has a small amount of calculation and high accuracy. The method for determining the integer ambiguity of the carrier phase of the Beidou system in real time in the present invention solves the problem of determining the integer ambiguity in real time in the real-time positioning of the Beidou system.

Description of drawings

Fig. 1 is a flow chart of a method for determining the integer ambiguity of the Beidou system carrier phase in real time according to an embodiment of the present invention;

Fig. 2 is the specific flowchart of step 1 of an embodiment of the present invention;

Fig. 3 is a difference time series between the user coordinate calculation value and the user's known precise coordinate calculated by using the Beidou system carrier phase integer ambiguity and carrier phase observation data according to an embodiment of the present invention;

(a) is the time series of the difference between the calculated value of the Beidou system user coordinates and the known precise coordinates in the E direction (east direction);

(b) is the time series of the difference between the calculated value of the Beidou system user coordinates and the known precise coordinates in the N direction (north direction);

(c) is the time series of the difference between the calculated value of the Beidou system user coordinates and the known precise coordinates in the U direction (elevation direction).

detailed description

The specific implementation manners of the present invention will be described in detail below in conjunction with the accompanying drawings.

A method for real-time determination of the carrier phase ambiguity of the Beidou system, as shown in Figure 1, comprising the following steps:

Step 1. Using the B1 frequency pseudo-range observation value of the Beidou system satellite, calculate the wide-lane integer ambiguity of the B2 frequency and B3 frequency carrier phase of the Beidou system satellite.

As shown in Figure 2, the specific process is as follows:

Step 1-1. Each satellite of the Beidou system broadcasts the three-frequency undifferenced carrier phase observation data and the B1 frequency undifferenced pseudorange observation data to the Beidou system user receiver.

The BDS B1 frequency non-difference pseudo-range observation equation is:

P ₁ =ρ+c·(tt _S )+Orb+Ion ₁ +Trop+ε ₁ (1)

Among them, P ₁ is the B1 frequency non-difference pseudo-range observation value of the Beidou system; ρ is the initial geometric distance from the Beidou system satellite to the user, which is calculated from the user's initial coordinates and the satellite coordinates provided by the Beidou system broadcast ephemeris; c is the speed of light; t is the station receiver clock error, t _S is the Beidou system satellite clock error, in seconds; Orb is the BDS satellite orbit error, Trop is the tropospheric delay error; Ion ₁ is the B1 frequency ionospheric delay error; ε ₁ is the B1 frequency pseudo Observation noise from observations.

The BDS tri-frequency non-difference carrier phase observation equations are:

λ _i ·Φ _i ＝ρ+c·(tt _S )-λ _i ·N _i +Orb-Ion _i +Trop(2)

Among them, λ _i is the wavelength of the carrier phase observation value of the Beidou system, and the subscript i is 1, 2, and 3, respectively representing the B1 frequency, B2 frequency, and B3 frequency; Φ _i is the non-difference carrier phase observation value of the Beidou system, and N _i is BDS carrier phase integer ambiguity; Ion _i is BDS ionospheric delay error; other symbols are the same as formula (1).

In this embodiment, the three-frequency non-difference carrier phase observation equations of BDS B1, B2, and B3 are respectively:

λ ₁ ·Φ ₁ ＝ρ+c·(tt _S )-λ ₁ ·N ₁ +Orb-Ion ₁ +Trop

λ ₂ ·Φ ₂ ＝ρ+c·(tt _S )-λ ₂ ·N ₂ +Orb-Ion ₂ +Trop

λ ₃ ·Φ ₃ ＝ρ+c·(tt _S )-λ ₃ ·N ₃ +Orb-Ion ₃ +Trop

Among them, the wavelength λ ₁ of the BDS B1 frequency carrier phase observation value is 0.19203m, the BDS B2 frequency carrier phase observation value wavelength λ ₂ is 0.24834m, and the BDS B3 frequency carrier phase observation wavelength λ ₃ is 0.23633m.

Step 1-2. Perform double-difference combination on the three-frequency non-differenced carrier phase observation value received by the Beidou system user receiver and the B1 frequency non-difference pseudo-range observation value to eliminate satellite clock error and receiver clock error, and basically eliminate ionospheric delay error, tropospheric delay error and satellite orbit error.

The BDS double-difference pseudo-range observation equation is:

Δ▽P ₁ ＝Δ▽ρ+Δ▽Orb+Δ▽Ion ₁ +Δ▽Trop+Δ▽ε ₁ (3)

The Beidou system double-difference carrier phase observation equation is:

λ _i ·Δ▽Φ _i =Δ▽ρ-λ _i ·Δ▽N _i +Δ▽Orb-Δ▽Ion _i +Δ▽Trop(4)

Among them, Δ▽ is the double-difference operator; Δ▽P ₁ is the double-difference pseudorange observation value of B1 frequency; Δ▽Φ _i is the double-difference carrier phase observation value; other symbols are the same as formulas (1) and (2);

In this embodiment, the Beidou system B1 frequency double-difference carrier phase observation equation, B2 frequency double-difference carrier phase observation equation, and B3 frequency double-difference carrier phase observation equation are respectively:

λ ₁ ·Δ▽Φ ₁ ＝Δ▽ρ-λ ₁ ·Δ▽N ₁ +Δ▽Orb-Δ▽Ion ₁ +Δ▽Trop

λ ₂ ·Δ▽Φ ₂ ＝Δ▽ρ-λ ₂ ·Δ▽N ₂ +Δ▽Orb-Δ▽Ion ₂ +Δ▽Trop

λ ₃ ·Δ▽Φ ₃ ＝Δ▽ρ-λ ₃ ·Δ▽N ₃ +Δ▽Orb-Δ▽Ion ₃ +Δ▽Trop

Step 1-3, using the B1 frequency double-difference pseudorange observation value Δ▽P ₁ , to calculate the wide-lane integer ambiguity of the B2 frequency carrier phase and the B3 frequency carrier phase;

B2 frequency carrier phase integer ambiguity and B3 frequency carrier phase integer ambiguity are respectively:

Δ▽N ₂ =Δ▽ρ/λ ₂ -Δ▽Φ ₂ (5)

Δ▽N ₃ =Δ▽ρ/λ ₃ -Δ▽Φ ₃ (6)

The wide-lane integer ambiguity of the B2 frequency carrier phase and the B3 frequency carrier phase of the Beidou system is

Δ▽N ₃₂ =Δ▽N ₃ -Δ▽N ₂ =Δ▽ρ/λ ₃ -Δ▽ρ/λ ₂ -Δ▽Φ ₃ +Δ▽Φ ₂ (7)

Among them, Δ▽Φ ₃ and Δ▽Φ ₂ are the double-difference carrier phase observation value of B3 frequency and the double-difference carrier phase observation value of B2 frequency respectively; λ ₃ and λ ₂ are the wavelength of the carrier phase observation value of B3 frequency and the carrier phase The wavelength of the phase observation value; Δ▽ρ is the geometric distance from the station to the satellite, calculated by using the coordinates of the station and the known satellite coordinates, including the unknown coordinates of the user, which is an unknown value;

Ignoring the residual effects of double-difference ionospheric delay error, double-difference tropospheric delay error, and double-difference satellite orbit error Δ▽Orb+Δ▽Ion ₁ +Δ▽Trop, then:

Δ▽ρ＝Δ▽P ₁ -Δ▽ε ₁ (8)

Among them, Δ▽P ₁ is the double-difference pseudo-range observation value of B1 frequency, which is a known value; Δ▽ε ₁ is the noise of the double-difference pseudo-range observation value of B1 frequency;

Then bring formula (8) into formula (7):

$\mathrm{<span\; class="notranslate">\; \&Delta;</span>}<span\; class="notranslate">\; \&dtri;</span>{\mathrm{<span\; class="notranslate">\; N</span>}}_{\mathrm{<span\; class="notranslate">\; 32</span>}}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; \&lambda;</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; \&lambda;</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}}{{\mathrm{<span\; class="notranslate">\; \&lambda;</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; \&Center\; Dot;</span>{\mathrm{<span\; class="notranslate">\; \&lambda;</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; \&Center\; Dot;</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&Delta;</span>}<span\; class="notranslate">\; \&dtri;</span>{\mathrm{<span\; class="notranslate">\; P</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; \&Delta;</span>}<span\; class="notranslate">\; \&dtri;</span>{\mathrm{<span\; class="notranslate">\; \&epsiv;</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; \&Delta;</span>}<span\; class="notranslate">\; \&dtri;</span>{\mathrm{<span\; class="notranslate">\; \&Phi;</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; \&Delta;</span>}<span\; class="notranslate">\; \&dtri;</span>{\mathrm{<span\; class="notranslate">\; \&Phi;</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 9</span>}<span\; class="notranslate">\; )</span>$

Because, λ ₂ is 0.24834m, λ ₃ is 0.23633m, then have:

Δ▽N ₃₂ ＝0.20463385022·(Δ▽P ₁ -Δ▽ε ₁ )-Δ▽Φ ₃ +Δ▽Φ ₂

For the above formula, the calculation of the wide-lane ambiguity _of the B2 frequency carrier phase and the B3 frequency carrier phase is mainly affected by Δ▽ε1.

Round the Δ▽N ₃₂ value to determine the wide-lane integer ambiguity between the carrier phase of the B2 frequency and the carrier phase of the B3 frequency, or take the average value of Δ▽N ₃₂ in multiple epochs, and then round to determine the carrier phase of the B2 frequency Widelane integer ambiguity with carrier phase at frequency B3;

Step 2. Using the wide-lane integer ambiguity of the B2 frequency carrier phase and the B3 frequency carrier phase of the Beidou system satellite, calculate the wide-lane integer ambiguity of the B1 frequency carrier phase and the B3 frequency carrier phase of the Beidou system satellite;

B1 frequency carrier phase integer ambiguity and B3 frequency carrier phase integer ambiguity are respectively:

Δ▽N ₁ =Δ▽ρ/λ ₁ -Δ▽Φ ₁ (10)

Δ▽N ₃ =Δ▽ρ/λ ₃ -Δ▽Φ ₃ (11)

The wide-lane integer ambiguity of B1 frequency carrier phase and B3 frequency carrier phase of Beidou system:

Δ▽N ₁₃ =Δ▽N ₁ -Δ▽N ₃ =Δ▽ρ/λ ₁ -Δ▽ρ/λ ₃ -Δ▽Φ ₁ +Δ▽Φ ₃ (12)

Among them, Δ▽Φ ₁ and Δ▽Φ ₃ are the double-difference carrier phase observation value of B1 frequency and the double-difference carrier phase observation value of B3 frequency respectively; λ ₁ and λ ₃ are the wavelength of the carrier phase observation value of B1 frequency and the carrier phase observation value of B3 frequency The wavelength of the phase observation; Δ▽ρ contains the unknown coordinates of the Beidou system users.

Calculate Δ▽ρ according to the wide-lane integer ambiguity Δ▽N ₃₂ of the determined B2 frequency carrier phase and B3 frequency carrier phase:

$\mathrm{<span\; class="notranslate">\; \&Delta;</span>}<span\; class="notranslate">\; \&dtri;</span>\mathrm{<span\; class="notranslate">\; \&rho;</span>}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; \&lambda;</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; \&CenterDot;</span>{\mathrm{<span\; class="notranslate">\; \&lambda;</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}}{{\mathrm{<span\; class="notranslate">\; \&lambda;</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; \&lambda;</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; \&CenterDot;</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&Delta;</span>}<span\; class="notranslate">\; \&dtri;</span>{\mathrm{<span\; class="notranslate">\; N</span>}}_{\mathrm{<span\; class="notranslate">\; 32</span>}}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; \&Delta;</span>}<span\; class="notranslate">\; \&dtri;</span>{\mathrm{<span\; class="notranslate">\; \&Phi;</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; \&Delta;</span>}<span\; class="notranslate">\; \&dtri;</span>{\mathrm{<span\; class="notranslate">\; \&Phi;</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 13</span>}<span\; class="notranslate">\; )</span>$

Put Δ▽ρ into formula (12), then:

$\mathrm{<span\; class="notranslate">\; \&Delta;</span>}<span\; class="notranslate">\; \&dtri;</span>{\mathrm{<span\; class="notranslate">\; N</span>}}_{\mathrm{<span\; class="notranslate">\; 13</span>}}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; \&lambda;</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; \&lambda;</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}}{{\mathrm{<span\; class="notranslate">\; \&lambda;</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; \&CenterDot;</span>{\mathrm{<span\; class="notranslate">\; \&lambda;</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; \&CenterDot;</span><span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; \&lambda;</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; \&Center\; Dot;</span>{\mathrm{<span\; class="notranslate">\; \&lambda;</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}}{{\mathrm{<span\; class="notranslate">\; \&lambda;</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; \&lambda;</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; \&Center\; Dot;</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&Delta;</span>}<span\; class="notranslate">\; \&dtri;</span>{\mathrm{<span\; class="notranslate">\; N</span>}}_{\mathrm{<span\; class="notranslate">\; 32</span>}}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; \&Delta;</span>}<span\; class="notranslate">\; \&dtri;</span>{\mathrm{<span\; class="notranslate">\; \&Phi;</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; \&Delta;</span>}<span\; class="notranslate">\; \&dtri;</span>{\mathrm{<span\; class="notranslate">\; \&Phi;</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; \&Delta;</span>}<span\; class="notranslate">\; \&dtri;</span>{\mathrm{<span\; class="notranslate">\; \&Phi;</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; \&Delta;</span>}<span\; class="notranslate">\; \&dtri;</span>{\mathrm{<span\; class="notranslate">\; \&Phi;</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 14</span>}<span\; class="notranslate">\; )</span>$

Since, λ ₁ is 0.19203m, λ ₂ is 0.24834m, λ ₃ is 0.23633m, then:

Δ▽N ₁₃ ＝4.7702189539·(Δ▽N ₃₂ +Δ▽Φ ₃ -Δ▽Φ ₂ )-Δ▽Φ ₁ +Δ▽Φ ₃

In the case that the wide-lane integer ambiguity Δ▽N ₃₂ of the carrier phase of the B2 frequency and the carrier phase of the B3 frequency has been determined, the value calculated by the formula (14) is directly rounded to determine the carrier phase of the B1 frequency and the carrier phase of the B3 frequency Wide lane integer ambiguity Δ▽N ₁₃ ;

Step 3. Using the wide-lane integer ambiguity of the B1 frequency carrier phase and the B3 frequency carrier phase of the Beidou system satellite, calculate the wide-lane integer ambiguity of the B1 frequency carrier phase and the B2 frequency carrier phase of the Beidou system satellite;

B1 frequency carrier phase integer ambiguity and B2 frequency carrier phase integer ambiguity are respectively:

Δ▽N ₁ =Δ▽ρ/λ ₁ -Δ▽Φ ₁ (15)

Δ▽N ₂ =Δ▽ρ/λ ₂ -Δ▽Φ ₂ (16)

Δ▽N ₁₂ ＝Δ▽N ₁ -Δ▽N ₂ , then:

Δ▽N ₁₂ =Δ▽ρ/λ ₁ -Δ▽ρ/λ ₂ -Δ▽Φ ₁ +Δ▽Φ ₂ (17)

Among them, Δ▽Φ ₁ and Δ▽Φ ₂ are the double-difference carrier phase observation value of B1 frequency and the double-difference carrier phase observation value of B2 frequency respectively; λ ₁ and λ ₂ are the wavelength of the carrier phase observation value of B1 frequency and the carrier phase The wavelength of the phase observation; Δ▽ρ contains the unknown coordinates of the Beidou system.

Calculate Δ▽ρ according to the determined wide-lane integer ambiguities of the B1 frequency carrier phase and the B3 frequency carrier phase:

$\mathrm{<span\; class="notranslate">\; \&Delta;</span>}<span\; class="notranslate">\; \&dtri;</span>\mathrm{<span\; class="notranslate">\; \&rho;</span>}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; \&lambda;</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; \&Center\; Dot;</span>{\mathrm{<span\; class="notranslate">\; \&lambda;</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}}{{\mathrm{<span\; class="notranslate">\; \&lambda;</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; \&lambda;</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; \&Center\; Dot;</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&Delta;</span>}<span\; class="notranslate">\; \&dtri;</span>{\mathrm{<span\; class="notranslate">\; N</span>}}_{\mathrm{<span\; class="notranslate">\; 13</span>}}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; \&Delta;</span>}<span\; class="notranslate">\; \&dtri;</span>{\mathrm{<span\; class="notranslate">\; \&Phi;</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; \&Delta;</span>}<span\; class="notranslate">\; \&dtri;</span>{\mathrm{<span\; class="notranslate">\; \&Phi;</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 18</span>}<span\; class="notranslate">\; )</span>$

Putting the Δ▽ρ obtained from formula (18) into formula (17), we get:

$\mathrm{<span\; class="notranslate">\; \&Delta;</span>}<span\; class="notranslate">\; \&dtri;</span>{\mathrm{<span\; class="notranslate">\; N</span>}}_{\mathrm{<span\; class="notranslate">\; 12</span>}}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; \&lambda;</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; \&lambda;</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}}{{\mathrm{<span\; class="notranslate">\; \&lambda;</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; \&Center\; Dot;</span>{\mathrm{<span\; class="notranslate">\; \&lambda;</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; \&CenterDot;</span><span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; \&lambda;</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; \&Center\; Dot;</span>{\mathrm{<span\; class="notranslate">\; \&lambda;</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}}{{\mathrm{<span\; class="notranslate">\; \&lambda;</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; \&lambda;</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; \&Center\; Dot;</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&Delta;</span>}<span\; class="notranslate">\; \&dtri;</span>{\mathrm{<span\; class="notranslate">\; N</span>}}_{\mathrm{<span\; class="notranslate">\; 13</span>}}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; \&Delta;</span>}<span\; class="notranslate">\; \&dtri;</span>{\mathrm{<span\; class="notranslate">\; \&Phi;</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; \&Delta;</span>}<span\; class="notranslate">\; \&dtri;</span>{\mathrm{<span\; class="notranslate">\; \&Phi;</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; \&Delta;</span>}<span\; class="notranslate">\; \&dtri;</span>{\mathrm{<span\; class="notranslate">\; \&Phi;</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; \&Delta;</span>}<span\; class="notranslate">\; \&dtri;</span>{\mathrm{<span\; class="notranslate">\; \&Phi;</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 19</span>}<span\; class="notranslate">\; )</span>$

Since λ ₁ is 0.19203m, λ ₂ is 0.24834m, and λ ₃ is 0.23633m, then:

Δ▽N ₁₂ ＝1.2096339832·(Δ▽N ₁₃ +Δ▽Φ ₁ -Δ▽Φ ₃ )-Δ▽Φ ₁ +Δ▽Φ ₂

In the case that the wide-lane integer ambiguity Δ▽N ₁₃ of the carrier phase of the B1 frequency and the carrier phase of the B3 frequency has been determined, directly round the calculated value of the formula (19) to determine the carrier phase of the B1 frequency and the carrier phase of the B2 frequency Wide-lane integer ambiguity Δ▽N ₁₂ ;

Step 4. Using the wide-lane integer ambiguities of B1 frequency carrier phase and B2 frequency carrier phase of Beidou system satellites, calculate the B1, B2, B3 carrier phase integer ambiguities of Beidou system satellites, and then obtain the coordinates of Beidou system users.

B1 frequency carrier phase integer ambiguity, B2 frequency carrier phase integer ambiguity and B3 frequency carrier phase integer ambiguity are respectively:

Δ▽N ₁ =Δ▽ρ/λ ₁ -Δ▽Φ ₁ (20)

Δ▽N ₂ =Δ▽ρ/λ ₂ -Δ▽Φ ₂ (21)

Δ▽N ₃ =Δ▽ρ/λ ₃ -Δ▽Φ ₃ (22)

Calculate Δ▽ρ according to the determined wide-lane integer ambiguities of the B1 frequency carrier phase and the B2 frequency carrier phase:

$\mathrm{<span\; class="notranslate">\; \&Delta;</span>}<span\; class="notranslate">\; \&dtri;</span>\mathrm{<span\; class="notranslate">\; \&rho;</span>}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; \&lambda;</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; \&CenterDot;</span>{\mathrm{<span\; class="notranslate">\; \&lambda;</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}}{{\mathrm{<span\; class="notranslate">\; \&lambda;</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; \&lambda;</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; \&Center\; Dot;</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&Delta;</span>}<span\; class="notranslate">\; \&dtri;</span>{\mathrm{<span\; class="notranslate">\; N</span>}}_{\mathrm{<span\; class="notranslate">\; 12</span>}}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; \&Delta;</span>}<span\; class="notranslate">\; \&dtri;</span>{\mathrm{<span\; class="notranslate">\; \&Phi;</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; \&Delta;</span>}<span\; class="notranslate">\; \&dtri;</span>{\mathrm{<span\; class="notranslate">\; \&Phi;</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; twenty\; three</span>}<span\; class="notranslate">\; )</span>$

Substitute the Δ▽ρ obtained from formula (23) into formulas (20), (21), and (22), then:

$\mathrm{<span\; class="notranslate">\; \&Delta;</span>}<span\; class="notranslate">\; \&dtri;</span>{\mathrm{<span\; class="notranslate">\; N</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; 1</span>}}{{\mathrm{<span\; class="notranslate">\; \&lambda;</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}}<span\; class="notranslate">\; \&CenterDot;</span><span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; \&lambda;</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; \&Center\; Dot;</span>{\mathrm{<span\; class="notranslate">\; \&lambda;</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}}{{\mathrm{<span\; class="notranslate">\; \&lambda;</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; \&lambda;</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; \&CenterDot;</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&Delta;</span>}<span\; class="notranslate">\; \&dtri;</span>{\mathrm{<span\; class="notranslate">\; N</span>}}_{\mathrm{<span\; class="notranslate">\; 12</span>}}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; \&Delta;</span>}<span\; class="notranslate">\; \&dtri;</span>{\mathrm{<span\; class="notranslate">\; \&Phi;</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; \&Delta;</span>}<span\; class="notranslate">\; \&dtri;</span>{\mathrm{<span\; class="notranslate">\; \&Phi;</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; \&Delta;</span>}<span\; class="notranslate">\; \&dtri;</span>{\mathrm{<span\; class="notranslate">\; \&Phi;</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; twenty\; four</span>}<span\; class="notranslate">\; )</span>$

$\mathrm{<span\; class="notranslate">\; \&Delta;</span>}<span\; class="notranslate">\; \&dtri;</span>{\mathrm{<span\; class="notranslate">\; N</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; 1</span>}}{{\mathrm{<span\; class="notranslate">\; \&lambda;</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}}<span\; class="notranslate">\; \&Center\; Dot;</span><span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; \&lambda;</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; \&CenterDot;</span>{\mathrm{<span\; class="notranslate">\; \&lambda;</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}}{{\mathrm{<span\; class="notranslate">\; \&lambda;</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; \&lambda;</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; \&CenterDot;</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&Delta;</span>}<span\; class="notranslate">\; \&dtri;</span>{\mathrm{<span\; class="notranslate">\; N</span>}}_{\mathrm{<span\; class="notranslate">\; 12</span>}}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; \&Delta;</span>}<span\; class="notranslate">\; \&dtri;</span>{\mathrm{<span\; class="notranslate">\; \&Phi;</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; \&Delta;</span>}<span\; class="notranslate">\; \&dtri;</span>{\mathrm{<span\; class="notranslate">\; \&Phi;</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; \&Delta;</span>}<span\; class="notranslate">\; \&dtri;</span>{\mathrm{<span\; class="notranslate">\; \&Phi;</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 25</span>}<span\; class="notranslate">\; )</span>$

$\mathrm{<span\; class="notranslate">\; \&Delta;</span>}<span\; class="notranslate">\; \&dtri;</span>{\mathrm{<span\; class="notranslate">\; N</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; 1</span>}}{{\mathrm{<span\; class="notranslate">\; \&lambda;</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}}<span\; class="notranslate">\; \&Center\; Dot;</span><span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; \&lambda;</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; \&Center\; Dot;</span>{\mathrm{<span\; class="notranslate">\; \&lambda;</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}}{{\mathrm{<span\; class="notranslate">\; \&lambda;</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; \&lambda;</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; \&CenterDot;</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&Delta;</span>}<span\; class="notranslate">\; \&dtri;</span>{\mathrm{<span\; class="notranslate">\; N</span>}}_{\mathrm{<span\; class="notranslate">\; 12</span>}}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; \&Delta;</span>}<span\; class="notranslate">\; \&dtri;</span>{\mathrm{<span\; class="notranslate">\; \&Phi;</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; \&Delta;</span>}<span\; class="notranslate">\; \&dtri;</span>{\mathrm{<span\; class="notranslate">\; \&Phi;</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; \&Delta;</span>}<span\; class="notranslate">\; \&dtri;</span>{\mathrm{<span\; class="notranslate">\; \&Phi;</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 26</span>}<span\; class="notranslate">\; )</span>$

Since, λ ₁ is 0.19203m, λ ₂ is 0.24834m, λ ₃ is 0.23633m, then:

Δ▽N ₁ ＝4.4102290889·(Δ▽N ₁₂ +Δ▽Φ ₁ -Δ▽Φ ₂ )-Δ▽Φ ₁

Δ▽N ₂ ＝3.4102290889·(Δ▽N ₁₂ +Δ▽Φ ₁ -Δ▽Φ ₂ )-Δ▽Φ ₂

Δ▽N ₃ ＝3.5835327379·(Δ▽N ₁₂ +Δ▽Φ ₁ -Δ▽Φ ₂ )-Δ▽Φ ₃

In the case that the wide-lane integer ambiguity Δ▽N ₁₂ of the B1 frequency carrier phase and the B2 frequency carrier phase has been determined, the calculated values of the formulas (24), (25), and (26) are rounded to determine the B1 frequency carrier Phase integer ambiguity Δ▽N ₁ , B2 frequency carrier phase integer ambiguity Δ▽N ₂ , B3 frequency carrier phase integer ambiguity Δ▽N ₃ ;

The coordinates of Beidou system users are calculated by using the determined carrier phase integer ambiguity. Figure 3(a)~(c) are the time series of the difference between the calculated BDS user coordinates and the known precise coordinates in different directions, where (a) is the E direction (east direction) BDS user coordinate calculation The time series of the difference between the value and the known precise coordinate; (b) is the time series of the difference between the calculated value of the Beidou system user coordinates in the N direction (north direction) and the known precise coordinate; (c) is the U direction (elevation direction) Beidou The time series of the difference between the calculated value of the system user coordinates and the known precise coordinates. The difference of the positioning results in the three directions of E, N, and U is at the centimeter level, and the accuracy is 0.0235 meters in the E direction, 0.0251 meters in the N direction, and 0.0403 meters in the U direction, which can indicate that the carrier phase ambiguity of the Beidou system users is accurate. Fixed, can get high-precision user coordinates.

Claims (2)

1. the real-time defining method of dipper system ambiguity of carrier phase, is characterized in that, comprise the following steps:

Step 1, utilize the B1 frequency Pseudo-range Observations of dipper system satellite, calculate the B2 frequency carrier phase place of dipper system satellite and the wide lane integer ambiguity of B3 frequency carrier phase place;

The wide lane integer ambiguity of step 2, the B2 frequency carrier phase place utilizing dipper system satellite and B3 frequency carrier phase place, calculates the B1 frequency carrier phase place of dipper system satellite and the wide lane integer ambiguity of B3 frequency carrier phase place;

The wide lane integer ambiguity of step 3, the B1 frequency carrier phase place utilizing dipper system satellite and B3 frequency carrier phase place, calculates the B1 frequency carrier phase place of dipper system satellite and the wide lane integer ambiguity of B2 frequency carrier phase place;

The wide lane integer ambiguity of step 4, the B1 frequency carrier phase place utilizing dipper system satellite and B2 frequency carrier phase place, calculates three frequency ambiguity of carrier phase of dipper system satellite, and then obtains the coordinate of dipper system user.

2. the real-time defining method of dipper system ambiguity of carrier phase according to claim 1, it is characterized in that, described step 1 is carried out as follows:

Step 1-1, dipper system each satellite broadcasts the three non-poor carrier phase observation data data of frequency and the non-poor pseudorange observation Value Datas of B1 frequency to Big Dipper system user receiver;

Step 1-2, to dipper system receiver receive three frequently non-poor carrier phase observation datas and the non-poor Pseudo-range Observations of B1 frequency carry out two subtractive combination;

Step 1-3, utilize B1 frequency two difference Pseudo-range Observations, calculate the wide lane integer ambiguity of B2 frequency carrier phase place and B3 frequency carrier phase place.