Fast reconvergence method, device, equipment and storage medium for precise single-point positioning

Abstract

The embodiment of the present application provides a fast reconvergence method, device, equipment and storage medium for precise single-point positioning, the method comprising: obtaining first receiver observation data; inputting the first receiver observation data into a first filter and outputting first solution data; when the first receiver observation data meets a preset trigger condition, obtaining second receiver observation data; inputting the second receiver observation data into the first filter and outputting second solution data; determining target ionosphere filtering parameters according to the first solution data and the first receiver observation data; inputting the second receiver observation data into a second filter and outputting third solution data; when the second solution data and the third solution data meet the preset convergence condition, determining the third solution data as reconvergence solution data; the embodiment of the present application can solve the problem that the existing PPP fast reconvergence method cannot guarantee the accuracy of the fast reconvergence result.

Description

Technical Field

[0001] The present application relates to the field of global satellite navigation and positioning, and in particular to a method, device, equipment and storage medium for rapid reconvergence of precise single-point positioning. Background Art

[0002] Precise Point Positioning (PPP) can achieve real-time centimeter-level positioning accuracy after convergence of about 20 minutes by receiving orbit, clock, phase decimal deviation and other correction numbers broadcast by the server. This technology has no regional restrictions and has uniform positioning accuracy around the world. Therefore, it has been widely used in many fields such as geodesy.

[0003] After the estimated parameters of PPP converge, the signal may be lost due to reasons such as satellite signal obstruction, resulting in an integer cycle jump in the carrier phase observation value. When the receiver signal interruption time is too long and the cycle jump cannot be repaired, the real-time PPP will not be able to obtain high-precision positioning results for a long time, which directly affects the actual application effect of PPP. In this case, PPP needs to be quickly reconverged. However, the existing PPP fast reconvergence method cannot guarantee the accuracy of the fast reconvergence results. Summary of the invention

[0004] The embodiments of the present application provide a fast reconvergence method, apparatus, device and storage medium for precise single point positioning, which can solve the problem that the existing PPP fast reconvergence method cannot guarantee the accuracy of the fast reconvergence result.

[0005] In a first aspect, an embodiment of the present application provides a fast reconvergence method for precise point positioning, comprising:

[0006] Acquire first receiver observation data of a plurality of satellites received by a multi-frequency receiver;

[0007] Inputting the first receiver observation data into the first filter and outputting the first solution data, wherein the first filter is provided with original ionospheric filter parameters;

[0008] When the first receiver observation data meets a preset trigger condition, obtaining the second receiver observation data of multiple satellites received by the multi-frequency receiver;

[0009] Inputting the second receiver observation data into the first filter and outputting the second solution data;

[0010] Determining target ionospheric filtering parameters according to the first solution data and the first receiver observation data;

[0011] Inputting the second receiver observation data into the second filter and outputting the third solution data, the second filter being the first filter in which the original ionospheric filter parameters are replaced with the target ionospheric filter parameters;

[0012] When the second solution data and the third solution data meet the preset convergence condition, the third solution data is determined as re-convergent solution data.

[0013] Further, in one embodiment, determining the target ionospheric filter parameter according to the first solution data and the first receiver observation data includes:

[0014] Calculating the ionospheric change rate and the ionospheric coefficient according to the first solution data;

[0015] Calculating a predicted ionospheric correction number based on the first solution data, the ionospheric change rate and the ionospheric coefficient;

[0016] The target ionospheric filter parameters are calculated based on the predicted ionospheric correction numbers.

[0017] Further, in one embodiment, the second solution data includes a first pseudorange residual root mean square of the first filter, and the third solution data includes a second pseudorange residual root mean square of the second filter;

[0018] Preset convergence conditions, including:

[0019] The second pseudorange residual root mean square is smaller than the first pseudorange residual root mean square.

[0020] Furthermore, in one embodiment, the method further comprises:

[0021] When the preset convergence condition is not met, the first receiver observation data is adjusted according to the preset adjustment rule, the first receiver observation data is returned to be input into the first filter, the first solution data is output, and the third solution data is re-output until the re-output third solution data meets the preset convergence condition, and the re-output third solution data is determined as the re-converged solution data.

[0022] Further, in one embodiment, the first receiver observation data includes satellite altitude angle;

[0023] Preset adjustment rules, including:

[0024] Arrange the observation data of the first receiver in descending order according to the satellite elevation angle;

[0025] Eliminate the first receiver observation data whose arrangement results are a preset number later.

[0026] In a second aspect, an embodiment of the present application provides a fast reconvergence device for precise single-point positioning, comprising:

[0027] An acquisition module, used for acquiring first receiver observation data of multiple satellites received by a multi-frequency receiver;

[0028] An output module, used for inputting the first receiver observation data into a first filter and outputting first solution data, wherein the first filter is provided with original ionospheric filter parameters;

[0029] The acquisition module is further used to acquire the second receiver observation data of multiple satellites received by the multi-frequency receiver when the first receiver observation data meets the preset trigger condition;

[0030] The output module is further used to input the second receiver observation data into the first filter and output the second solution data;

[0031] A determination module, used to determine target ionospheric filtering parameters according to the first solution data and the first receiver observation data;

[0032] The output module is further used to input the second receiver observation data into the second filter and output the third solution data, wherein the second filter is the first filter in which the original ionospheric filter parameters are replaced with the target ionospheric filter parameters;

[0033] The determining module is further used to determine the third solution data as re-convergent solution data when the second solution data and the third solution data meet a preset convergence condition.

[0034] Further, in one embodiment, the determination module is specifically configured to:

[0035] Calculating the ionospheric change rate and the ionospheric coefficient according to the first solution data;

[0036] Calculating a predicted ionospheric correction number based on the first solution data, the ionospheric change rate and the ionospheric coefficient;

[0037] The target ionospheric filter parameters are calculated based on the predicted ionospheric correction numbers.

[0038] Further, in one embodiment, the second solution data includes a first pseudorange residual root mean square of the first filter, and the third solution data includes a second pseudorange residual root mean square of the second filter;

[0039] Preset convergence conditions, including:

[0040] The second pseudorange residual root mean square is smaller than the first pseudorange residual root mean square.

[0041] Furthermore, in one embodiment, the device further comprises:

[0042] The adjustment module is used to adjust the observation data of the first receiver according to the preset adjustment rules when the preset convergence conditions are not met, return the observation data of the first receiver to the first filter, output the first solution data, and re-output the third solution data until the re-output third solution data meets the preset convergence conditions, and determine the re-output third solution data as the re-converged solution data.

[0043] Further, in one embodiment, the first receiver observation data includes satellite altitude angle;

[0044] Preset adjustment rules, including:

[0045] Arrange the observation data of the first receiver in descending order according to the satellite elevation angle;

[0046] Eliminate the first receiver observation data whose arrangement results are a preset number later.

[0047] In a third aspect, an embodiment of the present application provides a rapid reconvergence device for precise single-point positioning, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the computer program is executed by the processor, the rapid reconvergence method for precise single-point positioning described above is implemented.

[0048] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a program for implementing information transmission is stored, and when the program is executed by a processor, the above-mentioned fast reconvergence method for precise single-point positioning is implemented.

[0049] The rapid reconvergence method, apparatus, device and storage medium for precise point positioning of the embodiments of the present application reconstrains the filter through the first receiver observation data and the first solution data received and solved by the receiver itself, that is, the target ionosphere filter parameters are determined according to the first solution data and the first receiver observation data, and the solution data is rapidly reconverged through the filter constrained by the target ionosphere filter parameters. Since the first receiver observation data and the first solution data can be directly obtained and generated by the receiver itself, rapid reconvergence of precise point positioning can be achieved; and the accuracy of the reconverged solution data is also judged through the second solution data and the third solution data, so that the determined reconverged solution data has high accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the technical solution of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0051] Figure 1It is a flow chart of a fast reconvergence method for precise single-point positioning provided in an embodiment of the present application;

[0052] Figure 2 It is a structural schematic diagram of a fast reconvergence device for precise single-point positioning provided in an embodiment of the present application;

[0053] Figure 3 It is a structural schematic diagram of a precise single-point positioning rapid reconvergence device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0054] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only configured to explain the present application and are not configured to limit the present application. For those skilled in the art, the present application can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by illustrating the examples of the present application.

[0055] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "include..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0056] In the existing PPP fast reconvergence method, when the ambiguity fixed reference star switches, the ionospheric reference will jump, which will interfere with the subsequent ionospheric modeling prediction and eventually lead to the failure of fast reconvergence. In addition, during the fast reconvergence ionospheric prediction and single difference constraint stage, due to the influence of ionospheric prediction accuracy or observation data quality, it is impossible to judge whether the fast reconvergence is correct, and thus the accuracy of the reconvergence result cannot be guaranteed.

[0057] In order to solve the problems of the prior art, the embodiments of the present application provide a method, device, equipment and storage medium for rapid reconvergence of precise single-point positioning. The embodiments of the present application reconstrain the filter through the first receiver observation data and the first solution data received and solved by the receiver itself, that is, the target ionosphere filter parameters are determined according to the first solution data and the first receiver observation data, and the filter constrained by the target ionosphere filter parameters is used to perform rapid reconvergence of the solution data. Since the first receiver observation data and the first solution data can be directly obtained and generated by the receiver itself, rapid reconvergence of precise single-point positioning can be achieved; and the accuracy of the reconverged solution data is also judged by the second solution data and the third solution data, so that the determined reconverged solution data has a higher accuracy. The rapid reconvergence method for precise single-point positioning provided by the embodiments of the present application is first introduced below.

[0058] Figure 1 FIG. 1 is a flow chart of a fast reconvergence method for precise point positioning provided by an embodiment of the present application. Figure 1 As shown, the method may include the following steps:

[0059] S110, obtaining first receiver observation data of multiple satellites received by a multi-frequency receiver.

[0060] The receiver will receive the satellite's observation data.

[0061] S120, inputting the first receiver observation data into the first filter, and outputting the first solution data, wherein the first filter is provided with original ionospheric filter parameters.

[0062] The first filter can output the first solution data according to the following formula 1:

[0063]

[0064] The first receiver observation data includes: the pseudo-range observation value of epoch t Carrier observation value at epoch t The collective distance of the satellite positions from the receiver The speed of light c;

[0065] The first solution data includes: the receiver clock error t r,sys , satellite clock error t s , tropospheric mapping function Tropospheric wet delay T z , ionospheric delay Frequency f, satellite pseudorange hardware delay b r,f , receiver pseudorange hardware delay Satellite carrier hardware delay B r,f , receiver carrier hardware delay Carrier Integer Ambiguity Phase Wrap Correction Pseudorange noise ε P f , carrier noise ε Φ f , wavelength λ.

[0066] S130, when the first receiver observation data meets a preset trigger condition, obtain the second receiver observation data of multiple satellites received by the multi-frequency receiver.

[0067] When the observation data of the first receiver meets the preset trigger condition, it indicates that precise point positioning re-convergence is required, and the preset re-convergence trigger condition may include: the cycle slip ratio of the carrier observation value is greater than a preset ratio threshold.

[0068] The cycle slip ratio of the carrier observation value can be determined based on the carrier observation value.

[0069] In one embodiment, when the first receiver observation data does not meet the preset trigger condition, it means that reconvergence is not required, and the ionospheric correction number ion is determined by the following formula 2 based on the two sets of first receiver observation data of different frequencies of satellite s: s :

[0070]

[0071] S140, inputting the second receiver observation data into the first filter, and outputting second solution data.

[0072] When outputting the second solution data, Formula 1 can be used for calculation.

[0073] S150, determining target ionospheric filtering parameters according to the first solution data and the first receiver observation data.

[0074] In one embodiment, S150 may include:

[0075] The ionospheric change rate and the ionospheric coefficient are calculated based on the first solution data.

[0076] When calculating the ionospheric change rate parameters and ionospheric coefficients, first determine the ionospheric correction number ion of the satellite at the tkth epoch before reconvergence based on the first solution data through formula 2 tk , and then according to the ionospheric correction number ion tk Calculate the ionospheric change rate parameter v between the tkth epoch and the tk+1th epoch before reconvergence of the satellite tk , v tk It can be calculated by the following formula 3:

[0077]

[0078] Based on the first solution data, multiple ionospheric change rate parameters between adjacent epochs can be calculated, and the final ionospheric change rate parameter v can be estimated by weighted average based on the multiple ionospheric change rate parameters. tk n .

[0079] After the final ionospheric change rate parameter is determined, the ionospheric change rate b can be determined according to the final ionospheric change rate parameter. The ionospheric change rate b can be calculated by the following formula 4:

[0080] v tk n =b×Δt+ε

[0081] Where Δt is the difference between epoch tk and the epoch time of the initial ionospheric correction, and ε represents the ionospheric change rate noise.

[0082] After determining the ionospheric change rate b, it is necessary to select an ionospheric correction number from multiple ionospheric correction numbers as the ionospheric coefficient a. The ionospheric residual root mean square δ tk The smallest ionospheric correction number of an epoch is taken as the ionospheric coefficient a. However, it should be noted that the reference satellites of all satellites are selected in the same way. The ionospheric residual root mean square can be calculated by the following formula group 5:

[0083]

[0084] res i，tk =ion i -(ion tk +b·Δt)

[0085] Among them, δ tk The ionospheric residual root mean square when the high-precision ionospheric information of the tkth epoch is used as the initial ionospheric coefficient, ion i represents the ionospheric correction number of the i-th epoch, Δt is the time difference between epoch tk and epoch i, res i，tk represents the ionospheric residual.

[0086] After calculating the ionospheric residuals of multiple epochs based on formula group 5, the ionospheric correction number corresponding to the epoch with the smallest ionospheric residual is selected as the ionospheric coefficient a.

[0087] After the ionospheric coefficient a and the ionospheric change rate b are determined, the predicted ionospheric correction number is calculated based on the first solution data, the ionospheric change rate and the ionospheric coefficient. s (t) can be calculated by formula 6:

[0088] ion s (t) = a + b × Δtn

[0089] Δt n It is the difference between epoch t and the epoch time of the initial ionospheric correction.

[0090] After the predicted ionospheric correction number is determined, the target ionospheric filter parameters can be calculated based on the predicted ionospheric correction number. The target ionospheric filter parameters can be calculated using Formula 7:

[0091] ion s (t)-ion ref (t) = I s (t)-I ref (t)+ε ion

[0092] Based on formula 7, the target ionospheric filter parameters of all satellites can be obtained, where andion ref (t) respectively represent the predicted ionospheric corrections of satellite s and reference satellite ref at epoch t, ​​I s (t) and I ref (t) represent the target ionospheric filter parameters of satellite s and reference satellite ref at epoch t, ​​ε ion Represents ionospheric noise.

[0093] S160, inputting the second receiver observation data into the second filter, and outputting third solution data, wherein the second filter is the first filter in which the original ionospheric filter parameters are replaced with the target ionospheric filter parameters.

[0094] Ionospheric filter parameters are also called ionospheric delay. When outputting the third solution data, the original ionospheric delay The target ionospheric filter parameters are replaced by equation 1 for calculation.

[0095] S170: When the second solution data and the third solution data satisfy a preset convergence condition, the third solution data is determined as re-convergent solution data.

[0096] In one embodiment, the second solution data includes a first pseudorange residual root mean square of the first filter, the third solution data includes a second pseudorange residual root mean square of the second filter, and the preset convergence condition includes:

[0097] The second pseudorange residual root mean square is smaller than the first pseudorange residual root mean square.

[0098] The pseudorange residual root mean square sigma can be calculated by the following formula 8:

[0099]

[0100] resi，tk =ion i -(ion tk +b·Δt)

[0101] In one embodiment, the method further comprises:

[0102] S180, when the preset convergence condition is not met, adjust the first receiver observation data according to the preset adjustment rule, return to input the first receiver observation data into the first filter, output the first solution data, re-output the third solution data, until the re-output third solution data meets the preset convergence condition, and determine the re-output third solution data as the re-converged solution data.

[0103] In one embodiment, the first receiver observation data includes a satellite altitude angle, and the preset adjustment rule includes:

[0104] Arrange the first receiver observation data in descending order according to the satellite elevation angle; and remove a preset number of first receiver observation data that are arranged at the rear.

[0105] The embodiment of the present application re-constrains the filter through the first receiver observation data and the first solution data received and solved by the receiver itself, that is, the target ionosphere filter parameters are determined according to the first solution data and the first receiver observation data, and the solution data is quickly reconverged through the filter constrained by the target ionosphere filter parameters. Since the first receiver observation data and the first solution data are directly obtainable and generated by the receiver itself, the rapid reconvergence of precise single-point positioning can be achieved; and the accuracy of the reconverged solution data is also judged by the second solution data and the third solution data, so that the determined reconverged solution data has high accuracy.

[0106] Figure 1 The fast reconvergence method of precise point positioning is described below. Figure 2 and attached Figure 3 Describe the device provided in the embodiment of the present application.

[0107] Figure 2 A schematic diagram of the structure of a fast reconvergence device for precise single-point positioning provided by an embodiment of the present application is shown. Figure 2 Each module in the device shown has the function of realizing Figure 1 The functions of each step in the process can achieve the corresponding technical effects. Figure 2 As shown, the device may include:

[0108] The acquisition module 210 is used to acquire first receiver observation data of multiple satellites received by the multi-frequency receiver.

[0109] The output module 220 is used to input the first receiver observation data into the first filter and output the first solution data.

[0110] The first filter is set with raw ionospheric filter parameters.

[0111] The acquisition module 210 is further configured to acquire the second receiver observation data of multiple satellites received by the multi-frequency receiver when the first receiver observation data meets a preset trigger condition.

[0112] The output module 220 is further used to input the second receiver observation data into the first filter and output second solution data.

[0113] The determination module 230 is used to determine the target ionospheric filter parameters according to the first solution data and the first receiver observation data.

[0114] The output module 220 is further used to input the second receiver observation data into the second filter and output the third solution data.

[0115] The second filter is the first filter in which the original ionospheric filter parameters are replaced with the target ionospheric filter parameters.

[0116] The determining module 230 is further configured to determine the third solution data as re-convergent solution data when the second solution data and the third solution data satisfy a preset convergence condition.

[0117] The embodiment of the present application re-constrains the filter through the first receiver observation data and the first solution data received and solved by the receiver itself, that is, the target ionosphere filter parameters are determined according to the first solution data and the first receiver observation data, and the solution data is quickly reconverged through the filter constrained by the target ionosphere filter parameters. Since the first receiver observation data and the first solution data are directly obtainable and generated by the receiver itself, the rapid reconvergence of precise single-point positioning can be achieved; and the accuracy of the reconverged solution data is also judged by the second solution data and the third solution data, so that the determined reconverged solution data has high accuracy.

[0118] In one embodiment, the determination module 230 may be specifically configured to:

[0119] The ionospheric change rate and the ionospheric coefficient are calculated based on the first solution data.

[0120] The predicted ionospheric correction number is calculated based on the first solution data, the ionospheric change rate and the ionospheric coefficient.

[0121] The target ionospheric filter parameters are calculated based on the predicted ionospheric correction numbers.

[0122] In one embodiment, the second solution data includes a first pseudorange residual root mean square of the first filter, and the third solution data includes a second pseudorange residual root mean square of the second filter.

[0123] Preset convergence conditions, including:

[0124] The second pseudorange residual root mean square is smaller than the first pseudorange residual root mean square.

[0125] In one embodiment, the apparatus further comprises:

[0126] The adjustment module is used to adjust the observation data of the first receiver according to the preset adjustment rules when the preset convergence conditions are not met, return the observation data of the first receiver to the first filter, output the first solution data, and re-output the third solution data until the re-output third solution data meets the preset convergence conditions, and determine the re-output third solution data as the re-converged solution data.

[0127] In one embodiment, the first receiver observation data includes satellite altitude angles.

[0128] Preset adjustment rules, including:

[0129] Arrange the observation data of the first receiver in descending order according to the size of the satellite elevation angle.

[0130] Eliminate the first receiver observation data whose arrangement results are a preset number later.

[0131] The embodiment of the present application re-constrains the filter through the first receiver observation data and the first solution data received and solved by the receiver itself, that is, the target ionosphere filter parameters are determined according to the first solution data and the first receiver observation data, and the solution data is quickly reconverged through the filter constrained by the target ionosphere filter parameters. Since the first receiver observation data and the first solution data are directly obtainable and generated by the receiver itself, the rapid reconvergence of precise single-point positioning can be achieved; and the accuracy of the reconverged solution data is also judged by the second solution data and the third solution data, so that the determined reconverged solution data has high accuracy.

[0132] Figure 3 FIG. 1 is a schematic diagram showing a structure of a fast reconvergence device for precise single-point positioning provided by an embodiment of the present application. Figure 3 As shown, the device may include a processor 301 and a memory 302 storing computer program instructions.

[0133] Specifically, the processor 301 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0134] The memory 302 may include a large capacity memory for data or instructions. By way of example and not limitation, the memory 302 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive or a combination of two or more of these. In one example, the memory 302 may include a removable or non-removable (or fixed) medium, or the memory 302 is a non-volatile solid-state memory. The memory 302 may be inside or outside the integrated gateway disaster recovery device.

[0135] In one example, the memory 302 may be a read-only memory (ROM). In one example, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), an electrically rewritable ROM (EAROM), or a flash memory, or a combination of two or more of these.

[0136] The processor 301 reads and executes the computer program instructions stored in the memory 302 to implement Figure 1 The method in the embodiment shown in the figure is achieved Figure 1 The corresponding technical effects achieved by executing the method in the example shown are not repeated here for the sake of brevity.

[0137] In one example, the precise point positioning fast reconvergence device may further include a communication interface 303 and a bus 310. Figure 3 As shown, the processor 301, the memory 302, and the communication interface 303 are connected via a bus 310 and communicate with each other.

[0138] The communication interface 303 is mainly used to implement communication between various modules, devices, units and / or equipment in the embodiments of the present application.

[0139] Bus 310 includes hardware, software or both, and the components of online data flow billing equipment are coupled to each other. For example, but not limitation, bus may include accelerated graphics port (Accelerated Graphics Port, AGP) or other graphics bus, enhanced industry standard architecture (Extended Industry Standard Architecture, EISA) bus, front side bus (Front Side Bus, FSB), Hyper Transport (Hyper Transport, HT) interconnection, industry standard architecture (Industry Standard Architecture, ISA) bus, infinite bandwidth interconnection, low pin count (LPC) bus, memory bus, micro channel architecture (MCA) bus, peripheral component interconnection (PCI) bus, PCI-Express (PCI-X) bus, serial advanced technology attachment (SATA) bus, video electronics standard association local (VLB) bus or other suitable bus or two or more of these combinations. In appropriate cases, bus 310 may include one or more buses. Although the present application embodiment describes and shows a specific bus, the present application considers any suitable bus or interconnection.

[0140] The precise single-point positioning fast reconvergence device can execute the precise single-point positioning fast reconvergence method in the embodiment of the present application, thereby achieving Figure 1 The corresponding technical effects of the fast reconvergence method for precise point positioning are described.

[0141] In addition, in combination with the fast reconvergence method for precise point positioning in the above embodiments, the embodiments of the present application may provide a computer storage medium for implementation. The computer storage medium stores computer program instructions; when the computer program instructions are executed by a processor, any fast reconvergence method for precise point positioning in the above embodiments is implemented.

[0142] It should be clear that the present application is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present application is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present application.

[0143] The functional blocks shown in the above-described block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), appropriate firmware, plug-in, function card, etc. When implemented in software, the elements of the present application are programs or code segments used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or communication link by a data signal carried in a carrier. "Machine-readable medium" may include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (Radio Frequency, RF) links, etc. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

[0144] It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, this application is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiment, or in a different order from the embodiment, or several steps can be performed simultaneously.

[0145] The above reference is according to the method of the embodiment of the present application, the flow chart of the device (system) and the computer program product and / or the block diagram described various aspects of the present application.It should be understood that each square box in the flow chart and / or the block diagram and the combination of each square box in the flow chart and / or the block diagram can be realized by computer program instructions.These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer or other programmable data processing device to produce a machine so that these instructions executed by the processor of the computer or other programmable data processing device enable the realization of the function / action specified in one or more square boxes of the flow chart and / or the block diagram.Such a processor can be but is not limited to a general-purpose processor, a special-purpose processor, a special application processor or a field programmable logic circuit.It can also be understood that each square box in the block diagram and / or the flow chart and the combination of the square boxes in the block diagram and / or the flow chart can also be realized by the dedicated hardware that performs the specified function or action, or can be realized by the combination of dedicated hardware and computer instructions.

[0146] The above is only a specific implementation of the present application. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the protection scope of the present application is not limited to this. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in this application, and these modifications or replacements should be included in the protection scope of this application.

Claims

1. A fast reconvergence method for precise point positioning, characterized in that: include: Acquiring first receiver observation data of a plurality of satellites received by a multi-frequency receiver; Inputting the first receiver observation data into a first filter and outputting first solution data, wherein the first filter is provided with original ionospheric filter parameters; When the first receiver observation data meets a preset trigger condition, obtaining the second receiver observation data of multiple satellites received by the multi-frequency receiver; Inputting the second receiver observation data into the first filter and outputting second solution data; Determining target ionospheric filtering parameters according to the first solution data and the first receiver observation data; Inputting the second receiver observation data into a second filter and outputting third solution data, wherein the second filter is the first filter with the original ionosphere filter parameters replaced by the target ionosphere filter parameters; When the second solution data and the third solution data meet a preset convergence condition, the third solution data is determined as re-convergent solution data.

2. The rapid reconvergence method for precise point positioning according to claim 1, characterized in that: The determining the target ionosphere filtering parameters according to the first solution data and the first receiver observation data includes: Calculating the ionospheric change rate and the ionospheric coefficient according to the first solution data; Calculating a predicted ionospheric correction number according to the first solution data, the ionospheric change rate and the ionospheric coefficient; The target ionospheric filter parameters are calculated based on the predicted ionospheric correction number.

3. The rapid reconvergence method for precise point positioning according to claim 1, characterized in that: The second solution data includes a first pseudorange residual root mean square of the first filter, and the third solution data includes a second pseudorange residual root mean square of the second filter; The preset convergence condition includes: The second pseudorange residual root mean square is smaller than the first pseudorange residual root mean square.

4. The rapid reconvergence method for precise point positioning according to claim 1, characterized in that: The method further comprises: When the preset convergence condition is not met, the first receiver observation data is adjusted according to the preset adjustment rule, the first receiver observation data is returned to be input into the first filter, the first solution data is output, and the third solution data is re-output until the re-output third solution data meets the preset convergence condition, and the re-output third solution data is determined as the re-converged solution data.

5. The rapid reconvergence method for precise point positioning according to claim 4, characterized in that: The first receiver observation data includes satellite altitude angle; The preset adjustment rules include: Arranging the first receiver observation data in descending order according to the satellite altitude angle; Eliminate the first receiver observation data whose arrangement results are a preset number later.

6. A fast reconvergence device for precise single-point positioning, characterized in that: include: An acquisition module, used for acquiring first receiver observation data of multiple satellites received by a multi-frequency receiver; An output module, used for inputting the first receiver observation data into a first filter and outputting first solution data, wherein the first filter is provided with original ionospheric filter parameters; The acquisition module is further used to acquire the second receiver observation data of multiple satellites received by the multi-frequency receiver when the first receiver observation data meets the preset trigger condition; The output module is further used to input the second receiver observation data into the first filter and output second solution data; A determination module, used to determine target ionospheric filtering parameters according to the first solution data and the first receiver observation data; The output module is further used to input the second receiver observation data into a second filter and output third solution data, wherein the second filter is the first filter in which the original ionosphere filter parameters are replaced with the target ionosphere filter parameters; The determining module is further configured to determine the third solution data as re-convergent solution data when the second solution data and the third solution data satisfy a preset convergence condition.

7. The rapid reconvergence device for precise single-point positioning according to claim 6, characterized in that: The determination module is specifically used for: Calculating the ionospheric change rate and the ionospheric coefficient according to the first solution data; Calculating a predicted ionospheric correction number according to the first solution data, the ionospheric change rate and the ionospheric coefficient; The target ionospheric filter parameters are calculated based on the predicted ionospheric correction number.

8. The rapid reconvergence device for precise single-point positioning according to claim 6, characterized in that: The second solution data includes a first pseudorange residual root mean square of the first filter, and the third solution data includes a second pseudorange residual root mean square of the second filter; The preset convergence condition includes: The second pseudorange residual root mean square is smaller than the first pseudorange residual root mean square.

9. The rapid reconvergence device for precise single-point positioning according to claim 6, characterized in that: The device also includes: An adjustment module is used to adjust the first receiver observation data according to a preset adjustment rule when the preset convergence condition is not met, return the first receiver observation data to the first filter, output the first solution data, and re-output the third solution data until the re-output third solution data meets the preset convergence condition, and determine the re-output third solution data as the re-converged solution data.

10. The rapid reconvergence device for precise single-point positioning according to claim 9, characterized in that: The first receiver observation data includes satellite altitude angle; The preset adjustment rules include: Arranging the first receiver observation data in descending order according to the satellite altitude angle; Eliminate the first receiver observation data whose arrangement results are a preset number later.

11. A fast reconvergence device for precise single-point positioning, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the computer program is executed by the processor, the fast reconvergence method for precise point positioning as claimed in any one of claims 1 to 5 is implemented.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores an implementation program for information transmission, and when the program is executed by a processor, the fast reconvergence method for precise point positioning according to any one of claims 1 to 5 is implemented.

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