相位差分定位
浮点解
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\begin{bmatrix} a_m & 0 \\ a_n & b_n \end{bmatrix}\begin{bmatrix} x \\ y \end{bmatrix}=\begin{bmatrix} l_m \\ l_n \end{bmatrix}
[aman0bn][xy]=[lmln]其中,x表示模糊度以外的参数;y表示模糊度参数;
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a_mx=l_m
amx=lm为伪距观测方程;
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a_nx+b_ny=l_n
anx+bny=ln为相位观测方程。
对伪距方程使用最小二乘可得:
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\begin{aligned} a_m^Tpa_mx=a_m^Tpl_m \end{aligned}
amTpamx=amTplm对相位方程使用最小二乘可得:
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\begin{bmatrix} a_n^Tpa_n & a_n^Tpb_n \\ b_n^Tpa_n & b_n^Tpb_n \end{bmatrix}\begin{bmatrix} x \\ y \end{bmatrix}=\begin{bmatrix} a_n^Tpl_m \\ b_n^Tpl_n \end{bmatrix}
[anTpanbnTpananTpbnbnTpbn][xy]=[anTplmbnTpln]对伪距方程和相位方程运用法方程叠加可得:
(2)
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\begin{bmatrix} a_n^Tpa_n + a_m^Tpa_m & a_n^Tpb_n \\ b_n^Tpa_n & b_n^Tpb_n \end{bmatrix}\begin{bmatrix} x \\ y \end{bmatrix}=\begin{bmatrix} a_n^Tpl_m +a_m^Tpl_m \\ b_n^Tpl_n \end{bmatrix}\tag{2}
[anTpan+amTpambnTpananTpbnbnTpbn][xy]=[anTplm+amTplmbnTpln](2)为方便下文使用,重新符号记为为:
(3)
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\begin{bmatrix} a^Tpa & a^Tpb \\ b^Tpa & b^Tpb \end{bmatrix}\begin{bmatrix} x \\ y \end{bmatrix}=\begin{bmatrix} a^Tpl \\ b^Tpl \end{bmatrix}\tag{3}
[aTpabTpaaTpbbTpb][xy]=[aTplbTpl](3)(2)和(3)式的符号对应相等,模糊度参数y可通过(3)式消去x,进一步表达为:
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\begin{aligned} b^Tpby&=b^Tpl-b^Tpa(a^Tpa)^{-1}(a^Tpl-a^Tpby)&=>\\ (b^Tpb-b^Tpa(a^Tpa)^{-1}a^Tpb)y&=b^Tpl-b^Tpa(a^Tpa)^{-1}a^Tpl&=>\\ (b^Tpb)_2y&=(b^Tpl)_2\\ y&=(b^Tpb)_2^{-1}(b^Tpl)_2 \end{aligned}
bTpby(bTpb−bTpa(aTpa)−1aTpb)y(bTpb)2yy=bTpl−bTpa(aTpa)−1(aTpl−aTpby)=bTpl−bTpa(aTpa)−1aTpl=(bTpl)2=(bTpb)2−1(bTpl)2=>=>至此,完成模糊度参数估计~。对于非模糊度参数的估计,可由(3)式中的第一行式子导出,即:
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\begin{aligned} x=(a^Tpa)^{-1}(a^Tpl-a^Tpby) \end{aligned}
x=(aTpa)−1(aTpl−aTpby)至此,待估参数已全部求得。