A GNSS pseudo-range differential positioning performance evaluation method and system

Abstract

The invention relates to a GNSS pseudo-range differential positioning performance evaluation method, comprising: obtaining parameter information of data required for positioning, including parameter information of data required for positioning of a server end and parameter information of data required for positioning of a user end; obtaining a non-differential non-combined PPP solution coefficient of the server end and a pseudo-range differential positioning RTD solution coefficient of the user end according to the obtained parameter information; obtaining an atmospheric deviation of each epoch of the server end by performing real-time correction on the non-differential non-combined PPP solution coefficient of the server end and the parameter information of the data required for positioning of the server end; obtaining parameter information of the atmospheric deviation positioning data required for RTD of pseudo-range differential positioning of the user end by capturing the atmospheric deviation of each epoch of the server end; the invention improves the integrity of the field of GNSS positioning performance evaluation, and a user station receiver improves the positioning accuracy of pseudo-range differential positioning by using high-precision real-time atmospheric inversion parameters of the service station, thereby providing a new idea for improving performance in the field of pseudo-range differential positioning of the GNSS user end.

Description

Technical Field

[0001] The present invention relates to the technical field of performance evaluation, and in particular to a GNSS pseudo-range differential positioning performance evaluation method and system. Background Art

[0002] Common satellite positioning methods include conventional single-point positioning SPP (Single-point Positioning), carrier phase differential positioning RTK (Real Time Kinematic), pseudo-range differential positioning RTD (Real Time Differential), and precise single-point positioning PPP (Precise Point Positioning). Conventional single-point positioning SPP technology is a common positioning method used in our daily use of mobile phones. The positioning process is simple, and orbit errors and clock errors cannot be eliminated during positioning. It is also susceptible to interference during the positioning process, so the positioning accuracy reaches several meters. Precise single-point positioning PPP technology is independently operated by a single dual-frequency receiver, and the precise satellite clock error used for its solution is obtained by solving the satellite's precise ephemeris. Its static or dynamic independence can be performed by a single receiver to achieve even centimeter-level accuracy, but at the same time, in the PPP positioning process, a long initialization time and multiple error correction models are required. The core of carrier phase differential positioning RTK technology is a differential positioning technology. The difference from pseudo-range differential RTD is that RTK technology uses the observation value of the carrier phase for solution. A complete RTK system includes a base station, a mobile station and a transmission data link, and the positioning accuracy can reach the centimeter level. RTK positioning has the advantages of reliable data, high positioning accuracy, no error accumulation, fast positioning speed, few operating restrictions and can operate all-weather. It is widely used in professional fields such as surveying and mapping. However, since RTK positioning technology has high requirements for the receiving equipment on the user's mobile end, it leads to a high cost of the user's mobile end receiver equipment, and is not suitable for civilian scenarios that do not require high precision. Low-cost receivers and sub-meter positioning accuracy are more in line with the needs of non-high-precision positioning such as car navigation positioning.

[0003] Pseudorange differential positioning RTD technology is a differential positioning technology that uses pseudorange error solution values ​​to correct observation values. The RTD system includes a base station receiver, a mobile station receiver, and a data transmission link. RTD technology does not have high requirements for user-side receivers, and a handheld GNSS receiver can meet the requirements, effectively reducing the user's positioning cost. When the distance to the base station is close, the differential positioning of a single base station can also obtain sub-meter positioning accuracy. Therefore, RTD positioning technology, which has the characteristics of fast positioning, high reliability, sub-meter accuracy, and low cost, has broad application prospects for the general public.

[0004] However, in the prior art, the research on the atmospheric delay part in the evaluation of GNSS pseudo-range differential positioning performance is limited to the traditional error model. Since the traditional model can only correct 60%-70% of the atmospheric delay, the accuracy is not high, resulting in unnecessary errors. There is no evaluation research on the GNSS pseudo-range differential positioning performance based on the non-differential non-combined PPP inversion of atmospheric delay. Therefore, a GNSS pseudo-range differential positioning performance evaluation method and system are urgently needed. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention provides a GNSS pseudo-range differential positioning performance evaluation method and system to solve the problems raised in the above background technology.

[0006] Terminology explanation:

[0007] 1. GNSS: Global Navigation Satellite System, global navigation satellite system, mainly includes: GPS of the United States, GLONASS of Russia, Galileo of the European Union, and Beidou satellite navigation system of China.

[0008] The technical solution of the present invention is:

[0009] A GNSS pseudo-range differential positioning performance evaluation method, comprising:

[0010] Obtaining parameter information of data required for positioning, including parameter information of data required for positioning by the server and parameter information of data required for positioning by the user;

[0011] According to the acquired parameter information, the server-side non-differential non-combined PPP solution coefficients and the user-side pseudo-range differential positioning RTD solution coefficients are obtained respectively;

[0012] The atmospheric deviation of each epoch on the server side is obtained by making real-time corrections to the server side's non-difference non-combined PPP solution coefficients and the parameter information of the data required for the server side's positioning.

[0013] The user end captures the atmospheric deviation of each epoch of the server end to obtain the parameter information of the data required for the user end pseudo-range differential positioning RTD atmospheric deviation positioning;

[0014] The user end obtains real-time RTD static and dynamic solutions by fitting the parameter information of the data required for the pseudo-range differential positioning RTD atmospheric deviation positioning and the user end pseudo-range differential positioning RTD solution coefficient;

[0015] According to the real-time RTD static and dynamic solution, the RTD static and dynamic positioning evaluation results are obtained.

[0016] Furthermore, the parameter information of the data required for the server-side positioning is the basic solution information of the non-differential non-combined PPP solution coefficients of the server-side, including precise orbit and clock errors and continuous observation data.

[0017] Further, the server-side non-differential non-combined PPP solution coefficient is obtained according to the acquired parameter information. Specifically, the server-side non-differential non-combined PPP solution coefficient is obtained by using the non-differential non-combined PPP model. The non-differential non-combined PPP model is:

[0018]

[0019] Among them, γ i represents the ionospheric delay parameter coefficient. When i=1, γ i =1, when i=2, Where f is the frequency; I s (t) represents the ionospheric delay value in the line of sight between the satellite and the receiver; ρ r (t) represents the pseudorange observation value at time t; the subscript i represents the satellite frequency number; the superscript s represents the satellite number; the subscript r represents the receiver; r r (t) represents the geometric distance between the earth and the satellite at time t; c represents the speed of light; m s represents the projection function of the troposphere from the station zenith direction to the satellite slant path direction; T s (t) represents the tropospheric delay in the zenith direction of the station at time t; B r,i represents the pseudorange hardware delay at the receiver end; B s represents the pseudorange hardware delay at the satellite end; ε represents the observation noise of the pseudorange observation.

[0020] Furthermore, the server-side non-differential non-combined PPP solution coefficients and parameter information of the data required for server-side positioning are corrected in real time, including receiver clock error correction. The corrected non-differential non-combined model is:

[0021] ρ i (t) = r r (t)+c·(dt r -dt s )+γ i I s (t)+m s ·T s (t)+ε

[0022] Among them, dt s and dt r is the corrected clock difference between the satellite and receiver ends.

[0023] Furthermore, the real-time correction of the server-side non-differential non-combined PPP solution coefficients and the parameter information of the data required for the server-side positioning also includes ionosphere correction, and the ionosphere correction model of the server is:

[0024] I s =a0+a1·(lat s -lat0)+a2·(lon s -lon0)

[0025] Among them, I s Used to indicate the ionospheric delay value (slant path); lon s ,lat s represents the longitude and latitude of the satellite puncture point; lon0 and lat0 represent the longitude and latitude of the reference point; a0, a1, and a2 are constant coefficients.

[0026] Furthermore, the real-time correction of the server-side non-differential non-combined PPP solution coefficients and the parameter information of the data required for the server-side positioning also includes tropospheric correction, and the tropospheric correction model of the server-side is:

[0027]

[0028] In the formula, the basic quantity T of the zenith troposphere at the measuring station is fun,u and elevation T ele,u ; A i (i=1,2,3) and B i (i=1,2,...,n) are all interpolation coefficients, and n is the number of reference stations.

[0029] Furthermore, the parameter information of the data required for the pseudo-range differential positioning RTD atmospheric deviation positioning and the user-side pseudo-range differential positioning RTD solution coefficient are fitted, and the fitting model is:

[0030]

[0031] in, represents the pseudorange observation value of user station u at time t; δt u Indicates the clock difference between the time displayed on the clock face of the receiver receiving the signal and the standard time; δt s Indicates the clock difference between the time displayed on the clock face of the satellite signal and the standard time; It represents the equivalent distance error caused by the delay when the signal of user station u passes through the ionosphere at time t; It represents the equivalent distance error caused by the delay when the signal of user station u passes through the troposphere at time t; It represents the ephemeris error from user station u to the s-th satellite at time t.

[0032] A GNSS pseudo-range differential positioning performance evaluation system, comprising:

[0033] A first obtaining unit, the first obtaining unit is used to obtain parameter information of data required for positioning such as precise orbit and clock error and continuous observation data of the server;

[0034] a second obtaining unit, wherein the second obtaining unit is used to obtain a server-side non-differential non-combined PPP solution coefficient according to the parameter information of the data required for the server-side positioning, wherein the parameter information of the data required for the server-side positioning is basic solution information of the server-side non-differential non-combined PPP solution coefficient, including precise orbit and clock error and continuous observation data;

[0035] a third obtaining unit, the third obtaining unit being used to perform real-time correction on the non-differenced non-combined PPP solution coefficients of the server, the precise orbit and clock error of the server, and the continuous observation data according to the short-term atmospheric modeling processing of the server, so as to obtain the atmospheric deviation of each epoch of the server;

[0036] A fourth obtaining unit, the fourth obtaining unit is used to obtain the atmospheric deviation of each epoch encoded by the server by performing real-time RTCM3 encoding on the atmospheric deviation of each epoch of the server;

[0037] A fifth obtaining unit, the fifth obtaining unit is used to broadcast the atmospheric deviation of each epoch encoded by the server through a network or satellite so that the user-side receiver can capture it;

[0038] A sixth obtaining unit, wherein the sixth obtaining unit is used for the user end to obtain parameter information of data required for positioning such as broadcast orbit and clock error and continuous observation data;

[0039] A seventh obtaining unit, wherein the seventh obtaining unit is used to obtain the user-side pseudo-range differential positioning RTD solution coefficient according to the parameter information of the user-side positioning required data, wherein the parameter information of the user-side positioning required data is the basic solution information of the user-side pseudo-range differential positioning RTD solution coefficient, including broadcast orbit and clock error and continuous observation data, etc.;

[0040] An eighth obtaining unit, wherein the seventh obtaining unit is used for the user end to obtain parameter information of data required for user end pseudorange differential positioning RTD atmospheric deviation positioning by capturing the atmospheric deviation of each epoch after encoding broadcast by the server end;

[0041] The ninth obtaining unit, the seventh obtaining unit is used for the user end to obtain the real-time RTD static and dynamic solution by fitting the parameter information of the data required for the pseudo-range differential positioning RTD atmospheric deviation positioning;

[0042] The tenth obtaining unit, the seventh obtaining unit is used to perform static and dynamic solutions on the real-time RTD to obtain static and dynamic positioning evaluation results of the RTD.

[0043] A computer-readable storage medium stores a plurality of instructions, wherein the instructions are suitable for being loaded and executed by a processor of a terminal device. The invention discloses a GNSS pseudo-range differential positioning performance evaluation method.

[0044] A terminal device includes a processor and a computer-readable storage medium, wherein the processor is used to implement various instructions; the computer-readable storage medium is used to store multiple instructions, wherein the instructions are suitable for being loaded by the processor and executing the GNSS pseudo-range differential positioning performance evaluation method.

[0045] The beneficial effects of the present invention are:

[0046] Compared with the prior art, the method of the present invention makes full use of the existing reference station network and performs precise point positioning settlement station by station, thereby obtaining specific atmospheric delay parameters. The extracted parameters are used as raw data for modeling the troposphere and ionosphere, which can further improve positioning accuracy and further reduce atmospheric delay errors. In this process, a non-differential non-combined PPP (precise point positioning) model is used for data extraction, and the extracted data is used as raw data to construct the troposphere and ionosphere models;

[0047] The integrity of the GNSS positioning performance evaluation field has been improved. The user station receiver uses the high-precision real-time atmospheric inversion parameters of the service station to improve the positioning accuracy of pseudo-range differential positioning, providing a new idea for improving the performance in the field of pseudo-range differential positioning of the GNSS user end. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] The drawings in the specification, which constitute a part of the present application, are used to provide further understanding of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute improper limitations on the present application.

[0049] Figure 1 It is a schematic diagram of the overall structure of ionospheric-tropospheric parameter extraction by non-difference non-combined PPP inversion according to an embodiment of the present invention. DETAILED DESCRIPTION

[0050] The present invention will be further defined below in conjunction with the accompanying drawings and embodiments, but is not limited thereto.

[0051] Example 1

[0052] like Figure 1As shown, a GNSS pseudo-range differential positioning performance evaluation method is applied to a GNSS global navigation positioning system pseudo-range differential positioning performance evaluation system, the system includes a server receiver, a signal broadcasting system and a user station receiver, and the method includes:

[0053] The server obtains the parameter information of the data required for positioning, such as precise orbit and clock error and continuous observation data;

[0054] According to the parameter information of the data required for the server positioning, the server non-difference non-combined PPP solution coefficients are obtained, wherein the parameter information of the data required for the server positioning is the basic solution information of the server non-difference non-combined PPP solution coefficients, including precise orbit and clock error and continuous observation data;

[0055] By performing short-term atmospheric modeling processing on the server side, the non-differenced non-combined PPP solution coefficients of the server side, the precise orbit and clock error of the server side, and the continuous observation data are corrected in real time to obtain the atmospheric deviation of each epoch of the server side;

[0056] By performing real-time RTCM3 encoding on the atmospheric deviation of each epoch of the server, the atmospheric deviation of each epoch encoded by the server is obtained;

[0057] The atmospheric deviation of each epoch encoded by the server is broadcasted through a network or satellite so that the receiver of the user end can capture it;

[0058] The specific steps include:

[0059] S1. Obtaining parameter information of the data required for positioning, including parameter information of the data required for positioning on the server side and parameter information of the data required for positioning on the user side;

[0060] Including: solving the precise ephemeris to obtain the satellite geocentric coordinates and the precise clock error of the satellite end; solving the broadcast ephemeris to obtain the satellite geocentric coordinates and the clock error of the satellite end.

[0061] S2. According to the obtained parameter information, the server-side non-differential non-combined PPP solution coefficients and the user-side pseudo-range differential positioning RTD solution coefficients are obtained respectively;

[0062] The specific non-differential non-combined PPP model is:

[0063]

[0064] γ i represents the ionospheric delay parameter coefficient. When i=1, γ i =1, when i=2, Where f is the frequency; I s (t) represents the ionospheric delay value in the line of sight between the satellite and the receiver; ρr (t) represents the pseudorange observation value at time t; the subscript i represents the satellite frequency number; the superscript s represents the satellite number; the subscript r represents the receiver; r r (t) represents the geometric distance between the earth and the satellite at time t; c represents the speed of light; m s represents the projection function of the troposphere from the station zenith direction to the satellite slant path direction; T s (t) represents the tropospheric delay in the zenith direction of the station at time t; B r,i represents the pseudorange hardware delay at the receiver end; B s represents the pseudorange hardware delay at the satellite end; ε represents the observation noise of the pseudorange observation.

[0065] In the non-differenced non-combined PPP model, the satellite clock error is eliminated by the ionospheric combination. The corrected clock error is as follows:

[0066]

[0067] If the satellite clock error is corrected, the receiver clock error also needs to be corrected, and it should be noted that the receiver clock error can absorb the receiving hardware delay. Therefore, the corrected receiver clock error is as follows:

[0068]

[0069] in,

[0070] Substituting the above equations (2) and (3) into (1), we can simplify them and obtain:

[0071]

[0072] in,

[0073] DCB r and DCB s The ionospheric parameters and phase ambiguity parameters are closely related and are in a linear relationship. (4) can be further rewritten as:

[0074] ρ i (t) = r r (t)+c·(dt r -dt s )+γ i I s (t)+m s ·T s (t)+ε (5)

[0075] Simplifying equation (5) by phase shifting can express the equivalent ionization parameter I s (t). As follows:

[0076] I s (t) = I s (t)+β·(DCB r -DCB s ) (6)

[0077] The parameters to be determined in formula (5) can be expressed in the form of vectors according to this model:

[0078] X=[x,dt r ,I s (t),T s (t)] (7)

[0079] Based on the above formula (5), the coordinates of the tracking station on the server side can be accurately known.

[0080] The non-difference non-combination model is used to perform PPP solution on the server side, where I s (t), T s (t), m s It needs to be obtained through the corresponding ionosphere correction model and troposphere correction model.

[0081] S3. Obtain the atmospheric deviation of each epoch of the server by making real-time corrections to the server non-difference non-combined PPP solution coefficients and the parameter information of the data required for the server positioning;

[0082] Specifically:

[0083] S1 to obtain I s The ionospheric correction model of (t) adopts the inter-satellite single difference method, which can make full use of the ionospheric characteristics of the oblique path and construct a function expression containing the longitude and latitude difference of the test point and the longitude and latitude difference of the puncture point. This expression is the ionospheric delay function. The ionospheric delay model of each satellite is as follows:

[0084] I s =a0+a1·(LA s -LA0)+a2·(LO s -LO0) (8)

[0085] In the above formula, I s is the ionospheric delay value (slant path); LA s , is the latitude and longitude of the satellite puncture point;

[0086] LA0 and LO0 are the latitude and longitude of the test point; a0, a1, and a2 are constant coefficients.

[0087] Regarding the hardware delay, there are two parts, one is the hardware delay of the satellite end, and the other is the hardware delay of the receiver end. The satellite end can be directly expressed by the above-mentioned constant coefficients a0, a1, and a2, without the need for additional model elimination. The other part of the receiver end should also be taken into account. It can be seen from formula (6) that the extracted equivalent ionospheric parameters are not only related to the hardware delay of the satellite end, but also closely related to the hardware delay of the receiver end. Therefore, it is necessary to further consider the hardware delay of the receiver end. The idea of ​​dealing with this delay is to take a reference satellite to perform single difference calculation between satellites for the equivalent ionospheric parameters of formula (6). The expression is:

[0088]

[0089] The reference satellite is represented by ref in the expression.

[0090] After the above-mentioned inter-satellite single difference processing, the hardware delay of the receiver is eliminated. At this time, the ionospheric delay parameter of the oblique path is transformed from the expression of formula (8) for each satellite into the expression of inter-satellite single difference, which is expressed as follows:

[0091]

[0092] The premise of this formula is that the selected satellite s must be in the same station and satellite system as the reference satellite ref. Due to this method, the results of solving a specific problem are comparable. The reason is that the parameters DCB of different stations and different satellite systems r are different. In order to avoid unnecessary deviations in the calculation, this model must be used to solve the calculation problem of selecting the same reference satellite under the same station and satellite system.

[0093] Obtain T as described in S1 s The tropospheric correction model of (t) adopts the UNB3m model. Since the zenith tropospheric model has a strong correlation with the elevation of the measuring point, the elevation factor needs to be considered when modeling the zenith tropospheric model. d and moisture content T w When , the UNB3m model is used, and its model function is as follows:

[0094]

[0095]

[0096] Where, K1 = 77.60 k·mbar -1 , K2=16.6k·mbar -1 , K3=377600k·mbar -1, H represents the height of the measuring point, R = 287.054 J·kg -1 ·K -1 , g=9.80665m / s 2 ,

[0097]

[0098] In order to separate the tropospheric delay for fitting at the user end, the zenith tropospheric delay is divided into a basic amount and an elevation amount, respectively represented by T fun , T ele Indicates that T fun When H = 0, the basic quantities of the zenith tropospheric delay dry component and wet component are calculated by formula (11) and formula (12); T ele When H=h, the altitudes of the zenith tropospheric delayed dry and wet components are calculated by formula (11) and formula (12).

[0099] The basic amount of dry delay T d,fun and elevation T d,ele It is expressed as:

[0100]

[0101] The basic amount of wet delay T w,fun and elevation T w,ele It is expressed as:

[0102]

[0103] The basic amount of dry delay T d,fun , Elevation T d,ele , the basic amount of wet delay T w,fun and elevation T w,ele The combination can obtain the basic quantity T of the zenith troposphere at each station. fun,i and elevation T ele,i .

[0104]

[0105] When regional modeling is performed, the basic quantity T of the zenith troposphere at the measuring station is calculated according to the position relationship. fun,i and elevation T ele,i Modeling. During the modeling interpolation process, the local coordinates centered on the user end are established, so the plane coordinates of the user end are 0. The basic quantity T of the zenith troposphere of the measuring station fun,u and elevation T ele,u Modeling, expressed as:

[0106]

[0107] In the formula, Ai (i=1,2,3) and B i (i=1,2,...,n) are all interpolation coefficients, n is the number of reference stations, and the interpolation coefficient A i (i=1,2,3) satisfies:

[0108]

[0109] Interpolation coefficient B i (i=1,2,...,n) satisfies:

[0110]

[0111] The basic quantity T of the zenith troposphere at the station is calculated by formula (17): fun,u and elevation T ele,u , adding the two components can give the total zenith tropospheric delay T of the station u =T fun,u +T ele,u .

[0112] The user end obtains the parameter information of the data required for positioning, such as broadcast orbit and clock error and continuous observation data;

[0113] According to the parameter information of the data required for the user-side positioning, the RTD solution coefficient of the pseudo-range differential positioning of the user-side is obtained, wherein the parameter information of the data required for the user-side positioning is the basic solution information of the RTD solution coefficient of the pseudo-range differential positioning of the user-side, including broadcast orbit and clock error and continuous observation data, etc.;

[0114] S4. The user end obtains the parameter information of the data required for the user end pseudo-range differential positioning RTD atmospheric deviation positioning by capturing the atmospheric deviation of each epoch of the server end;

[0115] Specifically:

[0116] According to the ΔI obtained in step S3 s and T u , fitted to the observation equation of the user-side pseudo-range differential positioning RTD atmospheric bias positioning. The observation equation is:

[0117]

[0118] S5. The user end obtains real-time RTD static and dynamic solutions by fitting the parameter information of the pseudo-range differential positioning RTD atmospheric deviation positioning data required for the user end pseudo-range differential positioning RTD solution coefficient;

[0119] Specifically:

[0120] The observation equation of pseudo-range differential positioning RTD atmospheric bias positioning in S4 has four unknowns: the user station receiver position coordinate parameters (x u ,y u ,z u ), and the pseudorange correction value broadcast by the base station

[0121] set up:

[0122]

[0123] in, represents the user station location measurement value; (δx u ,δy u ,δz u ) represents the difference between the measured value and the true value of the user station position.

[0124] right by Carry out Taylor expansion with centered, discard other terms and take only the first term to get:

[0125]

[0126] in, is the approximate geometric distance between the user station and the satellite s at time t, expressed as:

[0127]

[0128] Assume the coefficients in formula (22) are:

[0129]

[0130] Substituting the coefficient expression (24) into equation (22), we can obtain the linear error equation:

[0131] V=A·δT+L (25)

[0132] In the error equation (25):

[0133]

[0134]

[0135]

[0136] There are two cases for calculating the user station position. One is when the number of satellites observed by the user station and the base station is 4. At this time, the user station position is unique and can be directly obtained:

[0137] δT=-A -1 L (26)

[0138] In the second case, when the number of satellites to be solved is greater than 4, the least square method can be used to solve the positioning, which is expressed as:

[0139] δT=-(A T A) -1 A T L (27)

[0140] S6. According to the real-time RTD static and dynamic solutions, the RTD static and dynamic positioning evaluation results are obtained.

[0141] Specifically:

[0142] According to the δT obtained in step S5, internal and external accuracy analysis is performed to obtain the evaluation result.

[0143] The calculation formula of internal accuracy is as follows:

[0144]

[0145] The meaning of each symbol in the formula is: x1, x2, ..., x n represents the observed value; Represents the mean.

[0146] The external accuracy calculation formula is as follows:

[0147]

[0148] The meaning of each symbol in the formula is: x1, x2, ..., x n represents the observed value; x1, x2, …, x n Represents a true value.

[0149] Example 2

[0150] A GNSS pseudo-range differential positioning performance evaluation system, comprising:

[0151] A first obtaining unit, the first obtaining unit is used to obtain parameter information of data required for positioning such as precise orbit and clock error and continuous observation data of the server;

[0152] a second obtaining unit, wherein the second obtaining unit is used to obtain a server-side non-differential non-combined PPP solution coefficient according to the parameter information of the data required for the server-side positioning, wherein the parameter information of the data required for the server-side positioning is basic solution information of the server-side non-differential non-combined PPP solution coefficient, including precise orbit and clock error and continuous observation data;

[0153] a third obtaining unit, the third obtaining unit being used to perform real-time correction on the non-differenced non-combined PPP solution coefficients of the server, the precise orbit and clock error of the server, and the continuous observation data according to the short-term atmospheric modeling processing of the server, so as to obtain the atmospheric deviation of each epoch of the server;

[0154] A fourth obtaining unit, the fourth obtaining unit is used to obtain the atmospheric deviation of each epoch encoded by the server by performing real-time RTCM3 encoding on the atmospheric deviation of each epoch of the server;

[0155] A fifth obtaining unit, the fifth obtaining unit is used to broadcast the atmospheric deviation of each epoch encoded by the server through a network or satellite so that the user-side receiver can capture it;

[0156] A sixth obtaining unit, wherein the sixth obtaining unit is used for the user end to obtain parameter information of data required for positioning such as broadcast orbit and clock error and continuous observation data;

[0157] A seventh obtaining unit, wherein the seventh obtaining unit is used to obtain the user-side pseudo-range differential positioning RTD solution coefficient according to the parameter information of the user-side positioning required data, wherein the parameter information of the user-side positioning required data is the basic solution information of the user-side pseudo-range differential positioning RTD solution coefficient, including broadcast orbit and clock error and continuous observation data, etc.;

[0158] An eighth obtaining unit, wherein the seventh obtaining unit is used for the user end to obtain parameter information of data required for user end pseudorange differential positioning RTD atmospheric deviation positioning by capturing the atmospheric deviation of each epoch after encoding broadcast by the server end;

[0159] The ninth obtaining unit, the seventh obtaining unit is used for the user end to obtain the real-time RTD static and dynamic solution by fitting the parameter information of the data required for the pseudo-range differential positioning RTD atmospheric deviation positioning;

[0160] The tenth obtaining unit, the seventh obtaining unit is used to perform static and dynamic solutions on the real-time RTD to obtain static and dynamic positioning evaluation results of the RTD.

[0161] Example 3

[0162] A computer-readable storage medium stores a plurality of instructions, wherein the instructions are suitable for being loaded and executed by a processor of a terminal device to carry out a GNSS pseudo-range differential positioning performance evaluation method provided in this embodiment.

[0163] Example 4

[0164] A terminal device includes a processor and a computer-readable storage medium, the processor is used to implement various instructions; the computer-readable storage medium is used to store multiple instructions, and the instructions are suitable for being loaded by the processor and executing a GNSS pseudo-range differential positioning performance evaluation method provided in this embodiment.

[0165] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0166] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0167] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0168] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0169] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

[0170] Although the above describes the specific implementation mode of the present invention in conjunction with the accompanying drawings, it is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art on the basis of the technical solution of the present invention without creative work are still within the scope of protection of the present invention.

Claims

1. A GNSS pseudo-range differential positioning performance evaluation method, characterized in that: include: Obtaining parameter information of data required for positioning, including parameter information of data required for positioning by the server and parameter information of data required for positioning by the user; According to the acquired parameter information, the server-side non-differential non-combined PPP solution coefficients and the user-side pseudo-range differential positioning RTD solution coefficients are obtained respectively; The atmospheric deviation of each epoch on the server side is obtained by making real-time corrections to the server side's non-difference non-combined PPP solution coefficients and the parameter information of the data required for the server side's positioning. The user end captures the atmospheric deviation of each epoch of the server end to obtain the parameter information of the data required for the user end pseudo-range differential positioning RTD atmospheric deviation positioning; The user end obtains real-time RTD static and dynamic solutions by fitting the parameter information of the data required for the pseudo-range differential positioning RTD atmospheric deviation positioning and the user end pseudo-range differential positioning RTD solution coefficient; According to the real-time RTD static and dynamic solution, the RTD static and dynamic positioning evaluation results are obtained.

2. A GNSS pseudo-range differential positioning performance evaluation method as claimed in claim 1, characterized in that: The parameter information of the data required for the server-side positioning is the basic solution information of the non-differential non-combined PPP solution coefficients of the server-side, including precise orbit and clock errors and continuous observation data.

3. A GNSS pseudo-range differential positioning performance evaluation method as claimed in claim 1, characterized in that: The method of obtaining the server-side non-differential non-combined PPP solution coefficient according to the acquired parameter information specifically includes: obtaining the server-side non-differential non-combined PPP solution coefficient using a non-differential non-combined PPP model, wherein the non-differential non-combined PPP model is: Among them, γ i represents the ionospheric delay parameter coefficient. When i=1, γ i =1, when i=2, Where f is the frequency; I s (t) represents the ionospheric delay value in the line of sight between the satellite and the receiver; ρ r (t) represents the pseudorange observation value at time t; the subscript i represents the satellite frequency number; the superscript s represents the satellite number; the subscript r represents the receiver; r r (t) represents the geometric distance between the earth and the satellite at time t; c represents the speed of light; m s represents the projection function of the troposphere from the station zenith direction to the satellite slant path direction; T s (t) represents the tropospheric delay in the zenith direction of the station at time t; B r,i represents the pseudorange hardware delay at the receiver end; B s represents the pseudorange hardware delay at the satellite end; ε represents the observation noise of the pseudorange observation.

4. A GNSS pseudo-range differential positioning performance evaluation method as claimed in claim 1, characterized in that: The server-side non-differential non-combined PPP solution coefficient and the parameter information of the data required for server-side positioning are corrected in real time, including the receiver clock error correction. The corrected non-differential non-combined model is: in, and is the corrected clock difference between the satellite and receiver ends.

5. A GNSS pseudo-range differential positioning performance evaluation method as claimed in claim 1, characterized in that: The real-time correction of the server-side non-differential non-combined PPP solution coefficients and the parameter information of the data required for the server-side positioning also includes ionosphere correction, and the ionosphere correction model of the server-side is: I s =a0+a1·(lat s -lat0)+a2·(lon s -lon0) Among them, I s Used to indicate the ionospheric delay value; lon s ,lat s represents the longitude and latitude of the satellite puncture point; lon0 and lat0 represent the longitude and latitude of the reference point; a0, a1, and a2 are constant coefficients.

6. A GNSS pseudo-range differential positioning performance evaluation method as claimed in claim 1, characterized in that: The real-time correction of the parameter information of the server-side non-differential non-combined PPP solution coefficients and the data required for the server-side positioning also includes tropospheric correction, and the tropospheric correction model of the server-side is: In the formula, the basic quantity T of the zenith troposphere at the measuring station is fun,u and elevation T ele,u ;Ai(i=1,2,3) and B i (i=1,2,…,n) are all interpolation coefficients, and n is the number of reference stations.

7. A GNSS pseudo-range differential positioning performance evaluation method as claimed in claim 1, characterized in that: The parameter information of the data required for the pseudo-range differential positioning RTD atmospheric deviation positioning and the user-side pseudo-range differential positioning RTD solution coefficient are fitted, and the fitting model is: in, represents the pseudorange observation value of user station u at time t; δt u Indicates the clock difference between the time displayed on the clock face of the receiver receiving the signal and the standard time; δt s Indicates the clock difference between the time displayed on the clock face of the satellite signal and the standard time; It represents the equivalent distance error caused by the delay when the signal of user station u passes through the ionosphere at time t; It represents the equivalent distance error caused by the delay when the signal of user station u passes through the troposphere at time t; It represents the ephemeris error from user station u to the s-th satellite at time t.

8. A GNSS pseudo-range differential positioning performance evaluation system, characterized in that: include: A first obtaining unit, the first obtaining unit is used to obtain parameter information of the precise orbit and clock error and continuous observation data of the server; A second obtaining unit, wherein the second obtaining unit is used to obtain a server-side non-differential non-combined PPP solution coefficient according to the parameter information of the data required for the server-side positioning, wherein the parameter information of the data required for the server-side positioning is basic solution information of the server-side non-differential non-combined PPP solution coefficient, including precise orbit and clock error and continuous observation data; A third obtaining unit, the third obtaining unit is used to perform real-time correction on the non-differenced non-combined PPP solution coefficients of the server, the precise orbit and clock error of the server, and the continuous observation data according to the short-term atmospheric modeling processing of the server, so as to obtain the atmospheric deviation of each epoch of the server; A fourth obtaining unit, the fourth obtaining unit is used to obtain the atmospheric deviation of each epoch encoded by the server by performing real-time RTCM3 encoding on the atmospheric deviation of each epoch of the server; a fifth obtaining unit, the fifth obtaining unit being used to broadcast the atmospheric deviation of each epoch encoded by the server through a network or satellite so that the user-side receiver can capture it; A sixth obtaining unit, wherein the sixth obtaining unit is used for the user end to obtain parameter information of the broadcast orbit and clock error and continuous observation data; A seventh obtaining unit, the seventh obtaining unit is used to obtain the user-side pseudo-range differential positioning RTD solution coefficient according to the parameter information of the user-side positioning required data, wherein the parameter information of the user-side positioning required data is the basic solution information of the user-side pseudo-range differential positioning RTD solution coefficient, including broadcast orbit and clock error and continuous observation data; An eighth obtaining unit, wherein the seventh obtaining unit is used for the user end to obtain parameter information of data required for user end pseudorange differential positioning RTD atmospheric deviation positioning by capturing the atmospheric deviation of each epoch after encoding broadcast by the server end; The ninth obtaining unit, the seventh obtaining unit is used for the user end to obtain the real-time RTD static and dynamic solution by fitting the parameter information of the data required for the pseudo-range differential positioning RTD atmospheric deviation positioning; The tenth obtaining unit, the seventh obtaining unit is used to perform static and dynamic solutions on the real-time RTD to obtain static and dynamic positioning evaluation results of the RTD.

9. A computer-readable storage medium, characterized in that: A plurality of instructions are stored therein, and the instructions are suitable for being loaded by a processor of a terminal device and executing a GNSS pseudo-range differential positioning performance evaluation method according to any one of claims 1-7.

10. A terminal device, characterized in that: It includes a processor and a computer-readable storage medium, the processor is used to implement various instructions; the computer-readable storage medium is used to store multiple instructions, and the instructions are suitable for being loaded by the processor and executing a GNSS pseudo-range differential positioning performance evaluation method according to any one of claims 1-7.

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