PPP-RTK real-time positioning method and system of Android mobile equipment

Abstract

The invention discloses a PPP-RTK real-time positioning method and system for Android mobile equipment, and the method comprises the steps: obtaining a GNSS observation value through obtaining the underlying raw data of the equipment, externally connecting a broadcast ephemeris and an SSR product, carrying out the matching of the GNSS observation value with a real-time product parameter, and carrying out the positioning of a real-time product if a reference station exists. If yes, the ionosphere value and the troposphere value obtained after matching are used as observation values, a non-combination model is used for carrying out PPP-RTK calculation, and influences of the ionosphere and the troposphere are eliminated; if the base station does not exist, performing PPP-RTK calculation on the double-frequency observation value obtained after matching by using an ionosphere-free combination IF model, and performing PPP-RTK calculation on the single-frequency observation value obtained after matching by using a non-combination model to eliminate the influence of the ionosphere; and then Kalman filtering calculation is carried out to obtain the high-precision position of the Android mobile equipment. Different PPP-RTK processing methods are adopted for ionized layer products with different precisions; and a user of the Android equipment can obtain a fast-convergence and high-precision positioning effect by fully utilizing the single-frequency and double-frequency observation value of the Android mobile equipment.

Description

A PPP-RTK real-time positioning method and system for Android mobile devices technical field The present invention relates to mobile equipment GNSS positioning, specifically relate to a kind of PPP-RTK implementation of Android mobile equipment time positioning method. Background technique Since Google has opened the API of the GNSS observation data of the Android system, the GNSS positioning of the Android mobile device It has become a research hotspot. At present, the research on Android mobile devices mainly focuses on the GNSS view of Android mobile phones. Quality analysis of measurement data, single point positioning (SPP), differential positioning (RTK), precise single point positioning (PPP) and so on. At present, the research for Android mobile phone PPP is divided into two ways: post-event and real-time, and post-event positioning research mainly It uses open source software (such as Geo++) to collect and record real-time data (pseudorange, carrier phase,...

AI Technical Summary

Problems solved by technology

[0005] Compared with traditional measurement receivers, Android mobile devices have two difficulties in PPP-RTK high-precision positioning: 1. The performance of the GNSS antenna of Android mobile devices is weak, resulting in poor quality of data output by the API interface. The number of data observations is small, the data quality is relatively messy, and the number of satellites that meet the dual-frequency observations is also small

2. Android devices output fewer observed values, and there may be problems of rank deficiency or fewer observed values ​​during PPP positioning. It is necessary to add atmospheric products as observed values ​​to eliminate atmospheric parameters to be estimated for PPP-RTK positioning

However, the current atmospheric products used in various schemes are ionospheric forecast products or broadcast ionospheric models, and the ionospheric parameters after the PPP-RTK positioning convergence of Android mobile devices may absorb other errors, which are not the ionosphere in the physical sense, and the ionosphere The forecasting model itself has a loss of forecasting accuracy, and the broadcasting model has even worse correction efficiency

This leads to the problem of slow convergence and poor accuracy in PPP-RTK for Android mobile devices that currently incorporates ionospheric constraints.

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