A PPP-RTK positioning method and system based on edge computing

Abstract

The present invention discloses a PPP-RTK positioning method and system based on edge computing, which relates to the field of satellite positioning. The method includes the following steps: A1, a low-orbit constellation receives low-orbit navigation enhancement information, and parses the low-orbit navigation enhancement information to obtain low-orbit navigation enhancement format data information; a user terminal receives ranging signals from navigation satellites and low-orbit satellites, generates original observation data, and converts the format of the original observation data to obtain user observation format data; A2, the user observation format data is sent to the low-orbit constellation, and a low-orbit satellite that performs a solution task is determined; A3, the solution task is performed in the determined low-orbit satellite, and the solution task is calculated based on the user observation format data and the low-orbit navigation enhancement format data information to obtain a positioning result. The low-orbit satellite sends the positioning result to the user terminal, which reduces the user terminal's requirement for computing power and enables the user terminal to use lower-performance hardware for implementation.

Description

Technical Field

[0001] The present invention relates to the field of satellite positioning, and in particular to a PPP-RTK positioning method and system based on edge computing. Background Art

[0002] PPP-RTK positioning technology has matured. PPP-RTK technology combines the advantages of network RTK technology and PPP technology, which can greatly improve the accuracy and convergence speed of users' static and dynamic PPP positioning. At the same time, it also overcomes the shortcomings of network RTK technology, such as its coverage being limited by the reference network and the heavy data communication burden. By utilizing satellite communication networks, PPP-RTK technology can achieve wide-area and even global precision positioning services.

[0003] With the rapid development and networking of low-orbit satellite constellations, the use of low-orbit satellites and GNSS satellites for PPP-RTK positioning can further improve positioning accuracy and convergence speed. However, in existing technologies, positioning solutions are all completed on the user side. This method places extremely high demands on the user side itself and is not conducive to the large-scale promotion and use of PPP-RTK. Summary of the Invention

[0004] The technical problem to be solved by the present invention is that the hardware performance requirements on the user side are high, which is not conducive to the large-scale promotion of PPP-RTK. The purpose is to provide a PPP-RTK positioning method and system based on edge computing, which solves the problem of high hardware performance requirements on the user side.

[0005] The present invention is achieved through the following technical solutions:

[0006] A PPP-RTK positioning method based on edge computing includes the following steps:

[0007] A1. The low-orbit constellation receives and parses the low-orbit navigation augmentation information to obtain low-orbit navigation augmentation format data information.

[0008] The user end receives ranging signals from navigation satellites and ranging signals from low-orbit constellations, generates raw observation data, and converts the raw observation data into a user observation format.

[0009] A2. Send user observation format data to the low-orbit constellation and determine the low-orbit satellite that performs the solution task;

[0010] A3. Execute the above-mentioned calculation task in the determined low-orbit satellite. The above-mentioned calculation task is to calculate based on the user observation format data and the low-orbit navigation enhanced format data information to obtain the positioning result. The above-mentioned low-orbit satellite sends the positioning result to the user end.

[0011] The above-mentioned low-orbit satellites serve as edge nodes between the user end and the surface terrain, analyzing and processing data near the data source. There is no data flow, thereby reducing network traffic and response time and improving response efficiency.

[0012] The above-mentioned solution task is completed in a low-orbit satellite, which reduces the computing power requirements of the user end or module, enabling the terminal device or PPP-RTK module to use a lower-performance processor to reduce the requirements for user end or module data quality, saving costs and facilitating the large-scale promotion of PPP-RTK.

[0013] Furthermore, before converting the format of the above-mentioned original observation data, the original observation data needs to be preprocessed. The above-mentioned preprocessing includes the following steps: eliminating the original observation data in the satellite elevation angle that does not fall within the satellite high angle threshold range; performing cycle slip detection on the original observation data, and eliminating the original observation data that has cycle slips.

[0014] The threshold range of the satellite elevation angle is 10° to 15°. If the satellite elevation angle is too low, the number of observable satellites can be increased. However, the low-elevation-angle satellite signal not only has large multipath errors during propagation, but also has large tropospheric refraction deviations. This is also prone to multipath effects, resulting in an overall decline in the quality of the observation data, which in turn affects positioning accuracy. If the satellite elevation angle is too high, although the quality of the received data is improved, it will cause the angle between the receiver and the satellite in space to be very similar and the geometric figure to be unstable, which will lead to an excessively large GDOP (Geometric Dilution of Precision) value, resulting in poor positioning accuracy.

[0015] The above cycle slip will cause all observation data after the cycle slip to contain the same whole cycle counting error, resulting in poor positioning accuracy. The original observation data that affects the positioning accuracy is eliminated to improve the positioning accuracy.

[0016] Furthermore, before the above-mentioned user observation format data is sent to the low-orbit constellation, the following steps are also included: the user observation format data is grouped and arranged according to the low-orbit satellite transmission protocol. Since the wireless channel of the low-orbit satellite has the characteristics of spatial multiplexing and there are problems such as user-side frequency multiplexing and interference, it is easy to cause packet conflicts, resulting in a decrease in channel utilization. The user observation format data on the user side is grouped and transmitted according to the low-orbit satellite transmission protocol to solve the problem of packet conflicts, rationally utilize the channels of the low-orbit satellite, and improve transmission efficiency.

[0017] Furthermore, the steps of generating the above-mentioned low-orbit navigation enhancement information are as follows: the ground navigation enhancement data processing module receives observation data from the ground low-orbit and navigation satellite reference stations, and generates low-orbit navigation enhancement information.

[0018] Furthermore, the above-mentioned low-orbit navigation enhancement information includes the precise orbit, precise clock error, and carrier phase deviation of the navigation satellite, the precise orbit, precise clock error, and carrier phase deviation of the low-orbit satellite, and precise single-point positioning is performed based on the precise orbit, precise clock error, and carrier phase deviation of the navigation satellite and the low-orbit satellite in the low-orbit navigation enhancement information, as well as the user observation format data.

[0019] Furthermore, the above-mentioned determination of the low-orbit satellite to perform the solution task includes the following steps:

[0020] B1. Determine whether the task load of the low-orbit satellite after receiving the solution task exceeds the task load of the low-orbit satellite;

[0021] B11. If the task load of the low-orbit satellite after receiving the solution task does not exceed the task load of the low-orbit satellite, the solution task is performed on the low-orbit satellite;

[0022] B12. If the task load of the low-orbit satellite after receiving the solution task exceeds the task load of the low-orbit satellite, the solution task will be assigned to the nearest idle low-orbit satellite in the link node through the inter-satellite link.

[0023] When low-orbit satellites operate under overload, user observation format data may be lost or damaged, affecting positioning accuracy; or computing efficiency may be reduced, reducing user experience.

[0024] The low-orbit satellite determined to perform the solution task does not exceed the task load of the low-orbit satellite after receiving the solution task, thereby avoiding overload operation of the low-orbit satellite and improving positioning accuracy; or, improving computing efficiency, thereby improving user experience.

[0025] Furthermore, the solving steps of the above-mentioned solving task include:

[0026] C1. The above-mentioned low-orbit satellite constructs the PPP-RTK solution equation based on the received user observation format data and low-orbit navigation enhancement format data information;

[0027] C2. Perform PPP-RTK positioning solution based on the constructed PPP-RTK solution equation.

[0028] The above-mentioned user observation format data and low-orbit navigation enhanced format data information are currently in the low-orbit satellite; the above-mentioned PPP-RTK solution equation is constructed based on the user observation format data and low-orbit navigation enhanced format data information, and is also in the low-orbit satellite; the above-mentioned PPP-RTK positioning solution is solved based on the user observation format data and low-orbit navigation enhanced format data information, and the solution process is completed in the low-orbit satellite; the above processes are all completed in the low-orbit satellite, using edge computing, reducing the process of transmission of user observation format data and low-orbit navigation enhanced format data information in the network, and improving service efficiency.

[0029] A PPP-RTK positioning system based on edge computing, including

[0030] The user-side data receiving module is used to receive ranging signals from navigation satellites and ranging signals from low-orbit constellations to generate raw observation data; or receive positioning results;

[0031] The user-side data processing module is used to judge and eliminate the original observation data that does not meet the requirements in the user-side data receiving module, and convert the format of the original observation data that meets the requirements to obtain user observation format data;

[0032] The user-side data sending module is used to group and organize user observation format data and send them to the low-orbit constellation;

[0033] The low-orbit satellite data receiving and parsing module is used to receive user observation format data and low-orbit navigation enhancement information, and parse the low-orbit navigation enhancement information to obtain low-orbit navigation enhancement format data information;

[0034] Mission control adjustment module, used to determine the low-orbit satellite that performs the solution task;

[0035] The positioning solution module is used to construct the PPP-RTK solution equation on the low-orbit satellite and perform the solution task;

[0036] The low-orbit satellite data sending module is used to send the positioning results calculated by the above-mentioned positioning solution module to the user end.

[0037] The above-mentioned positioning solution module performs solutions on low-orbit satellites, which reduces the computing power requirements of the user end, reduces the hardware performance requirements of the user end, saves costs, and is conducive to the large-scale promotion of PPP-RTK.

[0038] Furthermore, including user terminals and low-orbit satellites,

[0039] The user terminal includes a user terminal data receiving module, a user terminal data processing module and a user terminal data sending module which are connected in sequence;

[0040] The above-mentioned low-orbit satellite includes a low-orbit satellite data receiving and parsing module, a mission control and adjustment module, a positioning solution module and a low-orbit satellite data sending module connected in sequence;

[0041] The user terminal data receiving module of the user terminal is connected to the low-orbit satellite data sending module of the low-orbit satellite; the low-orbit satellite data receiving module of the low-orbit satellite is connected to the user terminal data sending module of the user terminal.

[0042] The ranging signal or positioning result of the low-orbit satellite sent by the above-mentioned low-orbit satellite data sending module is received by the user-end data receiving module; the original observation format data sent by the above-mentioned user-end data sending module is received by the low-orbit satellite data receiving module to achieve positioning.

[0043] The above-mentioned user end includes all terminal devices using PPP-RTK.

[0044] Furthermore, the low-orbit satellite data receiving module of the above-mentioned low-orbit satellite is connected to the ground navigation enhancement data processing module.

[0045] The low-orbit navigation enhancement format data information provided by the above-mentioned ground navigation enhancement data processing module is received by the low-orbit satellite data receiving module and is used to construct the PPP-RTK solution equation and solve it to achieve precise single-point positioning.

[0046] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0047] 1. The above-mentioned low-orbit satellites serve as edge nodes between the user end and the surface terrain. Data is analyzed and processed near the low-orbit satellites, eliminating data flow, thereby reducing network traffic and response time and improving service efficiency.

[0048] 2. The above-mentioned solution tasks are performed in the determined low-orbit satellite. The completion of the above-mentioned solution tasks in the low-orbit satellite reduces the computing power requirements of the user end, allowing the terminal device or PPP-RTK module to use a lower-performance processor for implementation, thereby reducing the requirements for user-side data quality, saving costs, and facilitating the large-scale promotion of PPP-RTK. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, the following briefly introduces the drawings required for use in the examples. It should be understood that the following drawings only illustrate certain embodiments of the present invention and should not be considered as limiting the scope. A person of ordinary skill in the art can also derive other relevant drawings based on these drawings without inventive effort. In the drawings:

[0050] Figure 1 It is the main flow chart of the present invention;

[0051] Figure 2 The main flow chart provided for Example 1;

[0052] Figure 3 It is a system framework diagram of the present invention;

[0053] Figure 4 Schematic diagram of the system structure connection relationship of the present invention.

[0054] Markings and corresponding parts names in the accompanying drawings:

[0055] 1-LOW-ORB constellation, 2-LOW-ORB satellite, 3-user terminal, 4-navigation satellite, 5-ground navigation augmentation data processing module, 6-ground injection station, 7-LOW-ORB navigation augmentation information, 8-RANGE signal of LOW-ORB satellite, 9-RANGE signal of navigation satellite, 10-user observation format data, 11-POSITIONING result of LOW-ORB satellite. DETAILED DESCRIPTION

[0056] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with examples and drawings. The exemplary embodiments of the present invention and their descriptions are only used to explain the present invention and are not intended to limit the present invention.

[0057] like Figure 1 As shown, a PPP-RTK positioning method based on edge computing includes the following steps:

[0058] A1. The low-orbit constellation receives and parses the low-orbit navigation augmentation information to obtain low-orbit navigation augmentation format data information.

[0059] The user end receives ranging signals from navigation satellites and ranging signals from low-orbit constellations, generates raw observation data, and converts the raw observation data into a user observation format.

[0060] A2. Send user observation format data to the low-orbit constellation and determine the low-orbit satellite that performs the solution task;

[0061] A3. Execute the above-mentioned calculation task in the determined low-orbit satellite. The above-mentioned calculation task is to calculate based on the user observation format data and the low-orbit navigation enhanced format data information to obtain the positioning result. The above-mentioned low-orbit satellite sends the positioning result to the user end.

[0062] Example 1

[0063] like Figure 2 As shown, this embodiment 1 provides a PPP-RTK positioning method based on edge computing, including the following steps:

[0064] S1, the user terminal 3 receives the ranging signal 8 of the low-orbit satellite and the ranging signal 9 of the navigation satellite, and generates original observation data;

[0065] S2. Preprocessing the original observation data. The preprocessing includes the following steps:

[0066] Eliminate original observation data with satellite elevation angles greater than a threshold of 15° or less than a threshold of 10°; use cycle slip detection algorithms and gross error detection algorithms on the original observation data to perform real-time cycle slip and gross error detection, and eliminate original observation data with cycle slips and gross errors; and eliminate original observation data with a low signal-to-noise ratio.

[0067] S3, converting the format of the pre-processed original observation data to obtain user observation format data 10;

[0068] S31, grouping the user observation format data 10 according to the low-orbit satellite 2 transmission protocol and sending it to the low-orbit constellation 1;

[0069] S4. The low-orbit constellation 1 receives the low-orbit navigation augmentation information 7 and the user observation format data 10, and parses the low-orbit navigation augmentation information 7 to obtain low-orbit navigation augmentation format data information. The low-orbit navigation augmentation format data information is used to construct and solve the PPP-RTK positioning solution equation;

[0070] S5, determining the low-orbit satellite 2 that performs the solution task;

[0071] S6. Execute the above-mentioned calculation task in the determined low-orbit satellite 2, wherein the above-mentioned calculation task is to calculate based on the user observation format data 10 and the low-orbit navigation enhanced format data information to obtain the positioning result 11;

[0072] S7. The low-orbit satellite 2 sends the positioning result 11 to the user terminal 3.

[0073] The above-mentioned solution task is completed in the low-orbit satellite 2, which reduces the computing power requirements of the user terminal 3 or module, allowing the user terminal 3 or module to be implemented using a lower-performance processor, thereby reducing the requirements for the data quality of the terminal device or PPP-RTK module, saving costs, and facilitating the large-scale promotion of PPP-RTK.

[0074] Although a low satellite elevation angle can increase the number of observable satellites, the propagation of low-altitude satellite signals not only results in large multipath errors but also large tropospheric refraction deviations, which can easily lead to multipath effects, resulting in an overall decline in the quality of observation data and, in turn, in positioning accuracy. A high satellite elevation angle, while improving the quality of received data, can cause the angles between the receiver and the satellite in space to be very similar and cause geometric instability, leading to an excessively large GDOP (Geometric Dilution of Precision) value and poor positioning accuracy.

[0075] The original observation data with a small signal-to-noise ratio has a large noise signal, which makes the positioning accuracy poor;

[0076] The above cycle slip will cause all observation data after the cycle slip to contain the same whole cycle counting error, resulting in poor positioning accuracy. The original observation data that affects the positioning accuracy is eliminated to improve the positioning accuracy.

[0077] In a specific embodiment, the above-mentioned determination of the low-orbit satellite 2 to perform the solution task includes the following steps:

[0078] B1, determining whether the task load of the low-orbit satellite 2 after receiving the solution task exceeds the task load of the low-orbit satellite 2;

[0079] B11. If the task load of the low-orbit satellite 2 after receiving the solution task does not exceed the task load of the low-orbit satellite 2, the solution task is performed on the low-orbit satellite 2;

[0080] B12. If the task load of the low-orbit satellite 2 after receiving the solution task exceeds the task load of the low-orbit satellite 2, the solution task is assigned to the nearest idle low-orbit satellite 2 in the link node through the inter-satellite link.

[0081] When the low-orbit satellite 2 operates under overload, the user observation format data 10 may be lost or damaged, affecting the positioning accuracy; or the computing efficiency may be reduced, which may degrade the user experience.

[0082] The low-orbit satellite 2 determined to perform the solution task does not exceed the task load of the low-orbit satellite 2 after receiving the solution task, thereby avoiding overload operation of the low-orbit satellite 2 and improving positioning accuracy; or, improving computing efficiency, thereby improving user experience.

[0083] In a specific embodiment, the steps of solving the above-mentioned solving task include:

[0084] C1, the above-mentioned low-orbit satellite 2 constructs the PPP-RTK solution equation based on the received user observation format data 10 and low-orbit navigation enhanced format data information;

[0085] C2. Perform PPP-RTK positioning solution based on the constructed PPP-RTK solution equation.

[0086] The above-mentioned user observation format data 10 and low-orbit navigation enhanced format data information are currently in the low-orbit satellite 2; the above-mentioned PPP-RTK solution equation is constructed based on the user observation format data 10 and low-orbit navigation enhanced format data information, and is also in the low-orbit satellite 2; the above-mentioned PPP-RTK positioning solution is solved based on the user observation format data 10 and low-orbit navigation enhanced format data information, and the solution process is completed in the low-orbit satellite 2; the above processes are all completed in the low-orbit satellite 2, using edge computing, reducing the process of transmission of user observation format data 10 and low-orbit navigation enhanced format data information in the network, and improving service efficiency.

[0087] In a specific embodiment, the above-mentioned navigation satellite 4 includes one or more of GNSS (Beidou Navigation Satellite 4 Positioning System), GPS (Global Positioning System of the United States), GLONASS (Global Navigation Satellite 4 System of the Soviet Union / Russia), and the Galileo Satellite Positioning System of the European Space Agency.

[0088] In a specific embodiment, the low-orbit navigation augmentation information 7 includes the precise orbit, precise clock error, carrier phase deviation, integrity information, tropospheric grid parameter information, and ionospheric grid parameter information of navigation satellite 4, and the precise orbit, precise clock error, carrier phase deviation, integrity information, tropospheric grid parameter information, and ionospheric grid parameter information of low-orbit satellite 2;

[0089] Precise single point positioning is performed based on the precise orbits, precise clock errors and carrier phase deviations of the navigation satellite 4 and the low-orbit satellite 2 in the low-orbit navigation augmentation information 7, as well as the user observation format data 10.

[0090] The above-mentioned low-orbit satellite 2 updates the position information of the user terminal 3 based on the tropospheric grid parameter information and the ionospheric grid parameter information.

[0091] In a specific embodiment, the ground navigation enhancement data processing module 5 receives observation data from the ground low-orbit and navigation satellite reference stations and generates low-orbit navigation enhancement information 7.

[0092] Example 2

[0093] like Figure 3 and Figure 4 As shown, this embodiment 2 provides a PPP-RTK positioning system based on edge computing, including

[0094] The user-side data receiving module is used to receive ranging signals 9 from navigation satellites and ranging signals 8 from low-orbit satellites to generate raw observation data; or receive positioning results 11;

[0095] The user-side data processing module is used to judge and eliminate the original observation data that does not meet the requirements in the user-side data receiving module, and perform format conversion on the original observation data that meets the requirements to obtain user observation format data 10;

[0096] The user-side data sending module is used to group the user observation format data 10 and send them to the low-orbit constellation 1;

[0097] The ground navigation augmentation data processing module 5 is used to receive observation data from the ground low-orbit and navigation satellite reference stations, generate low-orbit navigation augmentation information 7, and send the low-orbit navigation augmentation information 7 to the low-orbit constellation 1;

[0098] A low-orbit satellite data receiving and parsing module is used to receive user observation format data 10 and low-orbit navigation enhancement information 7, and parse the low-orbit navigation enhancement information 7 to obtain low-orbit navigation enhancement format data information;

[0099] A mission control adjustment module is used to determine the low-orbit satellite 2 that performs the solution mission;

[0100] Positioning solution module, used to construct PPP-RTK solution equations on LEO satellite 2 and perform solution tasks;

[0101] The low-orbit satellite data sending module is used to send the positioning result 11 calculated by the above-mentioned positioning solution module to the user terminal 3.

[0102] The above positioning solution module performs solution on the low-orbit satellite 2, which reduces the computing power requirements of the user terminal 3, reduces the hardware performance requirements of the user terminal 3, saves costs, and is conducive to the large-scale promotion of PPP-RTK.

[0103] In a specific embodiment, the user terminal 3 includes a user terminal data receiving module, a user terminal data processing module and a user terminal data sending module connected in sequence;

[0104] The above-mentioned low-orbit satellite 2 includes a low-orbit satellite data receiving and analyzing module, a mission control and adjustment module, a positioning solution module and a low-orbit satellite data sending module connected in sequence;

[0105] The user terminal data receiving module of the user terminal 3 is connected to the low-orbit satellite data sending module of the low-orbit satellite 2; the low-orbit satellite 2 data receiving module of the low-orbit satellite 2 is connected to the user terminal 3 data sending module of the user terminal 3;

[0106] The low-orbit satellite 2 data receiving module of the low-orbit satellite 2 is connected to the ground navigation enhancement data processing module 5 .

[0107] The ranging signal 8 or positioning result 11 of the low-orbit satellite sent by the above-mentioned low-orbit satellite data sending module is received by the user-end data receiving module; the user observation format data sent by the above-mentioned user-end data sending module is received by the low-orbit satellite data receiving module to achieve positioning.

[0108] The low-orbit navigation enhancement format data information provided by the above-mentioned ground navigation enhancement data processing module 5 is received by the low-orbit satellite data receiving module and is used to construct the PPP-RTK solution equation and solution to achieve precise single-point positioning. The positioning solution is performed on the low-orbit satellite 2, which reduces the requirements for the hardware performance of the user terminal 3, saves costs, and is conducive to the large-scale promotion of PPP-RTK.

[0109] In a specific embodiment, the ground navigation enhancement data processing module 5 receives observation data from the ground low-orbit and navigation satellite 4 reference stations, generates low-orbit navigation enhancement information 7, transmits the low-orbit navigation enhancement information 7 to the ground injection station 6, and the ground injection station 6 sends the low-orbit navigation enhancement information 7 to the low-orbit constellation 1.

[0110] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A PPP-RTK positioning method based on edge computing, characterized in that: The following steps are involved: A1. The low-orbit constellation (1) receives the low-orbit navigation enhancement information (7), and parses the low-orbit navigation enhancement information (7) to obtain low-orbit navigation enhancement format data information; The user terminal (3) receives the ranging signal (9) of the navigation satellite and the ranging signal (8) of the low-orbit satellite, generates original observation data, and converts the format of the original observation data to obtain user observation format data (10); A2, sending the user observation format data (10) to the low-orbit constellation (1), and determining the low-orbit satellite (2) that performs the solution task; The step of determining the low-orbit satellite (2) to perform the solution task comprises the following steps: B1, determining whether the task load of the low-orbit satellite (2) after receiving the solution task exceeds the task load of the low-orbit satellite (2); B11, if the task load of the low-orbit satellite (2) after receiving the solution task does not exceed the task load of the low-orbit satellite (2), the solution task is performed on the low-orbit satellite (2); B12, if the task load of the low-orbit satellite (2) after receiving the solution task exceeds the task load of the low-orbit satellite (2), the solution task is assigned to the nearest idle low-orbit satellite (2) in the link node through the inter-satellite link; A3. Executing the calculation task in the determined low-orbit satellite (2), wherein the calculation task is to calculate based on the user observation format data (10) and the low-orbit navigation enhanced format data information to obtain a positioning result (11), and the low-orbit satellite (2) sends the positioning result (11) to the user terminal (3).

2. A PPP-RTK positioning method based on edge computing according to claim 1, characterized in that: Before converting the format of the original observation data, the original observation data needs to be preprocessed. The preprocessing includes the following steps: eliminating the original observation data whose satellite elevation angle does not fall within the satellite high angle threshold range; performing cycle slip detection on the original observation data and eliminating the original observation data that has cycle slips.

3. A PPP-RTK positioning method based on edge computing according to claim 1, characterized in that: Before sending the user observation format data (10) to the low-orbit constellation (1), the method further includes the following steps: grouping the user observation format data (10) according to the low-orbit satellite (2) transmission protocol.

4. A PPP-RTK positioning method based on edge computing according to claim 1, characterized in that: The steps of generating the low-orbit navigation enhancement information (7) are as follows: a ground navigation enhancement data processing module (5) receives observation data from a ground low-orbit navigation satellite reference station and generates the low-orbit navigation enhancement information (7).

5. A PPP-RTK positioning method based on edge computing according to claim 4, characterized in that: The low-orbit navigation enhancement information (7) includes the precise orbit, precise clock error, and carrier phase deviation of the navigation satellite (4), and the precise orbit, precise clock error, and carrier phase deviation of the low-orbit satellite (2). Precise single-point positioning is performed based on the precise orbits, precise clock errors, and carrier phase deviations of the navigation satellite (4) and the low-orbit satellite (2) in the low-orbit navigation enhancement information (7), as well as the user observation format data (10).

6. A PPP-RTK positioning method based on edge computing according to claim 1, characterized in that: The solving steps of the solving task include: C1, the low-orbit satellite (2) constructs a PPP-RTK solution equation based on the received user observation format data (10) and low-orbit navigation enhanced format data information; C2. Perform PPP-RTK positioning solution based on the constructed PPP-RTK solution equation.

7. A PPP-RTK positioning system based on edge computing, characterized in that: include A user-side data receiving module is used to receive ranging signals (9) from navigation satellites and ranging signals (8) from low-orbit constellations to generate raw observation data; or to receive positioning results (11); The user-side data processing module is used to judge and eliminate the original observation data that does not meet the requirements in the user-side data receiving module, and perform format conversion on the original observation data that meets the requirements to obtain user observation format data (10); A user-side data sending module, configured to group user observation format data (10) and send the data to a low-orbit constellation (1); A low-orbit satellite data receiving and parsing module is used to receive user observation format data (10) and low-orbit navigation enhancement information (7), and parse the low-orbit navigation enhancement information (7) to obtain low-orbit navigation enhancement format data information; A mission control adjustment module for determining the nearest low-orbit satellite (2) for performing the solution task; The step of determining the low-orbit satellite (2) to perform the solution task comprises the following steps: B1, determining whether the task load of the low-orbit satellite (2) after receiving the solution task exceeds the task load of the low-orbit satellite (2); B11, if the task load of the low-orbit satellite (2) after receiving the solution task does not exceed the task load of the low-orbit satellite (2), the solution task is performed on the low-orbit satellite (2); B12, if the task load of the low-orbit satellite (2) after receiving the solution task exceeds the task load of the low-orbit satellite (2), the solution task is assigned to the nearest idle low-orbit satellite (2) in the link node through the inter-satellite link; A positioning solution module is used to construct a PPP-RTK solution equation on a low-orbit satellite (2) and perform a solution task; The low-orbit satellite data sending module is used to send the positioning result (11) calculated by the positioning solution module to the user terminal (3).

8. A PPP-RTK positioning system based on edge computing according to claim 7, characterized in that: Including user terminal (3) and low-orbit satellite (2), The user terminal (3) comprises a user terminal data receiving module, a user terminal data processing module and a user terminal data sending module which are connected in sequence; The low-orbit satellite (2) comprises a low-orbit satellite data receiving and analyzing module, a mission control and adjustment module, a positioning and solving module, and a low-orbit satellite data sending module, which are connected in sequence; The user terminal data receiving module of the user terminal (3) is connected to the low-orbit satellite data sending module of the low-orbit satellite (2); and the low-orbit satellite data receiving module of the low-orbit satellite (2) is connected to the user terminal data sending module of the user terminal (3).

9. A PPP-RTK positioning system based on edge computing according to claim 8, characterized in that: The low-orbit satellite data receiving module of the low-orbit satellite (2) is used to connect with the ground navigation enhancement data processing module (5).

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