A location service method for a GNSS receiver and a GNSS receiver

Abstract

The embodiment of the present application discloses a location service method of a GNSS receiver and a GNSS receiver. The positioning modes supported by the GNSS receiver include a high-precision mode and a low-precision mode; wherein the method includes: obtaining position deviation information between the positioning result of the low-precision mode and the positioning result of the high-precision mode; using the position deviation information to correct the positioning result corresponding to the low-precision mode to obtain a corrected positioning result; using the corrected positioning result to output the position information.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of satellite positioning, and in particular to a location service method of a GNSS receiver and a GNSS receiver. Background Art

[0002] With the development of the Global Navigation Satellite System (GNSS), the application of GNSS-based navigation and positioning is becoming more and more widespread around the world. From the perspective of positioning mode, there are two modes: single-point positioning and differential positioning. According to the different observation quantities used and positioning accuracy, single-point positioning is divided into standard single-point positioning (SPP) and precision single-point positioning (PPP); differential positioning is divided into real-time pseudo-range differential positioning (RTD) and real-time carrier relative positioning (RTK).

[0003] SPP performs absolute positioning based on the pseudorange measurement value of a single receiver. It is flexible and convenient to use and has simple data processing. However, the SPP results are significantly affected by the pseudorange measurement accuracy, broadcast ephemeris error, atmospheric delay error, etc., and the positioning accuracy is generally only at the meter level. Based on SPP, RTD can eliminate or weaken the error terms related to space and time by receiving the correction number information of the synchronously observed base station, and the RTD positioning accuracy can reach the sub-meter level. However, the RTD positioning mode will introduce pseudorange multipath and measurement noise of the base station. The RTD accuracy is directly related to the base station length, the quality of the base station observation and the age of the correction number.

[0004] Compared with the pseudo-range measurement accuracy of decimeter to meter level, the measurement accuracy of carrier phase is millimeter level. Therefore, the positioning accuracy of PPP positioning and RTK positioning based on carrier phase measurement value can reach centimeter or even millimeter level. However, both PPP and RTK need to receive and use external correction numbers. At the same time, the positioning solution process based on carrier phase measurement value is relatively complicated. It is necessary to quickly and reliably determine the carrier integer ambiguity of each tracking satellite. The estimation and confirmation of the correct estimation of integer ambiguity is an extremely time-consuming process. In addition, if the carrier phase tracking of a satellite loses lock, even for a moment, the integer ambiguity needs to be recalculated. Moreover, the cycle slips that may exist in the carrier phase need to be detected in real time. If the cycle slip detection fails, it will cause abnormal jumps in the user's position.

[0005] As GNSS navigation and positioning are increasingly used in vehicle navigation, UAVs, agricultural plant protection and other related location services, the reliability and accuracy requirements of GNSS in complex scenarios such as urban canyons, tree occlusion, and signal interference are becoming increasingly higher. When the carrier tracking is continuous and the external correction number is stable, the receiver will give priority to outputting high-precision RTK or PPP position solutions. However, when the receiver carrier tracking is lost, high-precision RTK positioning and PPP positioning solutions will fail. At this time, it can only switch to RTD or SPP solutions based on pseudorange solutions to maintain the user's position output, and switch back to RTK or PPP position solutions after the carrier measurement value is restored.

[0006] Currently, commercial GNSS receivers all support multiple positioning solutions such as RTK, RTD, and SPP. Generally, the best position solution is output to the user through the standard NEMA protocol or a custom protocol. The priority of the position output to the user is RTK, RTD, and SPP from high to low accuracy. If the carrier observation of the user's receiver is abnormal or the correction number of the base station is abnormal, the position output to the user may switch from a high-precision position solution to a low-precision position solution. For example, when RTK switches to RTD or SPP, there will be a decimeter or meter jump before and after the switch. And when the RTK position is restored and available, the position output to the user will switch from a low-precision position solution to a high-precision position solution output. The switching operation of position solutions of different accuracies will affect the stability and safety of airborne or vehicle-mounted users. Summary of the invention

[0007] In order to solve any of the above technical problems, an embodiment of the present application provides a location service method of a GNSS receiver and a GNSS receiver.

[0008] In order to achieve the purpose of the embodiment of the present application, the embodiment of the present application provides the following technical solutions, including:

[0009] A location service method for a GNSS receiver, wherein the positioning modes supported by the GNSS receiver include a high-precision mode and a low-precision mode; wherein the method comprises:

[0010] Obtaining position deviation information between the positioning result of the low-precision mode and the positioning result of the high-precision mode;

[0011] The positioning result corresponding to the low-precision mode is corrected using the position deviation information to obtain a corrected positioning result;

[0012] The corrected positioning result is used to output the position information.

[0013] A storage medium stores a computer program, wherein the computer program is configured to execute the method described above when running.

[0014] A GNSS receiver comprises a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to execute the method described above.

[0015] One of the above technical solutions has the following advantages or beneficial effects:

[0016] By obtaining the position deviation information between the positioning result of the low-precision mode and the positioning result of the high-precision mode, and then using the position deviation information to correct the positioning result corresponding to the low-precision mode, the corrected positioning result is obtained, and the corrected positioning result is used to output the position information, so that the accuracy of the low-precision position information used for position output is improved

[0017] Other features and advantages of the embodiments of the present application will be described in the subsequent description, and partly become apparent from the description, or can be understood by implementing the embodiments of the present application. The purpose and other advantages of the embodiments of the present application can be achieved and obtained by the structures specifically pointed out in the description, claims and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings are used to provide further understanding of the technical solutions of the embodiments of the present application and constitute a part of the specification. Together with the embodiments of the embodiments of the present application, they are used to explain the technical solutions of the embodiments of the present application and do not constitute a limitation on the technical solutions of the embodiments of the present application.

[0019] Figure 1 A flowchart of a location service method for a GNSS receiver provided in an embodiment of the present application;

[0020] FIG2( a ) is a schematic diagram showing the accuracy of the output position of the existing mode;

[0021] Figure 2(b) is a schematic diagram of the deviation between the estimated SPP position and the RTK position;

[0022] FIG2( c ) is a schematic diagram of the accuracy of the output position provided in an embodiment of the present application;

[0023] Figure 3 A schematic diagram of the structure of a GNSS receiver provided in an embodiment of the present application;

[0024] Figure 4 for Figure 3 FIG. 1 is a flowchart of position information processing of a GNSS receiver. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solution and advantages of the embodiments of the present application more clear, the embodiments of the present application will be described in detail in conjunction with the accompanying drawings. It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other arbitrarily.

[0026] If the GNSS receiver supports multiple positioning modes such as RTK, RTD, and SPP, and in a certain mode, if the positioning solution is invalid for a short period of time, the position output to the user will have two jumps. The discontinuous position will cause instability in the user's application, especially in automated control systems such as drones and autonomous driving. Large mutations in the input position will directly lead to rapid adjustments in the central control system, affecting the stability and safety of airborne or vehicle users.

[0027] Since the current GNSS-based RTK and other positioning mode technologies are mainly centered around solving the large-scale RTK positioning accuracy or RTD and SPP positioning stability in complex scenarios, the position jump problem when switching between different modes of position solutions is not considered. Therefore, the embodiments of the present application propose the following solutions, including:

[0028] Figure 1 This is a flow chart of a location service method for a GNSS receiver provided in an embodiment of the present application. Figure 1 As shown, the positioning modes supported by the GNSS receiver include a high-precision mode and a low-precision mode; wherein the method includes:

[0029] Step 101: Obtain position deviation information between a positioning result in a low-precision mode and a positioning result in a high-precision mode;

[0030] In an exemplary embodiment, the high-precision mode may include one or more positioning modes; similarly, the low-precision mode may include one or more positioning modes. For example, the positioning modes are RTK, RTD, and SPP from high to low precision, and RTK can be used as the high-precision mode, and RTD and SPP can be used as the low-precision modes.

[0031] Due to the difference in positioning accuracy, the position information solved by the two modes at the same time is different, and the position deviation information between the two modes at the same time can be obtained.

[0032] In an exemplary embodiment, the position deviations corresponding to all moments within a period closest to the current moment may be selected to obtain the required position deviation information; or the position deviation of the last moment closest to the current moment may be selected as the required position deviation information.

[0033] If the position deviation corresponding to all moments in a period of time is used to calculate the required position deviation information, the position deviation corresponding to all moments can be averaged; or, the weight corresponding to each moment in the period of time is first determined, and the position deviation corresponding to all moments is weightedly calculated using the weight, and then the average calculation is performed. The calculation of the weight can be determined according to the quality of the received signal.

[0034] Step 102: Correct the positioning result corresponding to the low-precision mode using the position deviation information to obtain a corrected positioning result;

[0035] By using the position deviation information to correct the positioning result corresponding to the low-precision mode, the accuracy of the positioning result corresponding to the low-precision mode can be effectively improved.

[0036] Step 103: Outputting the position information using the corrected positioning result;

[0037] The accuracy of the positioning result corresponding to the low-precision mode available for output is significantly improved after correction, and the accuracy of the position information can be improved when the position is output.

[0038] The method provided in the embodiment of the present application obtains the position deviation information between the positioning result of the low-precision mode and the positioning result of the high-precision mode, and then uses the position deviation information to correct the positioning result corresponding to the low-precision mode to obtain the corrected positioning result, and uses the corrected positioning result to output the position information, so that the accuracy of the low-precision position information used for position output is improved.

[0039] The method provided in the embodiment of the present application is described below:

[0040] In an exemplary embodiment, the obtaining of position deviation information between a positioning result in a low-precision mode and a positioning result in a high-precision mode includes:

[0041] Based on the position solution of low-precision mode and high-precision mode at the same time;

[0042] The position deviation information is determined according to a difference between the position solution of the low-precision mode and the position solution of the high-precision mode.

[0043] Specifically, we can get the time T as follows: k The difference between the position solutions of :

[0044] Step A1: Get T k The observation values ​​of the GNSS receiver and the correction information of the base station at the moment;

[0045] Step A2: T kThe carrier phase measurement value of the mobile station at time T and the effective carrier phase measurement value of the base station are double-differenced to obtain k RTK position solution at time X rtk (T k );

[0046] RTK position solution X rtk (T k ) Using double-difference carrier phase measurements, most of the error terms can be eliminated. After the ambiguity is correctly fixed, X rtk (T k ) can achieve centimeter-millimeter level accuracy, position resolution rtk (T k ) does not include systematic errors;

[0047] Step A3: T k The pseudo-range measurement value of the mobile station at time T and the effective reference station measurement value are processed by single difference to obtain k PVT position solution at time X pvt (T k );

[0048] Generally speaking, the PVT position calculation operation can use the pseudorange measurement values ​​of the rover to directly perform SPP position solution, or use the pseudorange measurement values ​​of the base station to correct the error and perform RTD position solution.

[0049] Step A4: When the observation tracking is continuous and the position solutions of different precision modes are all valid, calculate T k The position deviation ΔX between the two modes at the moment pvt_rtk (T k ), see formula (1) for details:

[0050] ΔX pvt_rtk (T k )=X pvt (T k )-X rtk (T k ) (1)

[0051] From formula (1), we can see that based on the observed value and position solution X pvt (T k ),X rtk (T k ) shows that when the quality of the observation is good, the calculated ΔX pvt_rtk (T k ) mainly includes the pseudorange position solution X pvt (T k ), which is mainly the residual error term caused by inaccurate pseudorange error modeling and changes slowly in a short time.

[0052] If the high-precision mode includes RTK mode and PPP mode, the RTK mode with higher accuracy is preferred; if the receiver user does not receive valid base station carrier phase measurement values ​​but has precise PPP correction numbers, the high-precision position solution in this step can be replaced by the PPP position solution.

[0053] If the low-precision mode includes the RTD mode and the SPP mode, the RTD mode with higher precision is preferred; when the user configures not to use the RTD mode or there is no valid reference station measurement value, the PVT calculation module directly performs the SPP solution without being affected by the base station observations and base station coordinates.

[0054] Among them, the pseudo-range measurement value during SPP solution contains residual error terms due to inaccurate modeling, which will be directly absorbed by the receiver position and clock error terms. The position accuracy of SPP is generally only at the meter level. However, the residual error terms change slowly in a short period of time and the magnitude of the change is small.

[0055] Since there is spatial correlation between the errors of the mobile station and the base station, the RTD mode can completely eliminate the influence of satellite clock errors, effectively weaken the influence of errors such as satellite orbits and atmospheric delays, and further reduce the residual error terms in the pseudorange. Therefore, the RTD position accuracy is significantly improved compared to the SPP mode, and can reach the decimeter level. Therefore, if the user has no special configuration, the general PVT position calculation module will use the RTD mode for solution first, and will automatically switch to the SPP mode when the RTD mode solution fails.

[0056] In an exemplary embodiment, the method of correcting the positioning result corresponding to the low-precision mode by using the position deviation information to obtain the corrected positioning result includes:

[0057] The current time is T N , using T N-1 The stable position deviation information calculated at the time of the low-precision mode is T N The positioning result at that moment is corrected.

[0058] Preferably, T is determined as follows N-1 The position deviation information at the moment includes:

[0059] Get T N-2 Stable value of position deviation at each moment;

[0060] To T N-2 The stable value of the position deviation at the moment T N-1 The position difference at the moment is weighted and calculated to get T N-1 The stable value of the position deviation at the moment is used as the position deviation value.

[0061] Specifically, using TN-2 The stable value of the position deviation between the two modes at the moment and T N-1 ΔX at time pvt_rtk (T N-1 ), calculate T N-1 Stable value of position deviation at any moment See formula (2) for details:

[0062]

[0063] In formula (2), w(T N-1 ) is ΔX pvt_rtk (T N-1 )’s weight.

[0064] Furthermore, when formula (2) is first executed, the initial time T0 needs to be Initialize. Among them, the first effective ΔX pvt_rtk (T0), the used

[0065] If T N High-precision position solution at all times rtk (T N ) Invalid and low-precision mode position solution X pvt (T N ) is valid, use T N-1 The stable value of the position deviation estimated at each moment Compensation X pvt (T N ), see formula (3) for details:

[0066]

[0067] Optional, if T N High-precision position solution at all times rtk (T N ) is valid, the above calculations can be omitted and the position solution corresponding to the high-precision mode can be directly output.

[0068] Preferably, the weighted calculation of T N-1 The weight of the position difference at the moment is calculated based on a preset function, wherein the function is determined based on the accumulated smoothed epoch number and / or the variance value corresponding to the position deviation at the current moment;

[0069] Wherein, as the smoothing time increases or the variance value increases, the weight decreases.

[0070] Specifically, in formula (2), the weight w(T N-1 ), which can be expressed as the variance R of the accumulated smoothed epoch number and position deviationΔX (T N-1 ), with smoothing time accumulation or R ΔX (T N-1 ) value increases and gradually decreases T N-1 The weight of the moment position deviation, a reasonable w(T N-1 ) value can effectively suppress the burr of the position deviation value and obtain a better position deviation stability value.

[0071] In the above calculation, ΔX pvt_rtk (T N ) ΔX (T n ), which is generally expressed as pvt (T N ), or estimated by the accuracy of the current pseudorange observation value. The related methods and applications belong to the well-known technology of those skilled in the art and will not be described in detail here.

[0072] In an exemplary embodiment, the outputting of the position information using the corrected positioning result includes:

[0073] If the positioning results of the high-precision mode and the low-precision mode are both normal, the positioning result of the high-precision mode is output;

[0074] If the positioning mode is switched from high-precision mode to low-precision mode, the corrected low-precision positioning result is output.

[0075] Preferably, when the following conditions are met, determining that the current positioning mode is switched from the high-precision mode to the low-precision mode includes:

[0076] The position solution of the low-precision mode and the position solution of the high-precision mode at the previous moment are both valid;

[0077] At the current moment, the position solution of the low-precision mode is valid but the position solution of the high-precision mode is invalid.

[0078] When the above conditions are met at the same time, it is confirmed that the switching between different precision modes has occurred, and the position jump problem existing in the switching of position solutions under different precision modes is processed.

[0079] In summary, the solution provided by the embodiment of the present application aims at the deficiencies of the above-mentioned background technology and proposes a solution to improve the performance of GNSS receiver location services. When the RTK / PPP positioning solution in the high-precision mode of the user receiver is invalid for a short period of time and the position result is switched to the low-precision RTD / SPP positioning solution output, the systematic deviation of the position solution between the two modes is compensated, and the position jump problem existing when the position solutions of different modes are switched output is eliminated, thereby effectively improving the accuracy and reliability of the output position and providing users with a higher-precision and more robust GNSS positioning service. On the other hand, it can effectively avoid the position jump of a large magnitude deviation when switching from RTK or RTD mode to SPP mode when there is a fixed deviation in the coordinates of the base station.

[0080] In practical applications, as long as the position deviation between the high-precision position solution RTK / PPP and the low-precision position solution RTD / SPP is estimated, when the carrier position solution fails in subsequent complex scenarios such as various obstructions, interference, severe multipath, or when the correction number is invalid or abnormal interruption causes the carrier position solution to fail, as long as the RTD / SPP calculated by the pseudorange solution is valid, the valid pseudorange position solution is output to the user after compensation, eliminating the position jump problem that exists when switching between position solutions in different modes, and providing users with higher-precision, continuous and stable GNSS positioning services without adding additional complex calculations.

[0081] The following is an explanation based on the experimental data of a specific test scenario:

[0082] Use the receiver to collect GNSS data and perform RTK and SPP mode solutions at the same time;

[0083] The 5Hz positioning results for 20 minutes during the period of 2194,307460.000 to 2194,308660.000 and the RTK position solution for 80 seconds during the period of 2194,307510.000 to 2194,307590.000 are invalid.

[0084] The existing mode is to directly switch from RTK position to SPP position and output it to the user. According to the position output by the existing mode 1, the positioning accuracy is shown in Figure 2(a), where LAT, LON, and HGT represent longitude, latitude, and altitude respectively.

[0085] The 20-minute data of this period is processed, and the position deviation between the filtered estimated SPP position and the RTK position is shown in Figure 2(b). When switching to SPP position output, the position deviation is compensated, and the positioning accuracy is output as shown in Figure 2(c).

[0086] Comparing Figure 2(a) and Figure 2(c), from the accuracy statistics results, the corrected position error and the jump value when switching modes are significantly smaller than those in Mode 1. Therefore, the solution provided in the embodiment of the present application can effectively improve the accuracy and availability of the GNSS receiver position.

[0087] An embodiment of the present application provides a storage medium, in which a computer program is stored, wherein the computer program is configured to execute any of the methods described above when running.

[0088] An embodiment of the present application provides a GNSS receiver, including a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to execute any of the methods described above.

[0089] Figure 3 This is a schematic diagram of the structure of a GNSS receiver provided in an embodiment of the present application. Figure 3 As shown, the GNSS receiver includes a measurement value acquisition unit, an RTK position calculation unit, a PVT position calculation unit, a position deviation calculation unit and a user position output unit.

[0090] Figure 4 for Figure 3 The flowchart of the position information processing of the GNSS receiver is shown in FIG. Figure 4 As shown, the method includes:

[0091] The observation value acquisition unit acquires the original pseudo-range, carrier phase measurement value and reference station data of the GNSS receiver at the current moment;

[0092] The RTK position calculation unit uses the carrier observation to perform positioning and obtain the RTK position solution at the current moment;

[0093] The PVT position calculation unit uses pseudo-range observations to perform positioning and obtain the PVT position solution at the current moment;

[0094] When both the RTK position solution and the PVT position solution are valid, the position deviation calculation unit calculates the deviation stability value of the position solutions of the two modes at the current moment;

[0095] If the RTK position is valid, the user position output unit outputs the RTK position solution to the user; if the RTK position solution is invalid and the PVT position is valid, the user position output unit outputs the compensated PVT position solution to the user.

[0096] Compared with the prior art, the solution provided by the embodiment of the present application, in the GNSS position solution of the user receiver, according to the short-term stable characteristics of the position deviation between the high-precision carrier position solution and the low-precision pseudo-range position solution, when the user receiver measurement value and correction number are normal, the deviation between the RTD / SPP position solved by the low-precision pseudo-range measurement value and the RTK / PPP position solved by the high-precision carrier phase is filtered and estimated, and when the high-precision positioning solution RTK / PPP is invalid for a short time, the estimated position deviation value is used to compensate the low-precision RTD / SPP position solution and then output to the user, eliminating the position jump when the position solution of different modes is switched, effectively improving the accuracy and reliability of the output position, and providing users with a higher accuracy, more continuous and stable GNSS positioning service. The present invention can greatly improve the robustness of the positioning service in complex scenes or when the correction number link is abnormal, make full use of various existing GNSS position solution information, and do not need to increase additional complex calculations, effectively improve the accuracy and availability of the GNSS receiver position, especially the position stability under harsh environmental conditions such as urban canyons.

[0097] It will be appreciated by those skilled in the art that all or some of the steps, systems, and functional modules / units in the methods disclosed above may be implemented as software, firmware, hardware, and appropriate combinations thereof. In hardware implementations, the division between the functional modules / units mentioned in the above description does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed by several physical components in cooperation. Some or all components may be implemented as software executed by a processor, such as a digital signal processor or a microprocessor, or implemented as hardware, or implemented as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include a computer storage medium (or non-transitory medium) and a communication medium (or temporary medium). As known to those skilled in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer. In addition, it is well known to those of ordinary skill in the art that communication media typically contain computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

Claims

1. A location service method for a GNSS receiver, characterized in that: The positioning modes supported by the global satellite navigation system GNSS receiver include a high-precision mode and a low-precision mode; wherein the method includes: Obtaining position deviation information between the positioning result of the low-precision mode and the positioning result of the high-precision mode; The positioning result corresponding to the low-precision mode is corrected by using the position deviation information to obtain a corrected positioning result, including: taking the sum of the positioning result of the low-precision mode at the current moment and the position deviation stable value at the previous moment as the corrected positioning result; wherein the position deviation stable value at each moment is obtained by weighted calculation of the position deviation stable value at the previous moment and the position difference at the current moment, and the position deviation stable value at the initial moment is the position difference at the initial moment; and the position difference value at each moment is the difference between the position solution of the low-precision mode and the position solution of the high-precision mode; The corrected positioning result is used to output the position information.

2. The method according to claim 1, characterized in that The obtaining of position deviation information between the positioning result of the low-precision mode and the positioning result of the high-precision mode includes: Based on the position solution of low-precision mode and high-precision mode at the same time; The position deviation information is determined according to a difference between the position solution of the low-precision mode and the position solution of the high-precision mode.

3. The method according to claim 2, characterized in that When there are at least two modes of the same precision mode, the position solution of the mode with higher precision is selected as the position solution corresponding to the precision mode.

4. The method according to claim 2, characterized in that: The method of using the position deviation information to correct the positioning result corresponding to the low-precision mode to obtain a corrected positioning result includes: The current time is ,use The position deviation information at the moment, for low-precision mode The positioning result at that moment is corrected.

5. The method according to claim 4, characterized in that Determined by The position deviation information at the moment includes: Get The stable value of the position deviation at the moment The stable value of the position deviation at the moment and The position difference at the moment is weighted and calculated to obtain The stable value of the position deviation at the moment is used as the position deviation information.

6. The method according to claim 5, characterized in that Weighted calculation The weight of the position difference at the moment is calculated based on a preset function, wherein the function is determined based on the accumulated smoothed epoch number and / or the variance value corresponding to the position deviation at the current moment; Wherein, as the smoothing time increases or the variance value increases, the weight decreases.

7. The method according to claim 1, characterized in that The outputting of the position information using the corrected positioning result includes: If the positioning results of the high-precision mode and the low-precision mode are both normal, the positioning result of the high-precision mode is output; If the positioning mode is switched from the high-precision mode to the low-precision mode, the corrected low-precision mode positioning result is output.

8. The method according to claim 6, characterized in that When the following conditions are met, it is determined that the current positioning mode is switched from high-precision mode to low-precision mode, including: The position solution of the low-precision mode and the position solution of the high-precision mode at the previous moment are both valid; At the current moment, the position solution of the low-precision mode is valid but the position solution of the high-precision mode is invalid.

9. A storage medium, characterized in that: The storage medium stores a computer program, wherein the computer program is configured to execute the method according to any one of claims 1 to 8 when executed.

10. A GNSS receiver, characterized in that: The method comprises a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute the method described in any one of claims 1 to 8.

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