The Rapid Calculation Method Of Integer Ambiguity With Constraint Condition In GNSS Kinematic Positioning

In the observation data of GNSS,pseudorange observation can't satisfy the requirement of the high precision positioning.Consequently,it's important to study rapid and correct acquiring positioning information through carrier phase observation data.Integer ambiguity is a specific parameter of carrier phase observation data.And it is the key to precision positioning that integer ambiguity can be calculated rapidly and correctly.It can provide constraint and accelerate the calculating of integer ambiguity with some prior information.Therefore,this thesis make profound study about the model and algorithm of calculating ambiguity with constraint condition.This thesis mainly contains the following aspects:Firstly,the basic observed quantity and observation principle about GNSS measurement were introduced.Then the observation equation,GNSS positioning observation equation linearization,GNSS observations between various commonly used combinations,and the technology of GNSS relative positioning were detailed elaborates in this thesis.Secondly,the method of calculating satellite coordinate which is based on broadcast ephemeris was summarized in this thesis.Then analyze the feasibility about calculating satellite coordinate based on broadcast ephemeris and error of result though example.And introduces commonly used methods about cycle slip detection and repairing.Because of deficiencies of MW combination method and phase ionospheric residual method,this thesis ameliorates these methods and then puts forward a new algorithm of cycle slip real-time detecting and repairing based on un-differenced dual frequency GNSS carrier phase data.Through the experimental verification with measured static data and dynamic data,it indicates that the proposed method can timely detect and repair small and big cycle slips which exist in carrier phase observations,and there is also good application results under situation of low elevation of satellite.Thirdly,the theories and methods of calculating integer ambiguity were introduced.And it mainly studies on single epoch integer ambiguity solution.Considering the advantage of wide-line observation which has longer wave length,the algorithm fixes wide-line ambiguity in the first place,then fixes the ambiguity of 1L and 2L frequencies by virtue of wide-line ambiguity.About fixing wide-line ambiguity,a new searching method based on minTV V(28)criterion was proposed in this thesis.And the result of experimental verification with measured dynamic data indicates that new method is feasible.Fourthly,because the floating precision of ambiguity is poor,and integer ambiguity is difficult to be correctly fixed.The method which regards the motion curve of moving station as constraint condition to improve the problem and increase the solution success rate was proposed in this paper.If it doesn't know prior information such as motion curve of moving station,it can build linear equation as constrain condition though correctional coordinate which are computed from wide-line relative positioning.Design related experiment with different data processing program which include without constraint condition,with constraint condition based on prior information,and with constraint condition that was built dynamically.Contrastive analysis the results,and the result suggest that the proposed method is feasible and has a good actual results.