Observation information determination method, device, electronic device and storage medium

Abstract

The present invention discloses a method, device, electronic device, and storage medium for determining observation information. The method comprises: acquiring a first observation value based on a first receiving antenna corresponding to a radio positioning system, and synchronously acquiring a second observation value corresponding to each second receiving antenna based on at least one second receiving antenna corresponding to a global navigation satellite system; determining relative position information between the first receiving antenna and the at least one second receiving antenna; and determining target observation information based on the first observation value, the at least one second observation value, the relative position information, and pre-acquired correction information to be used. The technical solutions of the embodiments of the present invention achieve the technical effects of reducing positioning convergence time and improving positioning accuracy.

Description

Technical Field

[0001] The present invention relates to the field of positioning technology, and in particular to a method, device, electronic device and storage medium for determining observation information. Background Art

[0002] Precise Point Positioning (PPP) is a technology that uses a single dual-frequency Global Navigation Satellite System (GNSS) receiver to perform single-point positioning based on carrier phase observations and satellite orbit and clock products provided by international GNSS service organizations.

[0003] However, due to uncalibrated phase delays, atmospheric errors that are difficult to accurately model, and slow geometric changes, PPP can lead to long convergence times and poor positioning accuracy. Summary of the Invention

[0004] The present invention provides a method, device, electronic device and storage medium for determining observation information, so as to achieve the technical effect of reducing positioning convergence time and improving positioning accuracy.

[0005] According to one aspect of the present invention, a method for determining observation information is provided, the method comprising:

[0006] Acquire a first observation value based on a first receiving antenna corresponding to a radio positioning system, and synchronously acquire a second observation value corresponding to each second receiving antenna based on at least one second receiving antenna corresponding to a global navigation satellite system;

[0007] determining relative position information between the first receiving antenna and the at least one second receiving antenna;

[0008] Target observation information is determined according to the first observation value, at least one second observation value, the relative position information, and pre-acquired correction information to be used.

[0009] According to another aspect of the present invention, there is provided an observation information determination device, the device comprising:

[0010] an observation quantity synchronous acquisition module, configured to acquire a first observation quantity based on a first receiving antenna corresponding to a radio positioning system, and synchronously acquire a second observation quantity corresponding to each second receiving antenna based on at least one second receiving antenna corresponding to a global navigation satellite system;

[0011] a relative position information acquisition module, configured to determine relative position information between the first receiving antenna and the at least one second receiving antenna;

[0012] The target observation information acquisition module is used to determine the target observation information based on the first observation value, at least one second observation value, the relative position information and the pre-acquired correction information to be used.

[0013] According to another aspect of the present invention, an electronic device is provided, comprising:

[0014] at least one processor; and

[0015] a memory communicatively connected to the at least one processor; wherein,

[0016] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can perform the observation information determination method described in any embodiment of the present invention.

[0017] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the observation information determination method described in any embodiment of the present invention when executed.

[0018] The technical solution of the embodiment of the present invention obtains a first observation value based on a first receiving antenna corresponding to a radio positioning system, and synchronously obtains a second observation value corresponding to each second receiving antenna based on at least one second receiving antenna corresponding to a global navigation satellite system, determines the relative position information between the first receiving antenna and the at least one second receiving antenna, and determines the target observation information based on the first observation value, the at least one second observation value, the relative position information and the pre-acquired correction information to be used, thereby solving the problems of long positioning convergence time and low positioning accuracy, and achieving the technical effect of reducing positioning convergence time and improving positioning accuracy.

[0019] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the present invention. Other features of the present invention will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0021] Figure 1 A flowchart of a method for determining observation information provided in Example 1 of the present invention;

[0022] Figure 2 A schematic diagram of a PLS positioning principle provided in the first embodiment of the present invention;

[0023] Figure 3 A schematic diagram of an antenna installation position provided in the first embodiment of the present invention;

[0024] Figure 4 A flowchart of a method for determining observation information provided in Embodiment 2 of the present invention;

[0025] Figure 5 A schematic diagram of the structure of an observation information determination model provided in the third embodiment of the present invention;

[0026] Figure 6 A schematic diagram of an experimental environment and platform provided in Example 3 of the present invention;

[0027] Figure 7 A plan view of six PLs and motion trajectories provided in Example 3 of the present invention;

[0028] Figure 8 A schematic diagram comparing positioning results provided in the third embodiment of the present invention;

[0029] Figure 9 A schematic diagram showing a comparison of the root mean square error of positioning results provided in the third embodiment of the present invention;

[0030] Figure 10 This is a schematic diagram of average convergence time corresponding to different numbers of pseudolites provided in the third embodiment of the present invention;

[0031] Figure 11 A schematic diagram of the condition number of the GNSS ambiguity covariance matrix enhanced with different numbers of PLs provided in the third embodiment of the present invention;

[0032] Figure 12 This is a schematic diagram of GNSS ambiguity fixation rate under different PL number enhancement conditions provided by the third embodiment of the present invention;

[0033] Figure 13 This is a schematic diagram of GNSS PPP positioning error under different numbers of PLs and different enhancement time lengths provided in the third embodiment of the present invention;

[0034] Figure 14 This is a schematic diagram of the shortest enhancement time for GNSS PPP provided in the third embodiment of the present invention;

[0035] Figure 15 A schematic diagram of the GNSS ambiguity fixation rate provided in the third embodiment of the present invention;

[0036] Figure 16 A schematic diagram of the structure of an observation information determination device provided in Embodiment 4 of the present invention;

[0037] Figure 17 This is a structural diagram of an electronic device provided in Example 5 of the present invention. DETAILED DESCRIPTION

[0038] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0039] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention 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 numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0040] It is understandable that the data involved in this technical solution (including but not limited to the data itself, the acquisition or use of the data) must comply with the requirements of relevant laws, regulations and relevant provisions.

[0041] Example 1

[0042] Figure 1 This is a flow chart of a method for determining observation information provided in Example 1 of the present invention. This embodiment is applicable to situations where observation information is determined using an earth navigation satellite system. The method can be executed by an observation information determination device, which can be implemented in the form of hardware and / or software. The observation information determination device can be configured in an electronic device.

[0043] like Figure 1 As shown, the method includes:

[0044] S110: Acquire a first observation value based on a first receiving antenna corresponding to a radio positioning system, and synchronously acquire a second observation value corresponding to each second receiving antenna based on at least one second receiving antenna corresponding to a global navigation satellite system.

[0045] The first receiving antenna may be a receiving antenna corresponding to a precision location system (PLS). The first observation amount may be an observation amount obtained based on the first receiving antenna. The second receiving antenna may be a receiving antenna corresponding to a global navigation satellite system. The second observation amount may be an observation amount obtained based on the second receiving antenna.

[0046] Specifically, radio positioning systems use an independent internal time system that differs from that of global navigation satellite systems. Therefore, when acquiring observations using a first receiving antenna corresponding to the radio positioning system and a second receiving antenna corresponding to the global navigation satellite system, time synchronization is required to ensure that the acquisition time of the first observation coincides with the acquisition time of at least one second observation. Therefore, a first observation is acquired using a first receiving antenna corresponding to a radio positioning system, while a second observation is acquired using at least one second receiving antenna corresponding to a global navigation satellite system.

[0047] It should be noted that PLS is a high-precision wireless positioning system similar to GNSS deployed on the ground. In this embodiment, PLS serves as a supplement, backup and enhancement system for GNSS. Similar to GNSS, the base station of PLS provides positioning services by broadcasting wireless spread spectrum positioning signals. PLS can not only work in conjunction with GNSS to improve the positioning accuracy and reliability of GNSS, but also can independently provide high-precision, high-reliability and high-environmental adaptability positioning services within the coverage area when GNSS is interfered with, blocked, or blocked. The positioning principle of PLS is similar to that of GNSS. The user terminal needs to receive signals from 4 or more base stations at the same time to be independently positioned. The positioning principle of PLS is as follows: Figure 2 As shown in the figure, the user terminal obtains carrier phase and code pseudorange measurements of the signals from each base station through signal processing to determine its position. To maximize positioning accuracy, the geometric relationship between the user receiver (including the receiving antenna) and the base station can be described as follows: the base stations are positioned around the user receiver, forming a sphere centered at the user receiver.

[0048] It should also be noted that the GNSS non-differenced non-combined pseudorange and carrier observation equations are as follows:

[0049]

[0050] in, and is the code pseudorange and carrier phase observation from satellite s to receiver r at frequency j = 1, 2, in meters, is the geometric distance between the satellite s and the receiver r, c is the speed of light, δt r，sys is the receiver clock error of the system, δt s is the satellite clock error, represents the first-order ionospheric slant delay between satellite s and receiver r at frequency 1. The ionospheric delay at other frequencies can be calculated by the coefficient Calculate,λ j is the corresponding frequency wavelength, is the tropospheric slant delay between satellite s and receiver r, b r， j and are the code deviations of receiver r and satellite s respectively, represents the integer ambiguity, B r，j and are the phase deviations of receiver r and satellite s, and represent code and phase noise respectively.

[0051] PLS differs from GNSS in that, because PLS signals propagate over the Earth's surface, there is no ionospheric error. Furthermore, if the signal propagation distance is short, tropospheric delay can be corrected using a simplified model. For frequency-synchronized PLS, the clock error can be divided into the clock error before and after synchronization. The clock error before synchronization can be absorbed by the satellite bias, while the clock error after synchronization is consistent for all satellites and can therefore be absorbed by the receiver clock error. Therefore, the PLS observation equation can be:

[0052]

[0053] in, and represents the code pseudorange and carrier phase observations from PL (transmitter) p to PLS receiver pr at frequencies j = 1, 2, represents the geometric distance between the transmitter p and the PLS receiver pr, c is the speed of light, δt pr represents the PLS receiver clock error, b pr and b p denote the code deviation of transmitter p and PLS receiver pr, respectively, pr Indicates the frequency wavelength corresponding to the PLS receiver pr, represents the integer ambiguity, B pr and B p Denote the phase deviation of transmitter p and PLS receiver pr respectively, and represent code and phase noise respectively.

[0054] Optionally, time synchronization may be achieved in the following manner: acquiring a first observation value based on a first receiving antenna corresponding to a radio positioning system, and synchronously acquiring a second observation value corresponding to each second receiving antenna based on at least one second receiving antenna corresponding to at least one global navigation satellite system in the following manner:

[0055] Step 1: Acquire a second observation value corresponding to each second receiving antenna based on at least one second receiving antenna corresponding to at least one global navigation satellite system, and output a second pulse to the radio positioning system based on the at least one second receiving antenna.

[0056] Among them, the accuracy of the pulse per second (PPS) is about tens of nanoseconds, which can be used to meet time synchronization requirements.

[0057] Specifically, a second observation quantity corresponding to each second receiving antenna is obtained based on each second receiving antenna. At the same time, while obtaining the second observation quantity, a second pulse is output to the radio positioning system through the second receiving antenna to trigger the first receiving antenna corresponding to the radio positioning system to obtain the first observation quantity.

[0058] Step 2: When the radio positioning system receives the second pulse, a first observation value is obtained based on the first receiving antenna corresponding to the radio positioning system.

[0059] Specifically, when the radio positioning system receives a second pulse, the first observation quantity can be obtained through the first receiving antenna so that the acquisition time of the first observation quantity is consistent with the acquisition time of the second observation quantity. That is, through PPS, the difference between the acquisition time of the two observation quantities can be made extremely small and regarded as negligible.

[0060] It should be noted that in addition to using pulse-second time synchronization, other methods can also be used to achieve time synchronization. For example, a timing device can be used to obtain observations based on the first receiving antenna and at least one second receiving antenna at a predetermined time, that is, to obtain a first observation and at least one second observation. Therefore, the time synchronization method can be set according to actual needs and is not specifically limited in this embodiment.

[0061] S120: Determine relative position information between the first receiving antenna and at least one second receiving antenna.

[0062] The relative position information may be a position vector between the first receiving antenna and each of the second receiving antennas, so that each antenna can be extrapolated to the same reference point based on the relative position information. Alternatively, the relative position information may be a lever arm vector, where the vector between the first receiving antenna and each of the second receiving antennas is the lever arm vector. The lever arm vector changes as the posture of the first receiving antenna and each of the second receiving antennas changes.

[0063] Specifically, because the radio positioning system and the global navigation satellite system do not share a common antenna, the first receiving antenna corresponding to the radio positioning system and the at least one second receiving antenna corresponding to the global navigation satellite system can be positioned relative to each other. For example, the average phase centers of the first receiving antenna and each of the second receiving antennas can be positioned as closely as possible. Therefore, to unify the positioning coordinates of the radio positioning system and the positioning coordinates of the global navigation satellite system, that is, to achieve spatial synchronization, the relative position information between the first receiving antenna and the at least one second receiving antenna can be determined.

[0064] Optionally, the relative position information between the first receiving antenna and the at least one second receiving antenna may be determined by any one of the following methods:

[0065] Method 1: Determine relative position information between a first receiving antenna and at least one second receiving antenna based on a pre-installed inertial navigation system.

[0066] Among them, an inertial navigation system (INS) is a system that uses a gyroscope and an accelerometer installed on a vehicle to measure the position of the vehicle.

[0067] Specifically, the pre-installed INS can output the carrier attitude information of the first receiving antenna and each second receiving antenna, and then, based on the determined carrier attitude information, a difference is calculated to determine the relative position information between the first receiving antenna and at least one second receiving antenna.

[0068] Method 2: Use a dual-antenna real-time differential positioning method to determine the first position information of the first receiving antenna and the second position information of each second receiving antenna, and determine the relative position information between the first receiving antenna and at least one second receiving antenna based on the first position information and each second position information.

[0069] The dual-antenna real-time differential positioning method may be a GNSS RTK (Real-time kinematic, carrier phase differential technology) positioning method. The first position information may be position information of the first receiving antenna determined based on the dual-antenna real-time differential positioning method, and may be coordinate information in the WGS84 earth coordinate system. The second position information may be position information of the second receiving antenna determined based on the dual-antenna real-time differential positioning method, and may be coordinate information in the WGS84 earth coordinate system.

[0070] Specifically, using the dual-antenna positioning method, the position information of the first receiving antenna and the second receiving antenna can be determined separately. The position information of the first receiving antenna is used as the first position information, and the position information of each second receiving antenna is used as the second position information. Furthermore, based on the first position information and each second position information, the relative position information between the first receiving antenna and each second receiving antenna can be determined.

[0071] For example, the antenna installation position diagram is as follows: Figure 3 As shown, the phase centers of a PLS antenna (first receiving antenna) and two GNSS antennas (second receiving antennas) are on a line, and the PLS antenna is located between the two GNSS antennas, that is, from the first GNSS antenna ( Figure 3 The relationship between the GNSS antenna on the left in the middle) and the PLS antenna can be expressed as

[0072]

[0073] in, is the first position information of the PLS antenna in the WGS84 earth coordinate system, is the second position information of the first GNSS antenna in the WGS84 earth coordinate system, That is, from the first GNSS antenna to the second GNSS antenna ( Figure 3 The arm vector of the GNSS antenna on the right in the figure can be obtained using the dynamic base station RTK positioning mode.

[0074] It should be noted that once the relative position relationship between the GNSS antenna and the PLS antenna is known, only one of them needs to be determined during PPP positioning solution. Therefore, the first position information can be selected as the relative position information. The reason is that: on the one hand, the distance between the operating user and the PLS is closer than the distance to the GNSS, and compared with GNSS, PLS is more sensitive to linearization errors. For PLS, the linearization error will cause the positioning solution to deviate from the actual position and may affect the convergence time and even the ambiguity fixation, so a more accurate position should be selected for linearization as much as possible. On the other hand, in a complex environment where GNSS is unavailable, the positioning mode degenerates into a single PLS positioning mode. In this case, the arm vector cannot be obtained through RTK, so the first position information cannot be converted into the second position information.

[0075] It should also be noted that, considering that the supporting software of GNSS usually includes an antenna height correction model, this model can also be applied to the correction of the arm vector. Moreover, applying the antenna height correction model to the correction of the arm vector can reduce the complexity of the implementation. However, since the antenna height is expressed in the local navigation coordinate system, the arm vector is converted to the local navigation coordinate system as follows:

[0076]

[0077] Where Δh enu is the lever arm correction vector, This is the transformation matrix from the WGS84 Earth coordinate system to the local navigation coordinate system. This transformation matrix is related to the current position coordinates and can be used to obtain the receiver's coarse position through GNSS single-point positioning. Therefore, the arm vector can be considered a dynamically changing "antenna height" and needs to be recalculated at each epoch.

[0078] S130: Determine target observation information based on the first observation value, at least one second observation value, relative position information, and pre-acquired correction information to be used.

[0079] The correction information to be used may be data used to correct the first observation value and / or the second observation value. The target observation information may be observation information obtained by final processing, and may include at least one of current position information, integer ambiguity, and ionospheric slant delay.

[0080] Specifically, the first observation value and each second observation value may be corrected according to the pre-acquired correction information to be used and the relative position information, and the corrected first observation value and each corrected second observation value may be fused to obtain the target observation information.

[0081] It should be noted that one or more types of target observation information can be obtained according to user needs, and the type and quantity of information obtained are not limited. For example, the current position information can be obtained, the current position information and the whole-cycle ambiguity can be obtained, and the ionospheric slant delay can also be obtained. No specific restrictions are made in this example.

[0082] The technical solution of the embodiment of the present invention obtains a first observation value based on a first receiving antenna corresponding to a radio positioning system, and synchronously obtains a second observation value corresponding to each second receiving antenna based on at least one second receiving antenna corresponding to a global navigation satellite system, determines the relative position information between the first receiving antenna and the at least one second receiving antenna, and determines the target observation information based on the first observation value, the at least one second observation value, the relative position information and the pre-acquired correction information to be used, thereby solving the problems of long positioning convergence time and low positioning accuracy, and achieving the technical effect of reducing positioning convergence time and improving positioning accuracy.

[0083] Example 2

[0084] Figure 4 This is a flow chart of a method for determining observation information provided in Example 2 of the present invention. For specific implementations of the correction and fusion of the first and second observations based on the aforementioned embodiments, please refer to the detailed description of this technical solution. The explanations of terms that are identical or corresponding to those in the aforementioned embodiments are not repeated here.

[0085] like Figure 4 As shown, the method includes:

[0086] S210: Acquire a first observation value based on a first receiving antenna corresponding to a radio positioning system, and synchronously acquire a second observation value corresponding to each second receiving antenna based on at least one second receiving antenna corresponding to a global navigation satellite system.

[0087] S220: Determine relative position information between the first receiving antenna and at least one second receiving antenna.

[0088] S230: Perform deviation correction on the first observation value based on pre-acquired radio positioning system correction data to obtain a first correction value.

[0089] Among them, the radio positioning system correction data can be data used to correct the first observation quantity. For example, the radio positioning system correction data can be ephemeris data, including satellite-side bias correction numbers, such as: PLS base station position, attitude, satellite code bias correction, satellite phase bias correction and other data. The specific data in the radio positioning system correction data is determined according to the correction requirements of the first observation quantity and is not specifically limited in this embodiment.

[0090] Specifically, radio positioning system correction data may be acquired in advance, and deviation correction may be performed on the first observation value using the radio positioning system correction data, and the first observation value after deviation correction may be used as the first correction value.

[0091] Based on the above example, the deviation of the first observation can be corrected in the following way:

[0092] Determine a first observation equation corresponding to the first observation quantity, perform error correction on the first observation equation based on pre-acquired radio positioning system correction data to obtain a first correction equation; and determine a first correction value based on the first observation quantity and the first correction equation.

[0093] The first observation equation may be a PLS observation equation. The first correction equation may be an equation obtained by correcting the first observation equation. The first correction value may be an observation value obtained by correcting the first observation value based on the first correction equation.

[0094] Exemplarily, the first observation equation is the PLS observation equation involved in S110. Based on the pre-acquired radio positioning system ephemeris data, the first observation equation is subjected to bias correction and rank deficiency elimination to obtain the following first corrected equation:

[0095]

[0096] in, and represents the code pseudorange and carrier phase observations from PL (transmitter) p to PLS receiver pr at frequencies j = 1, 2, represents the geometric distance between the transmitter p and the PLS receiver pr, c is the speed of light, δt pr represents the PLS receiver clock error, b pr and b p denote the code deviation of transmitter p and PLS receiver pr, respectively, pr Indicates the frequency wavelength corresponding to the PLS receiver pr, represents the integer ambiguity, B pr and B p Denote the phase deviation of transmitter p and PLS receiver pr respectively, and represent code and phase noise respectively.

[0097] It should be noted that the single epoch observation equation composed of p PLS observations is:

[0098]

[0099] Accordingly, Statistical Model Among them, σ pr，P and σ pr，L Represent pseudorange and phase accuracy, I P is the p×p identity matrix, indicating that all PLS are equally weighted, E p is a 1×p matrix with all elements set to 1.

[0100] Furthermore, a first correction value can be determined based on the first observation value and the first correction equation.

[0101] S240: For each second observation value, perform bias correction on the second observation value based on pre-acquired global navigation satellite system correction data to obtain a second correction value.

[0102] The GNSS correction data may be data used to correct the second observation. For example, the GNSS correction data may be state-space domain data, and may include satellite orbit corrections, satellite clock corrections, satellite code bias corrections, satellite phase bias corrections, and other data. The specific data in the GNSS correction data is determined based on the correction requirements for the second observation and is not specifically limited in this embodiment.

[0103] Specifically, global navigation satellite system correction data may be acquired in advance, and bias correction may be performed on the second observation value using the global navigation satellite system correction data, and the bias-corrected second observation value may be used as the second correction value.

[0104] Based on the above example, the deviation of the second observation can be corrected in the following way:

[0105] A second observation equation corresponding to the second observation value is determined, and an error correction is performed on the second observation equation based on pre-acquired global navigation satellite system correction data to obtain a second correction equation; and a second correction value is determined based on the second observation value and the second correction equation.

[0106] The second observation equation may be a GNSS observation equation. The second correction equation may be an equation obtained by correcting the second observation equation. The second correction value may be an observation value obtained by correcting the second observation value according to the second correction equation.

[0107] For example, the second observation equation is the GNSS undifferenced non-combined pseudorange and carrier observation equation involved in S110. After performing satellite-side error correction on the second observation equation based on pre-acquired state space domain data, the following second correction equation is obtained:

[0108]

[0109] in, and is the observation quantity corrected by precise orbit, precise clock error, satellite end bias and dry troposphere, i.e. the code pseudorange and carrier phase observation quantity from satellite s to receiver r at frequency j = 1, 2 after correction, m s is the tropospheric mapping function, T r，w is the zenith tropospheric wet delay, is the geometric distance between the satellite s and the receiver r, c is the speed of light, δt r，sys is the receiver clock error of the system, δt s is the satellite clock error, represents the first-order ionospheric slant delay between satellite s and receiver r at frequency 1. The ionospheric delay at other frequencies can be calculated by the coefficient Calculate,λ j is the corresponding frequency wavelength, is the tropospheric slant delay between satellite s and receiver r, b r，j is the code deviation of receiver r, represents the integer ambiguity, B r，j is the phase deviation of the receiver r, and represent code and phase noise respectively.

[0110] Furthermore, based on the pre-acquired state space domain data, the receiver clock error, hardware bias, and ionospheric delay in the second correction equation cannot be estimated separately due to correlation. Parameter renormalization is required to eliminate the rank deficiency and obtain the following new second correction equation:

[0111]

[0112] in, f1 represents carrier frequency 1, and f2 represents carrier frequency 2.

[0113] It should be noted that the observation equation for a single epoch consisting of s satellites is:

[0114]

[0115] in, and are pseudorange and carrier observation vectors respectively, is the geometric distance vector, E s is a 1×s matrix with all elements set to 1, is the ionospheric delay vector, m=[m 1 ,…,m s ] T is the tropospheric mapping function vector, is the ambiguity vector, e r，j and ε r，j are pseudorange and carrier noise vectors respectively. The statistical model is expressed as Among them, σ r，P and σ r，L is the zenith pseudorange and carrier observation accuracy, I2 is a 2×2 unit matrix, W s is the weighting matrix related to the altitude angle.

[0116] S250 , performing lever arm correction on each second correction amount based on the relative position information, and updating the second correction amount based on the lever arm corrected second correction amount.

[0117] Specifically, the second correction amount may also be adjusted based on the relative position information, that is, the lever arm correction vector, and the second correction amount after the lever arm correction is used as the new second correction amount.

[0118] For example, the lever arm correction method for the second correction value can be:

[0119]

[0120] in, represents the second correction at epoch k, represents the second correction after the lever arm correction at epoch k, g r is the direction vector from the receiver to the satellite, Δh enu，k is the lever arm correction vector at epoch k.

[0121] S260: Perform fusion filtering processing on the first correction value and each updated second correction value to obtain target observation information.

[0122] The fusion filtering process may be filtering the first correction value and the updated second correction value to remove noise, and fusing them to obtain a more accurate observation value.

[0123] Specifically, the first correction amount and each updated second correction amount are subjected to fusion filtering processing, and the processed information is used as the target observation amount.

[0124] Based on the above example, the first correction value and each updated second correction value can be fused and filtered to obtain target observation information in the following manner:

[0125] Extended Kalman filtering is performed on the first correction value and each updated second correction value to determine target observation information.

[0126] Specifically, the first correction value and each updated second correction value are input into the extended Kalman filter for state estimation, and the processed information can be used as target observation information.

[0127] Exemplarily, the first correction and each updated second correction are input into an extended Kalman filter for state estimation. The state equation and measurement equation set in the extended Kalman filter at epoch k are respectively:

[0128]

[0129] Among them, x k is the state vector, The subscripts r and pr represent the state parameters related to GNSS and PLS, respectively. pr represents the coordinates of the PLS receiver antenna (first receiving antenna), w k-1 is the process noise, v k is the observation noise. k is the observation vector, And, the observation matrix in the extended Kalman filter is set as

[0130] Based on an extended Kalman filter with a preset state vector, observation vector, and observation matrix, a fusion filtering process is performed on the first correction value and each updated second correction value to obtain target observation information.

[0131] Based on the above example, the target observation information includes integer ambiguity. Therefore, after determining the target observation information, the ambiguity can be fixed to obtain more accurate target observation information. Specifically, it can be:

[0132] The integer ambiguity in the target observation information is updated by the ambiguity fixing algorithm to obtain the updated target observation information.

[0133] Specifically, the integer ambiguity can be fixed by an ambiguity fixing algorithm. If the ambiguity is fixed, the fixed integer ambiguity can be obtained and used as the new integer ambiguity, or the state parameters can be constrained according to the fixed integer ambiguity.

[0134] For example, the classic lambda algorithm can be used to fix the ambiguity. Specifically, the state parameters and the corresponding covariance matrix in the extended Kalman filter can be copied to obtain the temporary state parameters and the temporary covariance matrix Fixed blur vector can be used as a pseudo-observable, which can be Among them, z N The weight of the ambiguity product can be obtained by the accuracy σ N To determine, and then, the temporary state parameters and the temporary covariance matrix Perform measurement updates to obtain a fixed state and the corresponding covariance matrix

[0135] It should be noted that other ambiguity fixing algorithms besides the lambda algorithm may also be used to fix the ambiguity, which is not specifically limited in this embodiment.

[0136] The technical solution of the embodiment of the present invention obtains a first observation value based on a first receiving antenna corresponding to a radio positioning system, and synchronously obtains a second observation value corresponding to each second receiving antenna based on at least one second receiving antenna corresponding to a global navigation satellite system, determines the relative position information between the first receiving antenna and the at least one second receiving antenna, performs deviation correction on the first observation value based on pre-acquired radio positioning system correction data to obtain a first correction value, performs deviation correction on the second observation value for each second observation value based on pre-acquired global navigation satellite system correction data to obtain a second correction value, performs a lever arm correction on each second correction value based on the relative position information, updates the second correction value based on the second correction value after the lever arm correction, performs fusion filtering processing on the first correction value and each updated second correction value to obtain target observation information, thereby solving the problems of long positioning convergence time and low positioning accuracy, and achieving the technical effect of reducing positioning convergence time and improving positioning accuracy.

[0137] Example 3

[0138] Figure 5 This is a structural diagram of an observation information determination model provided in Example 3 of the present invention.

[0139] like Figure 5 As shown, the specific process of the model can be:

[0140] Acquire GNSS observations (second observations) and synchronously acquire PLS observations (first observations) through PPS. Perform SSR corrections on the GNSS observations based on the SSR (State Space Representation) data stream (global navigation satellite system correction data), and perform arm vector corrections on the GNSS observations based on dual-antenna RTK orientation or INS attitude measurement to obtain the second correction. Perform satellite coordinate and bias corrections on the PLS observations based on the PLS ephemeris (radio positioning system correction data) to obtain the first correction. Then, input the first correction and the second correction into the extended Kalman filter to obtain the output position solution (target observation information). Optionally, the output position solution can also be updated and / or constrained by the ambiguity fixing method.

[0141] The following experiments can be used to verify the validity of the model determined by observation information. The experimental environment and platform are as follows: Figure 6 shown.

[0142] In this experiment, the SSR corrections were provided by the Centre National d′Etudes Spatiales NavigationTeam. The GNSS receiver model is Septentrio Mosaic X5. The mobile station is equipped with a PLS receiving antenna (first receiving antenna) and two low-cost GNSS quadrifilar helix antennas (second receiving antennas). The PLS receiving antenna is located in the middle of the two GNSS antennas (second receiving antennas). The two GNSS antennas can provide lever arm vector correction. In addition, the average value of the two GNSS antenna coordinates obtained by GNSS RTK can be used as the true value to evaluate the positioning results. Figure 6 As can be seen in the figure, there is a wall on the north side. When approaching the wall, the GNSS satellites on the north side will be blocked. It should be noted that the above information is for illustrative purposes only and is not intended to limit the observation information determination model.

[0143] The coordinates of the GNSS RTK base station are obtained through long-term static GNSS PPP, and the coordinates of the six PLs are obtained through long-term static GNSS RTK. Therefore, the absolute position accuracy of the RTK base station and the six PLs can reach millimeter level. Figure 7 This is a planar diagram of six PLs and motion trajectories. The circles represent PLs, and the lines represent 2-hour trajectories, where one circle takes about 1 minute.

[0144] Data processing can be performed using the data processing strategy outlined in Table 1. A non-differenced, non-combined PPP model is used. The sampling rate for both GNSS and PLS is 10 Hz. Although the Septentrio Mosaic X5 supports multi-frequency observations, this experiment uses dual-frequency observations. E5b was chosen for the Galileo signal because it offers a higher signal-to-noise ratio than E5a. PLS only supports single-frequency observations, P1, with a frequency of f = 2465.43 MHz.

[0145] Table 1

[0146]

[0147]

[0148] Earth tides are caused by the gravitational pull of external objects, primarily the Sun and Moon, which causes crustal motion. Consequently, the receiver's position coordinates change. These tides cause vertical and horizontal displacements of the Earth's surface, typically on the order of centimeters or even decimeters, requiring correction in GNSS PPP. Because PLs are located on the Earth's surface, they are also affected by earth tides. However, the PLs and receivers are relatively close, so the effects of earth tides on them are essentially the same. Therefore, the effects of earth tides on the PLs and receivers cancel each other out, eliminating the need for correction in PLS. Given that the elevation angle of PLS can be very low or even negative in some scenarios, no PLS cutoff angle was set. This experiment employed a partial ambiguity fixation method, requiring the fixation of at least four single-difference ambiguities. The "ratio test" and "success rate" were also tested to improve the reliability of the ambiguity fixation. The ratio test threshold was set to 2.0, and the success rate threshold was set to 99%. To prevent ambiguity fix errors from being propagated to subsequent epochs, the ambiguities were re-estimated at each epoch.

[0149] The effectiveness of the observation information determination model can be demonstrated from the following four aspects.

[0150] The first aspect is positioning accuracy.

[0151] The positioning results of GNSS PPP, PLS PPP and GNSS / PLS PPP (observation information determination model) are as follows: Figure 8 shown. Figure 9 The root mean square error (RMS) of the positioning results after convergence is shown. This shows that GNSS / PLS PPP achieves the highest positioning accuracy, even comparable to RTK. This indicates that GNSS / PLS PPP achieves higher positioning accuracy than GNSS PPP. Furthermore, while GNSS PPP has lower positioning accuracy in the east direction than in the north direction, the opposite is true for GNSS / PLS PPP, indicating that the addition of PLS improves the geometry.

[0152] The second aspect is convergence time.

[0153] Figure 10 The average convergence time of GNSS / PLS PPP is shown when using different numbers of PLS base stations. This shows that GNSS / PLS PPP not only improves positioning accuracy but also significantly shortens convergence time.

[0154] The third aspect is the fuzzy fixation rate.

[0155] Position convergence can be achieved as long as PLS converges, but GNSS ambiguity convergence or fixation is the guarantee for high accuracy when GNSS works independently. A good condition number is the prerequisite for ambiguity fixation. The rapid geometric change of PLS can not only quickly reduce the condition number of PLS ambiguity parameters, but also help to reduce the condition number of GNSS ambiguity parameters. The condition number of the GNSS ambiguity covariance matrix enhanced by different numbers of PLs is as follows: Figure 11 As shown in the figure, GNSS (0PL) indicates no PLS augmentation. This shows that with 4, 5, or 6 PLS satellites, the GNSS ambiguity condition number is two orders of magnitude smaller than without PLS augmentation. Although the gap is gradually narrowing, this is not due to a decrease in the contribution of PLS, but rather to the increasing improvement of the GNSS geometry itself. Therefore, the effectiveness of PLS is decreasing. For example, after a few hours, the GNSS condition number can become relatively good even without PLS augmentation. The GNSS ambiguity condition numbers with 4, 5, or 6 pseudolites are relatively close, but differ significantly from those with 2 or 3 PLS satellites. GNSS and PLS are linked by position parameters. Similar to GNSS, PLS requires at least 4 PLS satellites to achieve positioning. Therefore, 4 or more PLS satellites can directly contribute position information to GNSS after convergence, while 2 or 3 PLS satellites can only indirectly augment GNSS. Once 4 PLS base stations can provide accurate positioning information for GNSS, the contribution of 4 PLS base stations is not much different from that of 6 PLS base stations.

[0156] It should be noted that since GLONASS uses Frequency Division Multiple Access (FDMA) technology, the GLONASS ambiguity is not fixed. In addition, most Beidou satellites lack code / phase bias on a given day, making it impossible to fix their ambiguity.

[0157] Figure 12 The GNSS ambiguity fix rate is shown when different PL numbers are used for enhancement. In order to minimize the number of ambiguity fix solutions containing errors, the positioning error of the corresponding epoch is required to be less than half of the convergence threshold, that is, 0.05, 0.05 and 0.1m in the northeast direction respectively; and at least 4 GNSS single-difference ambiguities in the epoch are required to be fixed. It can be seen that the ambiguity fix rate is related to Figure 11 The results are very consistent. The GNSS PPP augmented with two PLS satellites has the lowest GNSS ambiguity fix rate, significantly lower than the GNSS ambiguity fix rate augmented with three PL satellites. Furthermore, the GNSS ambiguity fix rates for 4, 5, and 6 PL satellites are comparable, indicating that more PLS satellites do not improve the ambiguity fix rate.

[0158] Fourthly, short-term performance enhancement.

[0159] Because PLS coverage is limited, users lose PLS enhancement once they leave its coverage area. Therefore, experiments investigated the performance of short-duration PLS enhancements to explore how long PLS enhancements are needed to ensure that GNSS PPP does not diverge again when PLS is unavailable. Therefore, it is important to consider not only position convergence but also ambiguity convergence and even fixation.

[0160] Since position parameters are the link between GNSS and PLS, the position constraints improved by PLS are the core of PLS-enhanced GNSSPPP. The constraint effect depends on two aspects: (1) constraint accuracy; (2) constraint time length. Undoubtedly, low-precision constraints are almost ineffective. Therefore, effective constraints are mainly generated after PLS converges. Here, the effective constraint time is defined as t constraint =t aug -t init , where t aug is the augmentation time, t init is the initial convergence time.

[0161] Figure 13 The GNSS PPP positioning error is shown for different numbers of PLs and different augmentation time lengths (for example, 6PL(05s) means GNSS PPP is augmented by 6 PLs for 5s, and 6PL(full) means GNSS PPP is augmented by 6 PLs for the entire process). Figure 13 The positioning error, Figure 11 The minimum enhancement time required for GNSS PPP to not diverge again is shown. Considering that the GNSS ambiguity is not maintained, that is, the PLS ambiguity parameters in the filter parameters are always floating point values, so in fact, only the floating point solution is constrained by GNSS. Therefore, the initialization time t init The results were obtained using a floating-point solution. The average minimum enhancement times for 4, 5, and 6 PLs were 15.6, 20.6, and 25.6 seconds, respectively. The differences are primarily due to initialization convergence time. Despite the differences in the minimum enhancement times, the effective constraint time is only approximately 8 seconds, demonstrating that effective constraint time is crucial for preventing PPP divergence.

[0162] Because 2 or 3 PLs cannot independently locate, they cannot provide high-precision position constraints. Therefore, 2 or 3 PLs cannot be considered a complete positioning system, they can only improve the geometry of GNSS. Figure 13As can be seen, the minimum enhancement time required for GNSS PPP augmented by three PL satellites is 60 seconds. As for GNSS PPP augmented by two PL satellites, once converged, it will not diverge again. This is because the convergence time is long enough for the GNSS ambiguities to converge. It can be assumed that the position and ambiguity parameters converge essentially synchronously.

[0163] Figure 15 The GNSS ambiguity fixation rate is shown, where 6PL represents GNSS PPP augmented by six PL satellites, and the horizontal axis represents the augmentation time. As can be seen, the ambiguity fixation rate increases with augmentation time, and after convergence, the growth rates of 4PL, 5PL, and 6PL are comparable. However, the growth rate of 3PL is faster than that of 2PL. The augmentation effect of the PLS system does not disappear with its disappearance. Therefore, PLS does not need to cover the entire user operating area, which can reduce PLS costs.

[0164] The technical solution of the embodiment of the present invention obtains GNSS observations and synchronously obtains PLS observations through PPS, performs SSR correction on the GNSS observations based on the SSR data stream, and performs arm vector correction on the GNSS observations based on dual-antenna RTK orientation or INS attitude measurement to obtain a second correction, performs satellite coordinate and deviation correction on the PLS observations based on the PLS ephemeris to obtain a first correction, and then inputs the first correction and the second correction into the extended Kalman filter to obtain an output position solution, and updates and / or constrains the output position solution through the ambiguity fixing method, thereby solving the problems of long positioning convergence time and low positioning accuracy, and achieving the technical effect of reducing positioning convergence time and improving positioning accuracy.

[0165] Example 4

[0166] Figure 16 This is a schematic diagram of the structure of an observation information determination device provided by the fourth embodiment of the present invention. Figure 16 As shown, the device includes: an observation quantity synchronization acquisition module 410, a relative position information acquisition module 420 and a target observation information acquisition module 430.

[0167] Among them, the observation quantity synchronous acquisition module 410 is used to obtain the first observation quantity based on the first receiving antenna corresponding to a radio positioning system, and synchronously obtain the second observation quantity corresponding to each second receiving antenna based on at least one second receiving antenna corresponding to the global navigation satellite system; the relative position information acquisition module 420 is used to determine the relative position information between the first receiving antenna and the at least one second receiving antenna; the target observation information acquisition module 430 is used to determine the target observation information based on the first observation quantity, at least one second observation quantity, the relative position information and the pre-acquired correction information to be used.

[0168] Optionally, the relative position information acquisition module 420 is also used to determine the relative position information between the first receiving antenna and the at least one second receiving antenna based on a pre-installed inertial navigation system; or, to determine the first position information of the first receiving antenna and the second position information of each second receiving antenna through a dual-antenna real-time differential positioning method, and to determine the relative position information between the first receiving antenna and the at least one second receiving antenna based on the first position information and each second position information.

[0169] Optionally, the correction information to be used includes global navigation satellite system correction data and radio positioning system correction data, the relative position information includes a lever arm vector, and the target observation information acquisition module 430 is further used to perform bias correction on the first observation value based on the pre-acquired radio positioning system correction data to obtain a first correction value; for each second observation value, perform bias correction on the second observation value based on the pre-acquired global navigation satellite system correction data to obtain a second correction value; perform lever arm correction on each second correction value based on the relative position information, and update the second correction value based on the second correction value after the lever arm correction; perform fusion filtering processing on the first correction value and each updated second correction value to obtain target observation information.

[0170] Optionally, the target observation information acquisition module 430 is further used to determine a first observation equation corresponding to the first observation quantity, perform error correction on the first observation equation based on pre-acquired radio positioning system correction data to obtain a first correction equation; determine a first correction based on the first observation quantity and the first correction equation; the target observation information acquisition module 430 is further used to determine a second observation equation corresponding to the second observation quantity, perform error correction on the second observation equation based on pre-acquired global navigation satellite system correction data to obtain a second correction equation; determine a second correction based on the second observation quantity and the second correction equation.

[0171] Optionally, the target observation information acquisition module 430 is further configured to perform extended Kalman filtering on the first correction value and each updated second correction value to determine target observation information.

[0172] Optionally, the target observation information includes integer ambiguity, and the device further includes: an ambiguity fixing module, configured to update the integer ambiguity in the target observation information by using an ambiguity fixing algorithm to obtain updated target observation information.

[0173] Optionally, the observation quantity synchronization acquisition module 410 is also used to obtain a second observation quantity corresponding to each second receiving antenna based on at least one second receiving antenna corresponding to the global navigation satellite system, and output a second pulse to the radio positioning system based on at least one second receiving antenna; when the radio positioning system receives the second pulse, the first observation quantity is obtained based on the first receiving antenna corresponding to the radio positioning system.

[0174] The technical solution of the embodiment of the present invention obtains a first observation value based on a first receiving antenna corresponding to a radio positioning system, and synchronously obtains a second observation value corresponding to each second receiving antenna based on at least one second receiving antenna corresponding to a global navigation satellite system, determines the relative position information between the first receiving antenna and the at least one second receiving antenna, and determines the target observation information based on the first observation value, the at least one second observation value, the relative position information and the pre-acquired correction information to be used, thereby solving the problems of long positioning convergence time and low positioning accuracy, and achieving the technical effect of reducing positioning convergence time and improving positioning accuracy.

[0175] The observation information determination device provided in the embodiment of the present invention can execute the observation information determination method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0176] Example 5

[0177] Figure 17 A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0178] like Figure 17As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., which is communicatively connected to the at least one processor 11. The memory stores a computer program that can be executed by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. Various programs and data required for the operation of the electronic device 10 can also be stored in the RAM 13. The processor 11, ROM 12, and RAM 13 are connected to each other via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0179] Multiple components in the electronic device 10 are connected to the I / O interface 15, including an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0180] The processor 11 may be any general-purpose and / or specialized processing component with processing and computing capabilities. Examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various processors for running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the observation information determination method.

[0181] In some embodiments, the observation information determination method can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the observation information determination method described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to perform the observation information determination method in any other appropriate manner (for example, by means of firmware).

[0182] Various embodiments of the systems and techniques described herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system-on-chip systems (SOCs), programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0183] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the computer program is executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer program may be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0184] In the context of the present invention, computer-readable storage media can be tangible media that can contain or store a computer program for use with an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. Computer-readable storage media can include but are not limited to electronic, magnetic, optical, electromagnetic, infrared or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, computer-readable storage media can be machine-readable signal media. More specific examples of machine-readable storage media can include electrical connections based on one or more lines, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0185] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0186] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0187] A computing system may include clients and servers. The clients and servers are typically remote from each other and typically interact via a communication network. This client-server relationship arises through computer programs running on the respective computers, creating a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host. This server is a hosting product within the cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosting and VPS services.

[0188] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present invention can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved. This is not limited herein.

[0189] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A method for determining observation information, characterized in that: include: Acquiring a first observation value based on a first receiving antenna corresponding to a radio positioning system, and synchronously acquiring a second observation value corresponding to each second receiving antenna based on at least one second receiving antenna corresponding to a global navigation satellite system; wherein the radio positioning system is a high-precision wireless positioning system similar to the global navigation satellite system deployed on the ground, serving as a supplement, backup, and augmentation system for the global navigation satellite system, and the base station of the radio positioning system provides positioning services by broadcasting wireless spread spectrum positioning signals; determining relative position information between the first receiving antenna and the at least one second receiving antenna; Determining target observation information based on the first observation value, at least one second observation value, the relative position information, and pre-acquired correction information to be used; The correction information to be used includes global navigation satellite system correction data and radio positioning system correction data, the relative position information includes a lever arm vector, and determining target observation information based on the first observation value, at least one second observation value, the relative position information, and the pre-acquired correction information to be used includes: Performing a deviation correction on the first observation value based on pre-acquired radio positioning system correction data to obtain a first correction value; For each second observation value, performing a bias correction on the second observation value based on pre-acquired global navigation satellite system correction data to obtain a second correction value; performing a lever arm correction on each of the second correction values based on the relative position information, and updating the second correction value based on the lever arm corrected second correction value; The first correction value and each updated second correction value are subjected to fusion filtering processing to obtain target observation information.

2. The method according to claim 1, characterized in that The determining the relative position information between the first receiving antenna and the at least one second receiving antenna includes: determining relative position information between the first receiving antenna and the at least one second receiving antenna based on a pre-installed inertial navigation system; or, The first position information of the first receiving antenna and the second position information of each second receiving antenna are determined through a dual-antenna real-time differential positioning method, and the relative position information between the first receiving antenna and the at least one second receiving antenna is determined based on the first position information and each second position information.

3. The method according to claim 1, characterized in that The performing deviation correction on the first observation value based on the pre-acquired radio positioning system correction data to obtain a first correction value includes: determining a first observation equation corresponding to the first observation value, and performing error correction on the first observation equation based on pre-acquired radio positioning system correction data to obtain a first corrected equation; Determining a first correction value based on the first observation value and the first correction equation; The performing bias correction on the second observation value based on pre-acquired global navigation satellite system correction data to obtain a second correction value includes: determining a second observation equation corresponding to the second observation value, and performing error correction on the second observation equation based on pre-acquired global navigation satellite system correction data to obtain a second corrected equation; A second correction value is determined based on the second observation value and the second correction equation.

4. The method according to claim 1, wherein The performing fusion filtering on the first correction value and each updated second correction value to obtain target observation information includes: Extended Kalman filtering is performed on the first correction value and each updated second correction value to determine target observation information.

5. The method according to claim 4, characterized in that The target observation information includes integer ambiguity. After determining the target observation information, the method further includes: The integer ambiguity in the target observation information is updated by an ambiguity fixing algorithm to obtain updated target observation information.

6. The method according to claim 1, characterized in that The acquiring of the first observation value based on a first receiving antenna corresponding to a radio positioning system, and synchronously acquiring of the second observation value corresponding to each second receiving antenna based on at least one second receiving antenna corresponding to a global navigation satellite system, comprises: Acquire a second observation value corresponding to each second receiving antenna based on at least one second receiving antenna corresponding to the global navigation satellite system, and output a second pulse to the radio positioning system based on the at least one second receiving antenna; When the radio positioning system receives the second pulse, a first observation value is obtained based on a first receiving antenna corresponding to the radio positioning system.

7. An observation information determination device, characterized in that: include: an observation quantity synchronous acquisition module, configured to acquire a first observation quantity based on a first receiving antenna corresponding to a radio positioning system, and synchronously acquire a second observation quantity corresponding to each second receiving antenna based on at least one second receiving antenna corresponding to a global navigation satellite system; wherein the radio positioning system is a high-precision wireless positioning system similar to the global navigation satellite system deployed on the ground, serving as a supplement, backup, and augmentation system for the global navigation satellite system, and wherein a base station of the radio positioning system provides positioning services by broadcasting wireless spread spectrum positioning signals; a relative position information acquisition module, configured to determine relative position information between the first receiving antenna and the at least one second receiving antenna; a target observation information acquisition module, configured to determine target observation information based on the first observation value, at least one second observation value, the relative position information, and pre-acquired correction information to be used; The correction information to be used includes global navigation satellite system correction data and radio positioning system correction data, the relative position information includes a lever arm vector, and the target observation information acquisition module includes: a first correction value obtaining unit, configured to perform deviation correction on the first observation value based on pre-acquired radio positioning system correction data to obtain a first correction value; a second correction value obtaining unit, configured to perform bias correction on each second observation value based on pre-acquired global navigation satellite system correction data to obtain a second correction value; a second correction value updating unit, configured to perform a lever arm correction on each of the second correction values based on the relative position information, and update the second correction value based on the lever arm corrected second correction value; The target observation information acquisition unit is configured to perform fusion filtering processing on the first correction value and each updated second correction value to obtain target observation information.

8. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to perform the observation information determination method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the observation information determination method according to any one of claims 1 to 6 when executed.

Images