Positioning method and positioning system based on GNSS observation

Abstract

The invention relates to a positioning method and a positioning system based on a GNSS observation. The method comprises the following steps: S1, using the least square method to solve a position vector and a residual vector based on a GNSS observation equation; S2, determining the sum of squares of residuals of the errors in the residual vector apart from atmospheric refraction error, and minimizing the sum of squares of residuals to solve the atmospheric delay in the vertical direction; and S3, plugging the solved atmospheric delay in the vertical direction into the GNSS observation equation to solve a corrected GNSS observation, and using the least square method to solve a corrected position vector. According to the invention, the estimated value of atmospheric delay is solved by minimizing the sum of squares of residuals of all the errors apart from atmospheric refraction error, and the corrected position vector is obtained by using the least square method. Calculation is simple and accurate. The problem of atmospheric refraction real-time estimation is solved. The precision of GNSS positioning and the convergence rate of ambiguity are improved. 本发明涉及一种基于GNSS观测量的定位方法和系统，该方法包括以下步骤：S1、基于GNSS观测量方程采用最小二乘法求解位置矢量及残差矢量；S2、确定残差矢量中大气折射误差之外的误差矢量的残差平方和，并令该残差平方和取极小求解垂直方向的大气延迟；S3、将求得的垂直方向的大气延迟代入GNSS观测量方程求得修正的GNSS观测量，并使用最小二乘法求解得到修正的位置矢量。本发明通过对大气折射误差之外的所有其他误差的残差平方和取极小求得大气延迟的估计值，再利用最小二乘法重新获得修正的位置矢量，其计算简单准确，解决了大气折射的实时估计问题，提高了GNSS定位的定位精度以及模糊度的收敛速度。