Grid point correction performance evaluation method, device, equipment and medium

Abstract

The present application discloses a method, device, equipment and medium for evaluating the performance of grid point correction numbers. The method for evaluating the performance of grid point correction numbers includes: determining at least one target reference station for evaluating the performance of precise single-point real-time dynamic positioning correction numbers of the target grid point according to the distance between the reference station and the target grid point; determining the index value of the station accuracy index corresponding to the target grid point according to the relative position relationship between the at least one target reference station and the target grid point, wherein the index value of the station accuracy index is used to evaluate the performance of precise single-point real-time dynamic positioning correction numbers of the grid point. The method, device, equipment and medium for evaluating the performance of grid point correction numbers of the present application can improve the evaluation efficiency of the performance of precise single-point real-time dynamic positioning correction numbers of the grid points.

Description

Technical Field

[0001] The present application belongs to the field of positioning technology, and specifically relates to a method, device, equipment and medium for evaluating the performance of grid point correction numbers. Background Art

[0002] The global satellite navigation system, also known as the Global Navigation Satellite System (GNSS), is an air-based radio navigation and positioning system that can provide users with all-weather three-dimensional coordinates, speed and time information at any location on the earth's surface or in near-Earth space.

[0003] In order to achieve high-precision positioning, the current mainstream positioning methods are real-time kinematic positioning (RTK) and precise point positioning (PPP). In order to overcome the disadvantages of long PPP convergence time and difficulty in restoring integer ambiguity to integers, the precise point real-time kinematic positioning (PPP-RTK) method has been developed. For large-scale (wide-area) PPP-RTK correction services, when performing airspace modeling, the large range is usually subdivided into a collection of small ranges (local / regional), and the small range is usually called a partition. PPP-RTK correction service providers usually divide each partition into multiple grid points (such as 1°×1° grid) according to certain rules (such as longitude and latitude). For example Figure 1 As shown, Figure 1 FIG. 1 shows a schematic diagram of a partition in the related art. Figure 1 In the figure, the outer solid rectangle represents a partition, the irregular area represents the geographical boundary (such as county boundary, provincial boundary, coastline, etc.), the horizontal and vertical dotted lines are grid lines, the hollow circles represent grid points, the solid triangles represent the base stations within the partition; the solid five-pointed stars represent the user locations.

[0004] The PPP-RTK correction supplier interpolates and calculates the correction number of each grid point and broadcasts it to the user. The user interpolates the correction number of the user's position based on its own approximate position to enhance the positioning effect of the user end. Generally, the PPP-RTK correction supplier must not only provide PPP-RTK correction numbers, but also provide performance indicators (precision, accuracy, and availability, etc.) corresponding to the correction numbers. Among them, the performance indicator of the correction number is the integrity indicator, which is used to reflect the correctness and reliability of the correction number service.

[0005] The performance index of PPP-RTK corrections provided by PPP-RTK correction suppliers is evaluated based on the performance of PPP-RTK corrections at grid points within a partition. In related technologies, when determining the performance of PPP-RTK corrections at grid points, it is necessary to calculate the value of the grid point corrections in the broadcast link and the value of the grid point corrections in the verification link. However, the above calculation process takes a long time and consumes a lot of resources, and the evaluation efficiency of the performance of PPP-RTK corrections at grid points is low. Summary of the invention

[0006] The purpose of the embodiments of the present application is to provide a method, device, equipment and medium for evaluating the performance of grid point correction numbers, so as to solve the problem of low efficiency in evaluating the performance of grid point correction numbers.

[0007] In order to solve the above technical problems, this application is implemented as follows:

[0008] In a first aspect, an embodiment of the present application provides a method for evaluating grid point correction performance, comprising:

[0009] Determining at least one target reference station for evaluating the performance of PPP-RTK corrections for the target grid point based on the distance between the reference station and the target grid point;

[0010] According to the relative position relationship between at least one target reference station and the target grid point, an index value of a station dilution of precision (SDOP) corresponding to the target grid point is determined, wherein the index value of the station dilution of precision is used to evaluate the PPP-RTK correction performance of the grid point.

[0011] In a second aspect, an embodiment of the present application provides a grid point correction number performance evaluation device, comprising:

[0012] A first determination module is used to determine at least one target reference station for evaluating the PPP-RTK correction performance of the target grid point according to the distance between the reference station and the target grid point;

[0013] The second determination module is used to determine the index value of the SDOP corresponding to the target grid point according to the relative position relationship between at least one target reference station and the target grid point, wherein the index value of the station accuracy index is used to evaluate the PPP-RTK correction performance of the grid point.

[0014] In a third aspect, an embodiment of the present application provides an electronic device, which includes a processor, a memory, and a program or instruction stored in the memory and executable on the processor, which, when executed by the processor, implements the steps of the grid point correction number performance evaluation method of the first aspect.

[0015] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the steps of the grid point correction number performance evaluation method of the first aspect are implemented.

[0016] In the embodiment of the present application, the PPP-RTK correction performance of the grid point is evaluated using the index value of the station accuracy index of the PPP-RTK correction performance of the grid point, and the index value of the station accuracy index of the PPP-RTK correction performance of the grid point is determined based on the relative position relationship between the reference station and the grid point. In the process of determining the index value of the station accuracy index of the PPP-RTK correction performance of the grid point based on the relative position relationship between the reference station and the grid point, the value of the grid point correction in the broadcast link and the value of the grid point correction in the verification link are not calculated. In this way, through the embodiment of the present application, time and resources can be saved, and the evaluation efficiency of the PPP-RTK correction performance of the grid point can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solution of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0018] Figure 1 is a schematic diagram of partitioning in the related art;

[0019] Figure 2 It is a flowchart of a method for evaluating the performance of grid point correction numbers provided in an embodiment of the present application;

[0020] Figure 3 It is a structural schematic diagram of a grid point correction number performance evaluation device provided in an embodiment of the present application;

[0021] Figure 4 It is a schematic diagram of the hardware structure of the electronic device provided in the embodiment of the present application. DETAILED DESCRIPTION

[0022] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than to limit the present application. For those skilled in the art, the present application can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by illustrating the examples of the present application.

[0023] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "include..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0024] In the following, in conjunction with the accompanying drawings, the grid point correction number performance evaluation method, device, equipment and medium provided in the embodiments of the present application are described in detail through specific embodiments and their application scenarios.

[0025] Figure 2 : is a flow chart of a method for evaluating the performance of grid point correction numbers provided in an embodiment of the present application. The method for evaluating the performance of grid point correction numbers may include:

[0026] S201: Determine at least one target reference station for evaluating PPP-RTK correction performance of the target grid point according to the distance between the reference station and the target grid point;

[0027] S202: Determine an index value of SDOP corresponding to the target grid point according to a relative position relationship between at least one target reference station and the target grid point, wherein the index value of the station accuracy index is used to evaluate the PPP-RTK correction performance of the grid point.

[0028] The specific implementation of the above steps will be described in detail below.

[0029] In the embodiment of the present application, the PPP-RTK correction performance of the grid point is evaluated using the index value of the station accuracy index of the PPP-RTK correction performance of the grid point, and the index value of the station accuracy index of the PPP-RTK correction performance of the grid point is determined based on the relative position relationship between the reference station and the grid point. In the process of determining the index value of the station accuracy index of the PPP-RTK correction performance of the grid point based on the relative position relationship between the reference station and the grid point, the value of the grid point correction in the broadcast link and the value of the grid point correction in the verification link are not calculated. In this way, through the embodiment of the present application, time and resources can be saved, and the evaluation efficiency of the PPP-RTK correction performance of the grid point can be improved.

[0030] In some possible implementations of the present application, the distance between the reference station j and the target grid point r is

[0031]

[0032] Among them, x j ,y j and z j are the coordinate components of the reference station j in the east, north and zenith directions of a certain point, respectively. r ,y r and z r are the coordinate components of the target grid point r in the east, north and zenith directions of the base point respectively.

[0033] In some possible implementations of the embodiments of the present application, S201 may include: when there is a reference station in the first area, determining the reference station in the first area as the target reference station, wherein the first area includes the target grid point; when there is no reference station in the first area and the number of reference stations in the second area is greater than a first preset number, determining the reference station in the second area as the target reference station, wherein the second area is larger than the first area; when there is no reference station in the first area and the number of reference stations in the second area is not greater than the first preset number, determining a second preset number of reference stations closest to the target grid point as the target reference station.

[0034] In some possible implementations of the embodiments of the present application, the first area may include: a circular area with the target grid point as the center and the first preset distance as the radius; the second area may include: a circular area with the target grid point as the center and the second preset distance as the radius, wherein the second preset distance is greater than the first preset distance.

[0035] In some possible implementations of the embodiment of the present application, the first preset distance f1 may be 50 kilometers (km), and the second preset distance f2 may be 150 km.

[0036] In some possible implementations of the embodiment of the present application, the first preset number may be equal to the second preset number, or may not be equal to the second preset number. The first preset number is not less than 4.

[0037] Exemplarily, assuming that there are 7 reference stations in a circular area with a radius of 50 km and a target grid point as the center, each of the 7 reference stations is determined as a target reference station.

[0038] As another example, assuming that the first preset number is 6, there is no reference station in the circular area with a radius of 50 km and the target grid point as the center, and there are 7 reference stations in the circular area with a radius of 150 km and the target grid point as the center, then each of the 7 reference stations is determined as a target reference station.

[0039] For another example, assume that the first preset number is 6 and the second preset number is also 6. There is no reference station in the circular area with a radius of 50 km with the target grid point as the center, and there are 4 reference stations in the circular area with a radius of 150 km with the target grid point as the center, then the 6 reference stations closest to the target grid point are determined as the target reference stations. It can be understood that the 6 nearest reference stations include 4 reference stations in the circular area with a radius of 150 km with the target grid point as the center and two reference stations outside the circular area with a radius of 150 km with the target grid point as the center, and the distances between these two reference stations and the target grid point are smaller than the distances between the other reference stations and the target grid point outside the circular area with a radius of 150 km with the target grid point as the center.

[0040] In some possible implementations of the embodiments of the present application, in S202, the relative position relationship between the target reference station and the target grid point may include: the coordinate deviation of the target reference station relative to the target grid point in the east direction, north direction, and zenith direction, and the distance from the target reference station to the target grid point.

[0041] In some possible implementations of the embodiments of the present application, the relative position relationship between the target reference station i and the target grid point can be expressed as [ei, ni, ui, D(r i )], where ei, ni, ui and D(r i ) are the coordinate deviations of the target reference station i relative to the target grid point in the east, north and zenith directions and the distance from the target reference station i to the target grid point, respectively.

[0042] In some possible implementations of the embodiments of the present application, S202 may include: determining an index value of the SDOP corresponding to the target grid point according to a relative position relationship between at least one target reference station and the target grid point and a weight corresponding to at least one target reference station.

[0043] In some possible implementations of the present application, a design matrix H and a weight matrix P may be defined. Among them,

[0044]

[0045]

[0046] Among them, H is a matrix with N rows and 4 columns, P is a matrix with N rows and N columns, and N is the number of target reference stations. N are the weights corresponding to the N target reference stations respectively.

[0047] The matrix S containing SDOP information = (H T ×P ×H) -1 .

[0048] The index value of SDOP is the sum of the elements in the first row and first column, the elements in the second row and second column, and the elements in the third row and third column in the matrix S.

[0049] In some possible implementations of the embodiments of the present application, SDOP is less affected by the coordinate deviation of the target reference station relative to the target grid point in the zenith direction. Therefore, in some cases, the coordinate deviation of the target reference station relative to the target grid point in the zenith direction may be ignored. At this time, the index value of SDOP is the sum of the elements in the first row and first column of the matrix S and the elements in the second row and second column.

[0050] In some possible implementations of the embodiments of the present application, the greater the distance between the target reference station and the target grid point, the smaller the weight corresponding to the target reference station. Based on this, the weight corresponding to the target reference station can be determined according to the distance between the target reference station and the target grid point. For example, the correspondence between different distance intervals and weights is pre-set to determine the distance interval to which the distance between the target reference station and the target grid point belongs, and then the distance interval corresponding to the distance between the target reference station and the target grid point belongs is determined as the weight of the target reference station.

[0051] In some possible implementations of the embodiments of the present application, the weight corresponding to the target reference station may also be determined based on the distance from the target reference station to the target grid point and the latitude corresponding to the target grid point.

[0052] In some possible implementations of the embodiments of the present application, when the grid points are at different latitudes, the grid points may correspond to different reference distances. Considering that the activity of atmospheric delay is related to latitude, the ionosphere in high latitudes is more stable, and the reference distance can be larger, while the ionosphere in low latitudes is more active, and the reference distance needs to be reduced. Therefore, the size of the reference distance is positively correlated with the absolute value of the latitude.

[0053] In some possible implementations of the embodiments of the present application, the atmospheric active and stable areas are divided based on the absolute value of latitude of 45°, the maximum reference distance is 50km, the reference distance at the equator (i.e., latitude 0) is 30km, and the reference distance is linearly related to the absolute value of latitude. For every degree the absolute value of latitude decreases, the reference distance decreases by (50-30) / 45=4 / 9km.

[0054] The reference distance refdis The corresponding calculation expression is shown in formula (1):

[0055]

[0056] In formula (1), lat is the latitude corresponding to the target grid point.

[0057] In some possible implementations of the embodiments of the present application, when determining the weight corresponding to the target reference station based on the distance from the target reference station to the target grid point and the latitude corresponding to the target grid point, the quotient of the reference distance corresponding to the latitude corresponding to the target grid point and the distance from the target reference station to the target grid point can be determined as the weight corresponding to the target reference station.

[0058] That is, the weight corresponding to the target reference station i

[0059] In some possible implementations of the embodiments of the present application, when determining the weight corresponding to the target reference station based on the distance from the target reference station to the target grid point and the latitude corresponding to the target grid point, the square of the quotient of the reference distance corresponding to the latitude corresponding to the target grid point and the distance from the target reference station to the target grid point can be determined as the weight corresponding to the target reference station.

[0060] That is, the weight corresponding to the target reference station i

[0061] It should be noted that, when determining the index value of SDOP corresponding to the target grid point based on the above matrix S, the number N of target reference stations is not less than 4.

[0062] In some possible implementations of the embodiments of the present application, when the target reference station is a reference station existing in the above-mentioned first area and the number N of target reference stations is less than 4, the index value of SDOP corresponding to the target grid point can be determined based on the distance between the target reference station and the target grid point and the first preset distance f1.

[0063] Specifically, the SDOP index value corresponding to the target grid point can be determined according to the following formula (2):

[0064]

[0065] In formula (2), D(r i ) is the distance from the target reference station i to the target grid point, f1 is the first preset distance, N is the number of target reference stations, and N is less than 4.

[0066] In some possible implementations of the embodiments of the present application, in S202, the smaller the index value of the SDOP corresponding to the target grid point is, the better the PPP-RTK correction performance of the target grid point is.

[0067] In some possible implementations of the embodiments of the present application, after S202, the grid point correction number performance evaluation method provided by the embodiments of the present application may also include: determining the level of PPP-RTK correction number performance of the target grid point based on the correspondence between the index value and the index value interval and the level of PPP-RTK correction number performance.

[0068] Exemplarily, the correspondence between the index value range and the level of PPP-RTK correction performance is shown in Table 1 below.

[0069] Table 1

[0070] Index value range PPP-RTK correction performance level [0，a) good [a,b) generally [b，+∞) Difference

[0071] Assuming that the index value of the SDOP corresponding to the target grid point is within the index value interval [0, a), the level of the PPP-RTK correction performance of the target grid point is determined to be "good".

[0072] In some possible implementations of the embodiments of the present application, after S202, the grid point correction number performance evaluation method provided by the embodiments of the present application may also include: evaluating the PPP-RTK correction number performance of the partition where the target grid point is located according to the index value.

[0073] In some possible implementations of the embodiments of the present application, the index values ​​of the SDOP corresponding to all grid points included in the partition where the target grid point is located can be determined based on the above.

[0074] In some possible implementations of the embodiments of the present application, if the minimum index value among the corresponding SDOP index values ​​of all grid points included in the partition where the target grid point is located is lower than a preset threshold, it can be determined that the PPP-RTK correction performance of the partition is better.

[0075] In some possible implementations of the embodiments of the present application, the number of grid points in the partition where the target grid point is located whose SDOP index value is less than a preset threshold can be determined based on the SDOP index value. The larger the number, the better the PPP-RTK correction performance of the partition.

[0076] It should be noted that the grid point correction number performance evaluation method provided in the embodiment of the present application can be executed by a grid point correction number performance evaluation device, or a control module in the grid point correction number performance evaluation device for executing the grid point correction number performance evaluation method. In the embodiment of the present application, the grid point correction number performance evaluation device executing the grid point correction number performance evaluation method is taken as an example to illustrate the grid point correction number performance evaluation device provided in the embodiment of the present application.

[0077] Figure 3300 is a schematic diagram of the structure of a grid point correction number performance evaluation device provided in an embodiment of the present application. The grid point correction number performance evaluation device 300 may include:

[0078] A first determination module 301 is used to determine at least one target reference station for evaluating the PPP-RTK correction performance of the target grid point according to the distance between the reference station and the target grid point;

[0079] The second determination module 302 is used to determine the index value of the station accuracy index corresponding to the target grid point according to the relative position relationship between at least one target reference station and the target grid point, wherein the index value of the station accuracy index is used to evaluate the PPP-RTK correction performance of the grid point.

[0080] In the embodiment of the present application, at least one target reference station for evaluating the PPP-RTK correction performance of the target grid point is determined according to the distance between the reference station and the target grid point; the index value of the station accuracy index for evaluating the PPP-RTK correction performance of the grid point corresponding to the target grid point is determined according to the relative position relationship between the at least one target reference station and the target grid point; and then the PPP-RTK correction performance of the target grid point is evaluated according to the index value. In this way, there is no need to calculate the value of the PPP-RTK correction of the grid point in the broadcast link and the verification link, so time and resources can be saved, and the evaluation efficiency of the PPP-RTK correction performance of the grid point can be improved.

[0081] In some possible implementations of the embodiments of the present application, the first determining module 301 may be specifically used to:

[0082] When there is a reference station in the first area, determining the reference station in the first area as a target reference station, wherein the first area includes a target grid point;

[0083] When there is no reference station in the first area and the number of reference stations in the second area is greater than a first preset number, determining the reference station in the second area as a target reference station, wherein the second area is larger than the first area;

[0084] When there is no reference station in the first area and the number of reference stations in the second area is not greater than a first preset number, a second preset number of reference stations closest to the target grid point are determined as target reference stations.

[0085] In some possible implementations of the embodiments of the present application, the first area may include:

[0086] A circular area with the target grid point as the center and the first preset distance as the radius;

[0087] The second area may include:

[0088] A circular area with the target grid point as the center and a second preset distance as the radius, wherein the second preset distance is greater than the first preset distance.

[0089] In some possible implementations of the embodiment of the present application, the second determining module 302 may be specifically used to:

[0090] According to the relative position relationship between at least one target reference station and the target grid point and the weight corresponding to at least one target reference station, an index value of the station accuracy index corresponding to the target grid point is determined.

[0091] In some possible implementations of the embodiments of the present application, the grid point correction number performance evaluation device 300 provided in the embodiments of the present application may further include:

[0092] The third determination module is used to determine the weight corresponding to the target reference station according to the distance from the target reference station to the target grid point and / or the latitude corresponding to the target grid point.

[0093] In some possible implementations of the embodiments of the present application, the relative position relationship between the target reference station and the target grid point includes:

[0094] The coordinate deviations of the target reference station relative to the target grid point in the east, north and zenith directions, as well as the distance from the target reference station to the target grid point.

[0095] In some possible implementations of the embodiments of the present application, the grid point correction number performance evaluation device 300 provided in the embodiments of the present application may further include:

[0096] The fourth determination module is used to determine the level of PPP-RTK correction performance of the target grid point according to the corresponding relationship between the index value and the index value interval and the level of PPP-RTK correction performance.

[0097] In some possible implementations of the embodiments of the present application, the grid point correction number performance evaluation device 300 provided in the embodiments of the present application may further include:

[0098] The evaluation module is used to evaluate the PPP-RTK correction performance of the partition where the target grid point is located according to the index value.

[0099] The grid point correction number performance evaluation device in the embodiment of the present application can be a device, or a component, integrated circuit, or chip in a terminal. The device can be a mobile electronic device or a non-mobile electronic device. Exemplarily, the mobile electronic device can be a mobile phone, a tablet computer, a laptop computer, a PDA, an in-vehicle electronic device, a wearable device, an ultra-mobile personal computer (UMPC), a netbook, or a personal digital assistant (PDA), etc. The non-mobile electronic device can be a server, a network attached storage (NAS), a personal computer (PC), a television (TV), a teller machine or a self-service machine, etc., which is not specifically limited in the embodiment of the present application.

[0100] The grid point correction number performance evaluation device in the embodiment of the present application may be a device having an operating system. The operating system may be an Android operating system, an iOS operating system, or other possible operating systems, which are not specifically limited in the embodiment of the present application.

[0101] The grid point correction number performance evaluation device provided in the embodiment of the present application can achieve Figure 2 To avoid repetition, each process in the embodiment of the grid point correction number performance evaluation method will not be described again here.

[0102] Figure 4 It is a schematic diagram of the hardware structure of an electronic device implementing an embodiment of the present application.

[0103] The electronic device 400 includes but is not limited to components such as a radio frequency unit 401 , a network module 402 , an audio output unit 403 , an input unit 404 , a sensor 405 , a display unit 406 , a user input unit 407 , an interface unit 408 , a memory 409 , and a processor 410 .

[0104] Those skilled in the art will appreciate that the electronic device 400 may also include a power source (such as a battery) for supplying power to each component, and the power source may be logically connected to the processor 410 through a power management system, thereby implementing functions such as managing charging, discharging, and power consumption management through the power management system. Figure 4 The electronic device structure shown in the figure does not constitute a limitation on the electronic device. The electronic device may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently, which will not be described in detail here.

[0105] Among them, the processor 410 is used to determine at least one target reference station for evaluating the PPP-RTK correction performance of the target grid point based on the distance between the reference station and the target grid point; and determine the index value of the station accuracy index corresponding to the target grid point based on the relative position relationship between the at least one target reference station and the target grid point, wherein the index value of the station accuracy index is used to evaluate the PPP-RTK correction performance of the grid point.

[0106] In the embodiment of the present application, the PPP-RTK correction performance of the grid point is evaluated using the index value of the station accuracy index of the PPP-RTK correction performance of the grid point, and the index value of the station accuracy index of the PPP-RTK correction performance of the grid point is determined based on the relative position relationship between the reference station and the grid point. In the process of determining the index value of the station accuracy index of the PPP-RTK correction performance of the grid point based on the relative position relationship between the reference station and the grid point, the value of the grid point correction in the broadcast link and the value of the grid point correction in the verification link are not calculated. In this way, through the embodiment of the present application, time and resources can be saved, and the evaluation efficiency of the PPP-RTK correction performance of the grid point can be improved.

[0107] In some possible implementations of the embodiments of the present application, the processor 410 may be specifically configured to:

[0108] When there is a reference station in the first area, determining the reference station in the first area as a target reference station, wherein the first area includes a target grid point;

[0109] When there is no reference station in the first area and the number of reference stations in the second area is greater than a first preset number, determining the reference station in the second area as a target reference station, wherein the second area is larger than the first area;

[0110] When there is no reference station in the first area and the number of reference stations in the second area is not greater than a first preset number, a second preset number of reference stations closest to the target grid point are determined as target reference stations.

[0111] In some possible implementations of the embodiments of the present application, the first area may include:

[0112] A circular area with the target grid point as the center and the first preset distance as the radius;

[0113] The second area may include:

[0114] A circular area with the target grid point as the center and a second preset distance as the radius, wherein the second preset distance is greater than the first preset distance.

[0115] In some possible implementations of the embodiments of the present application, the processor 410 may be specifically configured to:

[0116] According to the relative position relationship between at least one target reference station and the target grid point and the weight corresponding to at least one target reference station, an index value of the station accuracy index corresponding to the target grid point is determined.

[0117] In some possible implementations of the embodiments of the present application, the processor 410 may also be configured to:

[0118] The weight corresponding to the target reference station is determined according to the distance from the target reference station to the target grid point and / or the latitude corresponding to the target grid point.

[0119] In some possible implementations of the embodiments of the present application, the relative position relationship between the target reference station and the target grid point includes:

[0120] The coordinate deviations of the target reference station relative to the target grid point in the east, north and zenith directions, as well as the distance from the target reference station to the target grid point.

[0121] In some possible implementations of the embodiments of the present application, the processor 410 may also be configured to:

[0122] The PPP-RTK correction performance level of the target grid point is determined based on the corresponding relationship between the index value and the index value range and the PPP-RTK correction performance level.

[0123] In some possible implementations of the embodiments of the present application, the processor 410 may also be configured to:

[0124] According to the index value, the PPP-RTK correction performance of the partition where the target grid point is located is evaluated.

[0125] It should be understood that in the embodiment of the present application, the input unit 404 may include a graphics processor (GPU) 4041 and a microphone 4042, and the graphics processor 4041 processes the image data of a static picture or video obtained by an image capture device (such as a camera) in a video capture mode or an image capture mode. The display unit 406 may include a display panel 4061, and the display panel 4061 may be configured in the form of a liquid crystal display, an organic light emitting diode, etc. The user input unit 407 includes a touch panel 4071 and other input devices 4072. The touch panel 4071 is also called a touch screen. The touch panel 4071 may include two parts: a touch detection device and a touch controller. Other input devices 4072 may include, but are not limited to, a physical keyboard, a function key (such as a volume control button, a switch button, etc.), a trackball, a mouse, and a joystick, which will not be repeated here. The memory 409 may be used to store software programs and various data, including but not limited to applications and operating systems. The processor 410 may integrate an application processor and a modem processor, wherein the application processor mainly processes an operating system, a user interface, and applications, and the modem processor mainly processes wireless communications. It is understandable that the above-mentioned modem processor may not be integrated into the processor 410.

[0126] An embodiment of the present application also provides a computer-readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, each process of the above-mentioned grid point correction number performance evaluation method embodiment is implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0127] The processor is the processor in the electronic device in the above embodiment. Examples of computer-readable storage media include non-transitory machine-readable media, such as electronic circuits, semiconductor memory devices, read-only memory (ROM), flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, etc.

[0128] It should be clear that the present application is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present application is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present application.

[0129] The functional blocks shown in the above-described block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, etc. When implemented in software, the elements of the present application are programs or code segments that are used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or a communication link by a data signal carried in a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency links, etc. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

[0130] It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, this application is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiment, or in a different order from the embodiment, or several steps can be performed simultaneously.

[0131] The above reference is according to the method of the embodiment of the present application, the flow chart of the device (system) and the computer program product and / or the block diagram described various aspects of the present application.It should be understood that each square box in the flow chart and / or the block diagram and the combination of each square box in the flow chart and / or the block diagram can be realized by computer program instructions.These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer or other programmable data processing device to produce a machine so that these instructions executed by the processor of the computer or other programmable data processing device enable the realization of the function / action specified in one or more square boxes of the flow chart and / or the block diagram.Such a processor can be but is not limited to a general-purpose processor, a special-purpose processor, a special application processor or a field programmable logic circuit.It can also be understood that each square box in the block diagram and / or the flow chart and the combination of the square boxes in the block diagram and / or the flow chart can also be realized by the dedicated hardware that performs the specified function or action, or can be realized by the combination of dedicated hardware and computer instructions.

[0132] The above is only a specific implementation of the present application. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the protection scope of the present application is not limited to this. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in this application, and these modifications or replacements should be included in the protection scope of this application.

Claims

1. A method for evaluating the performance of grid point corrections, characterized in that: The method comprises: Determining at least one target reference station for evaluating the performance of precise single-point real-time dynamic positioning corrections of the target grid point according to the distance between the reference station and the target grid point; Determine, according to the relative positional relationship between the at least one target reference station and the target grid point, an index value of a station accuracy index corresponding to the target grid point, wherein the index value of the station accuracy index is used to evaluate the performance of the precise single-point real-time dynamic positioning correction number of the grid point; The relative position relationship between the target reference station and the target grid point includes: the coordinate deviation of the target reference station in the east direction, north direction and zenith direction relative to the target grid point and the distance from the target reference station to the target grid point, wherein the relative position relationship between the target reference station i and the target grid point is expressed as [ei, ni, ui, D(r i )], ei, ni, ui and D(r i ) are the coordinate deviations of the target reference station i relative to the target grid point in the east, north and zenith directions and the distance from the target reference station i to the target grid point respectively; The step of determining the index value of the station accuracy index corresponding to the target grid point according to the relative position relationship between the at least one target reference station and the target grid point comprises: Determining an index value of a station accuracy index corresponding to the target grid point according to a relative position relationship between the at least one target reference station and the target grid point and a weight corresponding to the at least one target reference station; The step of determining the index value of the station accuracy index corresponding to the target grid point according to the relative position relationship between the at least one target reference station and the target grid point and the weight corresponding to the at least one target reference station comprises: Define the design matrix H and weight matrix P; where, Where H is a matrix with N rows and 4 columns, P is a matrix with N rows and N columns, N is the number of target reference stations, and X1 to X N are the weights corresponding to the N target reference stations; The matrix S containing the station accuracy index information corresponding to the target grid point is (H T ×P ×H) -1 ; When N is greater than or equal to 4, the index value of the station accuracy index corresponding to the target grid point is the sum of the elements in the first row and first column, the elements in the second row and second column, and the elements in the third row and third column in the matrix S; When N is less than 4, the index value of the station accuracy index corresponding to the target grid point is determined according to the following formula: Among them, SDOP is the index value of the station accuracy index corresponding to the target grid point, and f1 is the first preset distance.

2. The method according to claim 1, characterized in that The method of determining at least one target reference station for evaluating the performance of the precise single-point real-time dynamic positioning correction number of the target grid point according to the distance between the reference station and the target grid point comprises: When there is a reference station in the first area, determining the reference station in the first area as the target reference station, wherein the first area includes the target grid point; When there is no reference station in the first area and the number of reference stations in the second area is greater than a first preset number, determining the reference station in the second area as the target reference station, wherein the second area is larger than the first area; When there is no reference station in the first area and the number of reference stations in the second area is not greater than the first preset number, a second preset number of reference stations closest to the target grid point are determined as the target reference stations.

3. The method according to claim 2, characterized in that The first area includes: A circular area with the target grid point as the center and a first preset distance as the radius; The second area includes: A circular area with the target grid point as the center and a second preset distance as the radius, wherein the second preset distance is greater than the first preset distance.

4. The method according to claim 1, characterized in that: Before determining the index value of the station accuracy index corresponding to the target grid point according to the relative position relationship between the at least one target reference station and the target grid point and the weight corresponding to the at least one target reference station, the method further includes: The weight corresponding to the target reference station is determined according to the distance from the target reference station to the target grid point and / or the latitude corresponding to the target grid point.

5. The method according to claim 1, characterized in that The method further comprises: The level of the precise single-point real-time dynamic positioning correction number performance of the target grid point is determined based on the correspondence between the index value and the index value interval and the level of the precise single-point real-time dynamic positioning correction number performance.

6. The method according to claim 1, characterized in that The method further comprises: According to the index value, the precise single-point real-time dynamic positioning correction performance of the partition where the target grid point is located is evaluated.

7. A grid point correction performance evaluation device, characterized in that: The device comprises: A first determination module is used to determine at least one target reference station for evaluating the performance of the precise single-point real-time dynamic positioning correction number of the target grid point according to the distance between the reference station and the target grid point; A second determination module is used to determine an index value of a station accuracy index corresponding to the target grid point according to a relative position relationship between the at least one target reference station and the target grid point, wherein the index value of the station accuracy index is used to evaluate the performance of the precise single-point real-time dynamic positioning correction number of the grid point; The relative position relationship between the target reference station and the target grid point includes: the coordinate deviation of the target reference station in the east direction, north direction and zenith direction relative to the target grid point and the distance from the target reference station to the target grid point, wherein the relative position relationship between the target reference station i and the target grid point is expressed as [ei, ni, ui, D(r i )], ei, ni, ui and D(r i ) are the coordinate deviations of the target reference station i relative to the target grid point in the east, north and zenith directions and the distance from the target reference station i to the target grid point respectively; The second determining module is specifically used for: Determining an index value of a station accuracy index corresponding to the target grid point according to a relative position relationship between the at least one target reference station and the target grid point and a weight corresponding to the at least one target reference station; The second determining module is specifically used for: Define the design matrix H and weight matrix P; where, Where H is a matrix with N rows and 4 columns, P is a matrix with N rows and N columns, N is the number of target reference stations, and X1 to X N are the weights corresponding to the N target reference stations; The matrix S containing the station accuracy index information corresponding to the target grid point is (H T ×P ×H) -1 ; When N is greater than or equal to 4, the index value of the station accuracy index corresponding to the target grid point is the sum of the elements in the first row and first column, the elements in the second row and second column, and the elements in the third row and third column in the matrix S; When N is less than 4, the index value of the station accuracy index corresponding to the target grid point is determined according to the following formula: Among them, SDOP is the index value of the station accuracy index corresponding to the target grid point, and f1 is the first preset distance.

8. An electronic device, characterized in that: The electronic device includes: a processor, a memory, and a program or instruction stored in the memory and executable on the processor. When the program or instruction is executed by the processor, the steps of the grid point correction number performance evaluation method as described in any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a program or instruction, and when the program or instruction is executed by a processor, the steps of the grid point correction number performance evaluation method according to any one of claims 1 to 6 are implemented.

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