A PPP-RTK positioning method and device taking into account atmospheric residual errors

Abstract

The present disclosure discloses a PPP-RTK positioning method and device that takes into account atmospheric residual errors, wherein the PPP-RTK positioning method that takes into account atmospheric residual errors includes: obtaining multiple groups of satellite data received by multiple base stations that are evenly distributed, wherein each base station receives a corresponding group of satellite data; performing non-differential non-combined PPP solution on each group of satellite data in the multiple groups of satellite data to estimate multiple atmospheric residual errors; fitting multiple atmospheric residual errors using a fitting function to obtain atmospheric residual error correction numbers; correcting the atmospheric residual errors of satellite positioning data using the atmospheric residual error correction numbers, and performing PPP-RTK positioning based on the corrected atmospheric residual errors and the satellite positioning data received by the target object to obtain the positioning result of the target object. This method can eliminate the influence of atmospheric residual errors on actual positioning accuracy and convergence time, thereby improving positioning performance.

Description

Technical Field

[0001] The present disclosure relates to the field of satellite positioning technology, and in particular to a PPP-RTK positioning method and device taking into account atmospheric residual errors. Background Art

[0002] Existing positioning technologies usually use state-domain spatial corrections to correct broadcast ephemeris, time deviations, and atmospheric errors. However, due to certain errors in state-domain spatial corrections, especially for BeiDou-2 and GLONASS satellites, the radial error of the orbit clock can reach several centimeters. In addition, when using the tropospheric delay correction in the state-domain spatial correction to correct the tropospheric delay error, it is necessary to introduce an additional projection function, and the error of the projection function ranges from centimeters to decimeters; these uncompensated residual errors will affect the actual positioning accuracy and convergence time, resulting in low positioning accuracy. Summary of the invention

[0003] The purpose of the embodiments of the present disclosure is to provide a PPP-RTK positioning method and device that takes into account atmospheric residual errors, so as to at least solve the problem of low existing positioning accuracy.

[0004] The technical solution of the present disclosure is as follows:

[0005] According to a first aspect of an embodiment of the present disclosure, a PPP-RTK positioning method taking into account atmospheric residual errors is provided, and the method may include:

[0006] Acquire multiple groups of satellite data received by multiple base stations evenly distributed, wherein each base station receives a group of satellite data;

[0007] Perform non-difference and non-combination PPP solution on each set of satellite data in multiple sets of satellite data to estimate multiple atmospheric residual errors;

[0008] The multiple atmospheric residual errors are fitted using the fitting function to obtain the atmospheric residual error correction number;

[0009] The atmospheric residual error correction number is used to correct the atmospheric residual error of the satellite positioning data. PPP-RTK positioning is performed based on the corrected atmospheric residual error and the satellite data received by the target object to obtain the positioning result of the target object.

[0010] Furthermore, each of the multiple sets of satellite data may include: GNSS observation data, broadcast ephemeris, orbit and clock corrections, pseudorange and phase deviation corrections, and tropospheric and ionospheric delay corrections;

[0011] Perform non-differenced and non-combined PPP solution on each set of satellite data in multiple sets of satellite data to estimate multiple atmospheric residual errors, which may include:

[0012] Constructing a GNSS observation equation according to each set of satellite data in the plurality of sets of satellite data;

[0013] The GNSS observation equations are solved by non-difference non-combined PPP to obtain multiple groups of fixed ambiguities;

[0014] Calculating the ionospheric ambiguity elimination using each fixed ambiguity group in the multiple fixed ambiguity groups, and obtaining multiple groups of ionospheric ambiguity elimination;

[0015] Each set of de-ionospheric ambiguity in multiple sets of de-ionospheric ambiguity is substituted into the de-ionospheric observation equation to obtain multiple atmospheric residual errors.

[0016] Furthermore, the GNSS observation equation is as follows:

[0017]

[0018] Where i is the frequency number, t r is the base station clock error, t s is the satellite clock error, L i is the carrier phase corresponding to the ith frequency, P i is the pseudorange observation value corresponding to the ith frequency, ρ is the distance between the satellite and the base station phase center; λ i is the wavelength, N i is the integer ambiguity, I1 is the ionospheric delay corresponding to the first frequency point; β i is the ionospheric delay proportional coefficient of the i-th frequency point, b i,r is the carrier phase deviation at the base station, b i,s is the carrier phase deviation at the satellite end, B i,r is the pseudorange deviation at the base station, B i,s is the pseudorange bias of the satellite, is the phase winding, in cycles; T zwd is the tropospheric wet delay in the zenith direction, T zhd is the tropospheric dry delay in the zenith direction; m zwd is the tropospheric wet projection function, m zhd is the tropospheric dry projection function.

[0019] Furthermore, the ionospheric ambiguity is calculated by formula (2);

[0020]

[0021] Among them, λ if is the deionospheric combined wavelength, N if is the ionospheric combined ambiguity elimination, c is the speed of light, f1, f2 are the first frequency and the second frequency, N1, N2 are the corresponding ambiguities of the first frequency and the second frequency.

[0022] Furthermore, the ionospheric ambiguity is calculated by formula (3);

[0023]

[0024] Among them, L if is the combined carrier phase observation value of the ionospheric elimination, ρ if The geometric distance between the base station and the satellite ionospheric phase center, b if,r is the ionospheric-free combined phase deviation at the base station, b if,s is the ionospheric-free combined phase deviation at the satellite end, For phase winding, To eliminate ionospheric combined observation noise, multipath is included.

[0025] Furthermore, the atmospheric residual error is calculated by formula (4) and formula (5);

[0026]

[0027] in, is the atmospheric residual error.

[0028] Furthermore, the atmospheric residual errors of different satellites are obtained by using a large number of base station observation data in the region, as shown in formula (5);

[0029]

[0030] Among them, m, n are base station numbers, and s is the satellite number.

[0031] Furthermore, the fitting function is a polynomial function or a surface function.

[0032] Furthermore, the satellite data received by the target object includes: GNSS observation data, broadcast ephemeris, orbit and clock corrections, pseudorange and phase deviation corrections, and tropospheric and ionospheric delay corrections.

[0033] Furthermore, the atmospheric residual error correction factor is used to correct the atmospheric residual error of the satellite positioning data by using formula (6);

[0034] V T =V ssr (6)

[0035] Among them, V T is the atmospheric residual error of satellite positioning data; V ssr is the atmospheric residual error correction number.

[0036] According to a second aspect of an embodiment of the present disclosure, a PPP-RTK positioning device taking into account atmospheric residual errors is provided, and the device may include:

[0037] An acquisition module is used to acquire multiple groups of satellite data received by multiple base stations that are evenly distributed, wherein each base station receives a group of satellite data;

[0038] An estimation module is used to perform non-difference non-combination PPP solution on each set of satellite data in multiple sets of satellite data to estimate multiple atmospheric residual errors;

[0039] A fitting module is used to fit multiple atmospheric residual errors using a fitting function to obtain atmospheric residual error correction numbers;

[0040] The positioning module uses the atmospheric residual error correction number and the satellite data received by the target object to perform PPP-RTK to solve the atmospheric residual error and obtain the positioning result of the target object.

[0041] According to a third aspect of an embodiment of the present disclosure, an electronic device is provided, which may include:

[0042] processor;

[0043] a memory for storing processor-executable instructions;

[0044] The processor is configured to execute instructions to implement the PPP-RTK positioning method taking into account atmospheric residual errors as shown in any one of the embodiments of the first aspect.

[0045] According to the fourth aspect of an embodiment of the present disclosure, a storage medium is provided. When instructions in the storage medium are executed by a processor of an information processing device or a server, the information processing device or the server implements the PPP-RTK positioning method that takes into account atmospheric residual errors as shown in any one of the embodiments of the first aspect.

[0046] The technical solution provided by the embodiments of the present disclosure brings at least the following beneficial effects:

[0047] The disclosed embodiment estimates multiple atmospheric residual errors by performing non-differenced non-combined PPP solutions on multiple sets of satellite data, fits the multiple atmospheric residual errors using a fitting function, obtains atmospheric residual error corrections, performs PPP-RTK solutions using the atmospheric residual error corrections and the satellite data received by the target object, and obtains the positioning result of the target object. The influence of the atmospheric residual error on the actual positioning accuracy and convergence time is eliminated, thereby improving the positioning performance.

[0048] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] The drawings herein are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and together with the description are used to explain the principles of the present disclosure, and do not constitute improper limitations on the present disclosure.

[0050] Figure 1 is a schematic flow chart of a PPP-RTK positioning method taking into account atmospheric residual errors according to an exemplary embodiment;

[0051] Figure 2 is a schematic structural diagram of a PPP-RTK positioning device taking into account atmospheric residual errors according to an exemplary embodiment;

[0052] Figure 3 is a schematic diagram of the structure of an electronic device according to an exemplary embodiment;

[0053] Figure 4 The figure is a schematic diagram of the hardware structure of an electronic device according to an exemplary embodiment. DETAILED DESCRIPTION

[0054] In order to enable ordinary persons in the art to better understand the technical solutions of the present disclosure, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings.

[0055] It should be noted that the terms "first", "second", etc. in the specification and claims of the present disclosure and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present disclosure described herein can be implemented in an order other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0056] Abbreviations:

[0057] GNSS: The full name of GNSS is Global Navigation Satellite System, which means Global Satellite Positioning System in Chinese.

[0058] PPP: The full name of PPP is Precise Point Positioning, which means precise single-point positioning technology in Chinese.

[0059] RTK: The full English name is Real-Time Kinematic, and its Chinese meaning is real-time dynamic carrier phase differential positioning technology.

[0060] The existing PPP-RTK technology usually uses orbit and clock correction numbers "orbit / clock correction numbers" to correct the orbit and clock errors calculated by broadcast ephemeris to obtain high-precision orbit and clock errors, uses pseudorange and phase deviation correction numbers "pseudorange / phase deviation" to correct the time deviation of pseudorange and phase observation values ​​on the satellite side, and uses correction numbers "tropospheric and ionospheric delay correction numbers" to correct the atmospheric error of the user's position; due to certain errors in orbit and clock correction numbers, especially for Beidou 2 and GLONASS satellites, the radial error of the orbit clock can reach several centimeters. In addition, when using the tropospheric delay correction number to correct the tropospheric error, it is necessary to introduce an additional projection function, and the error of the projection function ranges from centimeters to decimeters; these uncompensated residual errors will affect the user's actual positioning accuracy and convergence time, causing the user's positioning accuracy to be extremely unstable, affecting the user experience. The embodiment of the present disclosure is based on the above scheme, and at the same time introduces residual error terms to compensate for the residual errors after the orbit clock error, zenith direction tropospheric delay and other errors are corrected, helping users achieve higher-precision positioning effects and better positioning experience.

[0061] like Figure 1 As shown, in a first aspect of an embodiment of the present disclosure, a PPP-RTK positioning method taking into account atmospheric residual errors is provided, and the method may include:

[0062] Step 100: Acquire multiple groups of satellite data received by multiple base stations evenly distributed, wherein each base station receives a group of satellite data;

[0063] Step 200: performing non-difference non-combined PPP solution on each set of satellite data in the multiple sets of satellite data to estimate multiple atmospheric residual errors;

[0064] Step 300: fitting multiple atmospheric residual errors using a fitting function to obtain atmospheric residual error corrections;

[0065] Step 400: Correct the atmospheric residual error of the satellite positioning data using the atmospheric residual error correction number, and perform PPP-RTK positioning based on the corrected atmospheric residual error and the satellite data received by the target object to obtain the positioning result of the target object.

[0066] The above embodiment method estimates multiple atmospheric residual errors by performing non-difference non-combined PPP solution on multiple sets of satellite data, fits the multiple atmospheric residual errors using a fitting function, obtains atmospheric residual error corrections, performs PPP-RTK solution using the atmospheric residual error corrections and the satellite data received by the target object, corrects the atmospheric residual errors of the satellite positioning data, and obtains the positioning result of the target object. The influence of the atmospheric residual errors on the actual positioning accuracy and convergence time is eliminated, thereby improving the positioning performance.

[0067] In some optional embodiments of the present disclosure, each of the multiple sets of satellite data received by the base station may include: GNSS observation data, broadcast ephemeris, orbit and clock correction numbers, pseudorange and phase deviation correction numbers;

[0068] In some optional embodiments of the present disclosure, the satellite data received by the target object includes GNSS observation data, broadcast ephemeris, orbit and clock corrections, pseudorange and phase deviation corrections, and tropospheric and ionospheric delay corrections;

[0069] Perform non-differenced and non-combined PPP solution on each set of satellite data in multiple sets of satellite data to estimate multiple atmospheric residual errors, which may include:

[0070] Step 210: constructing GNSS observation equations according to multiple sets of satellite data;

[0071] Step 220: performing non-difference non-combined PPP solution on the GNSS observation equations to obtain multiple groups of fixed ambiguities;

[0072] Step 230: Calculate the ionospheric ambiguity elimination using each set of fixed ambiguity in the multiple sets of fixed ambiguity to obtain multiple sets of ionospheric ambiguity elimination;

[0073] Step 240: Substitute each group of de-ionospheric ambiguity in the multiple groups of de-ionospheric ambiguity into the de-ionospheric observation equation to obtain multiple atmospheric residual errors.

[0074] In some optional embodiments of the present disclosure, the GNSS observation equation is as follows:

[0075]

[0076] Where i is the frequency number, t r is the base station clock error, t s is the satellite clock error, L i is the carrier phase corresponding to the ith frequency, P i is the pseudorange observation value corresponding to the ith frequency, ρ is the distance between the satellite and the base station phase center; λ i is the wavelength, N i is the integer ambiguity, I1 is the ionospheric delay corresponding to the first frequency point; β i is the ionospheric delay proportional coefficient of the i-th frequency point, b i,r is the carrier phase deviation at the base station, b i,s is the carrier phase deviation at the satellite end, B i,r is the pseudorange deviation at the base station, B i,s is the pseudorange bias of the satellite, is the phase winding, in cycles; T zwd is the tropospheric wet delay in the zenith direction, T zhdis the tropospheric dry delay in the zenith direction; m zwd is the tropospheric wet projection function, m zhd is the tropospheric dry projection function.

[0077] In some optional embodiments of the present disclosure, the ionospheric ambiguity elimination is calculated by formula (7);

[0078]

[0079] Among them, λ if is the deionospheric combined wavelength, N if is the ionospheric combined ambiguity elimination, c is the speed of light, f1, f2 are the first frequency and the second frequency respectively, N1, N2 are the ambiguities corresponding to the first frequency and the second frequency respectively.

[0080] In some optional embodiments of the present disclosure, the ionospheric ambiguity elimination is calculated by formula (8);

[0081]

[0082] Among them, L if is the combined carrier phase observation value of the ionospheric elimination, ρ if The geometric distance between the base station and the satellite ionospheric phase center, b if,r is the ionospheric-free combined phase deviation at the base station, b if,s is the ionospheric-free combined phase deviation at the satellite end, For phase winding, To eliminate ionospheric combined observation noise, multipath is included.

[0083] In some optional embodiments of the present disclosure, the atmospheric residual error is calculated by formula (9) and formula (10);

[0084]

[0085] in, is the atmospheric residual error, and the meanings of other parameters are the same as those in formula (8).

[0086] Furthermore, the atmospheric residual errors of different satellites are obtained by using a large number of base station observation data in the region, as shown in formula (10);

[0087]

[0088] Where m and n are base station numbers, s is the satellite number, and the meanings of other parameters are the same as those in formula (8).

[0089] In some optional embodiments of the present disclosure, the fitting function is a polynomial function or a surface function.

[0090] After obtaining the atmospheric residual error correction number, the target object can use the atmospheric residual error correction number of the receiving channel and satellite data for PPP-RTK solution. PPP-RTK adopts non-difference non-combination mode, and the parameter vector to be estimated can be expressed as:

[0091] X=[xyzt r T zwd I1… N1… N2… V T …] (11)

[0092] Among them, x, y, and z are the position parameters of the receiving end, and the meanings of other parameters are the same as those in formula (6). On this basis, the atmospheric residual error parameter V is introduced. T , one is estimated for each satellite.

[0093] By linearizing the observation equation of formula (6), we can obtain:

[0094] Z(t)=H(t)X(t)+v (13)

[0095] Among them, Z(t) is the observation matrix at time t, including carrier phase observation values ​​and pseudorange observation values; H(t) is the linearization matrix at time t; v is the residual vector.

[0096] To more intuitively describe how to achieve parameter estimation, the following example is provided: Assuming that 4 satellites are observed, the observation values ​​include 4 dual-frequency pseudoranges and 4 dual-frequency carrier phases. The observation value matrix and linearization matrix corresponding to satellite j can be expressed as:

[0097]

[0098]

[0099] Among them, X r ,Y r ,Z r All are user-side positions; X j ,Y j ,Z j All are the positions of satellite No. j; is the ionospheric delay proportional coefficient; and so on, the corresponding matrix information of the remaining three satellites can be obtained.

[0100] Using the Kalman filter method, PPP-RTK positioning can be achieved. The theoretical formula is as follows:

[0101]

[0102] Among them, X k+1 ,X k are the state information at time k+1 and time k respectively; Pk+1 ,P k is the covariance information at time k+1 and time k; Φ k,k+1 is the state transition matrix from time k to time k+1; Q k+1 is the process noise matrix at time k+1.

[0103] After filtering at each epoch, the ambiguity is fixed by using specific methods, such as LAMBDA or rounding to the nearest integer, to achieve instantaneous centimeter-level positioning accuracy.

[0104] After the receiver obtains GNSS observation data, broadcast ephemeris, orbit clock correction, pseudorange and phase deviation correction, tropospheric and ionospheric delay correction, and atmospheric residual error correction, it can correct various errors generated during measurement. The specific method and steps are as follows:

[0105] I. The user end uses the received "orbit and clock correction number" to correct the orbit and clock error calculated by the broadcast ephemeris to obtain high-precision orbit and clock error information:

[0106]

[0107] Among them, X brdc is the position vector in the Earth-centered Earth-fixed frame calculated using the broadcast ephemeris; dr ssr is the satellite position correction vector in radial, tangential and normal directions; e rac is the transformation matrix from the star-fixed system to the Earth-centered Earth-fixed system; X pre To restore the high-precision satellite position; To recover the high-precision satellite clock error; To calculate the clock error using broadcast ephemeris; dt ssr is the clock correction number.

[0108] II. The user end uses the received "phase / pseudorange deviation correction number" to correct the phase / pseudorange observation value and correct the time deviation of the observation signal transmission time:

[0109]

[0110] in, is the phase deviation correction number of the satellite end at the i-th frequency point; is the pseudorange deviation correction number of the satellite end at the i-th frequency point;

[0111] III. The user receives the "tropospheric / ionospheric delay correction number" and calculates the tropospheric delay correction number and ionospheric delay correction number at the user's location. After obtaining accurate atmospheric information, constraints can be added to the atmospheric parameters to be estimated, as follows:

[0112]

[0113] Among them, T zwd,ssr is the tropospheric wet delay correction number at the user's location; I1 is the ionospheric delay; I 1,ssr is the ionospheric delay correction number;

[0114] IV. After correction according to the above formulas (17)-(19), there is still atmospheric residual error.

[0115] The atmospheric residual error V at the user's approximate location is calculated using the atmospheric residual error correction number received by the user at the grid point. T , to correct the atmospheric residual error:

[0116] V T =V ssr (20)

[0117] Among them, V T is the estimated value of atmospheric residual error; V ssr is the atmospheric residual error correction number.

[0118] According to formula (20), the external atmospheric residual error can be constrained to achieve accurate positioning of the user.

[0119] The above-mentioned embodiment method can fix the single epoch ambiguity only by receiving state domain space correction numbers (i.e. orbit, clock correction number, pseudorange deviation correction number, phase deviation correction number, tropospheric delay correction number, ionospheric delay correction number, atmospheric residual error correction number), thereby helping users achieve higher-precision positioning effects and better positioning experience.

[0120] like Figure 2 As shown, in a second aspect of an embodiment of the present disclosure, a PPP-RTK positioning device taking into account atmospheric residual errors is provided, and the device may include:

[0121] An acquisition module 210 is used to acquire multiple groups of satellite data received by multiple base stations evenly distributed, wherein each base station receives a group of satellite data;

[0122] An estimation module 220 is used to perform non-difference non-combined PPP solution on each set of satellite data in the multiple sets of satellite data to estimate multiple atmospheric residual errors;

[0123] A fitting module 230, used for fitting a plurality of atmospheric residual errors using a fitting function to obtain an atmospheric residual error correction number;

[0124] The positioning module 240 is used to correct the atmospheric residual error of the satellite positioning data using the atmospheric residual error correction number, and perform PPP-RTK positioning according to the corrected atmospheric residual error and the satellite data received by the target object to obtain the positioning result of the target object.

[0125] The above-mentioned embodiment device estimates multiple atmospheric residual errors by performing non-difference non-combined PPP solution on multiple sets of satellite data through the atmospheric residual error estimation module 220, and fits the multiple atmospheric residual errors using the fitting module 230 to obtain atmospheric residual error corrections. The corrected positioning module 240 performs PPP-RTK solution using the atmospheric residual error corrections and the satellite data received by the target object to obtain the positioning result of the target object. The influence of the atmospheric residual error on the actual positioning accuracy and convergence time is eliminated, thereby improving the positioning performance.

[0126] Based on the same inventive concept, the embodiment of the present disclosure further provides an electronic device, specifically combined with Figure 3 Provide detailed explanation.

[0127] Optional, such as Figure 3 As shown, the embodiment of the present disclosure also provides an electronic device 300, including a processor 301, a memory 302, and a program or instruction stored in the memory 302 and executable on the processor 301. When the program or instruction is executed by the processor 301, each process of the above-mentioned PPP-RTK positioning method embodiment taking into account the atmospheric residual error is implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0128] It should be noted that the electronic devices in the embodiments of the present disclosure include the mobile electronic devices and non-mobile electronic devices mentioned above.

[0129] Figure 4 A schematic diagram of the hardware structure of an electronic device for implementing an embodiment of the present disclosure.

[0130] The hardware structure 400 of the electronic device includes but is not limited to: a radio frequency unit 401, a network module 402, 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.

[0131] Those skilled in the art will appreciate that the hardware structure 400 of the electronic device 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 4The 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.

[0132] It should be understood that in the embodiment of the present disclosure, 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, function keys (such as volume control keys, switch keys, etc.), a trackball, a mouse, and an operating rod, which are not 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, etc., 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.

[0133] The embodiment of the present disclosure also provides a 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 PPP-RTK positioning method embodiment taking into account the atmospheric residual error is implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0134] The processor is the processor in the electronic device described in the above embodiment. The storage medium includes a computer-readable storage medium, such as a computer read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0135] The disclosed embodiment further provides a chip, which includes a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement the various processes of the above-mentioned PPP-RTK positioning method embodiment taking into account atmospheric residual errors, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0136] It should be understood that the chip mentioned in the embodiments of the present disclosure may also be referred to as a system-level chip, a system chip, a chip system, or a system-on-chip chip, etc.

[0137] It should be noted that, in this article, the terms "comprise", "include" 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, an element defined by the sentence "comprises one..." does not exclude the presence of other identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the method and device in the embodiments of the present disclosure is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved, for example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0138] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present disclosure, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for enabling a terminal (which can be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to execute the methods described in each embodiment of the present disclosure.

[0139] The embodiments of the present disclosure are described above in conjunction with the accompanying drawings, but the present disclosure is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present disclosure, ordinary technicians in this field can also make many forms without departing from the scope of protection of the purpose of the present disclosure and the claims, all of which are within the protection of the present disclosure.

Claims

1. A PPP-RTK positioning method taking into account atmospheric residual errors, characterized in that: include: Acquire multiple groups of satellite data received by multiple base stations evenly distributed, wherein each base station receives a group of satellite data; Performing non-differenced and non-combined PPP solution on each set of satellite data in the multiple sets of satellite data to estimate multiple atmospheric residual errors; Fitting the plurality of atmospheric residual errors using a fitting function to obtain an atmospheric residual error correction number; The atmospheric residual error correction number is used to correct the atmospheric residual error of the satellite positioning data, and PPP-RTK positioning is performed according to the corrected atmospheric residual error and the satellite data received by the target object to obtain a positioning result of the target object; Each set of satellite data includes GNSS observation data, broadcast ephemeris, orbit and clock corrections, and pseudorange and phase deviation corrections. The non-differenced non-combined PPP solution is performed on each set of satellite data in the multiple sets of satellite data to estimate multiple atmospheric residual errors, including: Constructing GNSS observation equations according to the multiple sets of satellite data; Performing non-difference non-combined PPP solution on the GNSS observation equation to obtain multiple groups of fixed ambiguities; Utilizing each set of fixed ambiguities in the plurality of sets of fixed ambiguities for calculation, a plurality of sets of ionospheric-free ambiguities are obtained; Each group of de-ionospheric ambiguity in the multiple groups of de-ionospheric ambiguity is substituted into the de-ionospheric observation equation to obtain multiple atmospheric residual errors.

2. The method according to claim 1, characterized in that The GNSS observation equation is as follows: Where i is the frequency number, t r is the base station clock error, t s is the satellite clock error, L i is the carrier phase corresponding to the ith frequency, P i is the pseudorange observation value corresponding to the ith frequency, ρ is the distance between the satellite and the base station phase center; λ i is the wavelength, N i is the integer ambiguity, I1 is the ionospheric delay corresponding to the first frequency point; β i is the ionospheric delay proportional coefficient of the i-th frequency point, b i,r is the carrier phase deviation at the base station, b i,s is the carrier phase deviation at the satellite end, B i,r is the pseudorange deviation at the base station, B i,s is the pseudorange bias of the satellite, is the phase winding, in cycles; T zwd is the tropospheric wet delay in the zenith direction, T zhd is the tropospheric dry delay in the zenith direction; m zwd is the tropospheric wet projection function, m zhd is the tropospheric dry projection function.

3. The method according to claim 1, characterized in that The ionospheric ambiguity elimination is calculated by formula (2); Among them, λ if is the deionospheric combined wavelength, N if is the ionospheric combined ambiguity elimination, c is the speed of light, f1, f2 are the first frequency and the second frequency, N1, N2 are the corresponding ambiguities of the first frequency and the second frequency.

4. The method according to claim 1, characterized in that: The ionospheric ambiguity elimination is calculated by formula (3); Among them, L if is the combined carrier phase observation value of the ionospheric elimination, ρ if The geometric distance between the base station and the satellite ionospheric phase center, t r is the base station clock error, t s is the satellite clock error, λ if is the deionospheric combined wavelength, N if is the ionospheric combined ambiguity elimination, T zwd is the tropospheric wet delay in the zenith direction, m zhd is the tropospheric dry projection function, T zhd is the tropospheric dry delay in the zenith direction, m zwd is the tropospheric wet projection function, b if,r is the ionospheric-free combined phase deviation at the base station, b if,s is the ionospheric-free combined phase deviation at the satellite end, For phase winding, To eliminate the ionospheric combined observation noise, including multipath errors.

5. The method according to claim 1, characterized in that The atmospheric residual error is calculated by formula (4) and formula (5); Among them, V Lif is the atmospheric residual error; The atmospheric residual errors of different satellites are obtained by using a large number of base station observation data in the region, as shown in formula (5); Among them, m, n are base station numbers, s is the satellite number L if is the combined carrier phase observation value of the ionospheric elimination, ρ if The geometric distance between the base station and the satellite ionospheric phase center, t r is the base station clock error, t s is the satellite clock error, λ if is the deionospheric combined wavelength, N if is the ionospheric combined ambiguity elimination, T zwd is the tropospheric wet delay in the zenith direction, m zhd is the tropospheric dry projection function, T zhd is the tropospheric dry delay in the zenith direction, m zwd is the tropospheric wet projection function, b s,if is the ionospheric-free combined phase deviation at the satellite end, Phase winding.

6. The method according to claim 1, characterized in that The fitting function is a polynomial function or a surface function.

7. The method according to claim 1, characterized in that The satellite data received by the target object includes: GNSS observation data, broadcast ephemeris, orbit and clock correction numbers, pseudorange and phase deviation correction numbers, and tropospheric and ionospheric delay correction numbers.

8. The method according to claim 1, characterized in that The atmospheric residual error correction of the satellite positioning data using the atmospheric residual error correction number is corrected by formula (6); V T =V ssr (6) Among them, V T is the atmospheric residual error of the satellite positioning data; V ssr is the atmospheric residual error correction number.

9. A PPP-RTK positioning device taking into account atmospheric residual errors, characterized in that: include: An acquisition module is used to acquire multiple groups of satellite data received by multiple base stations that are evenly distributed, wherein each base station receives a group of satellite data; An estimation module, used for performing non-difference non-combination PPP solution on each set of satellite data in the plurality of sets of satellite data, and estimating a plurality of atmospheric residual errors; A fitting module, used for fitting the plurality of atmospheric residual errors using a fitting function to obtain an atmospheric residual error correction number; A positioning module, used to correct the atmospheric residual error of the satellite positioning data using the atmospheric residual error correction number, and perform PPP-RTK positioning according to the corrected atmospheric residual error and the satellite data received by the target object to obtain a positioning result of the target object; Each set of satellite data includes GNSS observation data, broadcast ephemeris, orbit and clock corrections, and pseudorange and phase deviation corrections. The estimation module is specifically used for: Constructing GNSS observation equations according to the multiple sets of satellite data; Performing non-difference non-combined PPP solution on the GNSS observation equation to obtain multiple groups of fixed ambiguities; Utilizing each set of fixed ambiguities in the plurality of sets of fixed ambiguities for calculation, a plurality of sets of ionospheric-free ambiguities are obtained; Each group of de-ionospheric ambiguity in the multiple groups of de-ionospheric ambiguity is substituted into the de-ionospheric observation equation to obtain multiple atmospheric residual errors.

10. An electronic device, characterized in that: include: processor; a memory for storing instructions executable by the processor; The processor is configured to execute the instructions to implement the PPP-RTK positioning method taking into account atmospheric residual errors as described in any one of claims 1-8.

11. A storage medium, characterized in that: When the instructions in the storage medium are executed by a processor of an information processing device or a server, the information processing device or the server implements the PPP-RTK positioning method taking into account atmospheric residual errors as described in any one of claims 1-8.

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