Positioning method, device, equipment and computer storage medium

Abstract

The present invention discloses a positioning method, device, equipment and computer storage medium, which can determine the grid point where the user is located and the target main station according to the user's positioning request based on the grid point with multiple altitude layers; then solve the target data to obtain the differential correction data of different altitude layers in the grid point. In this way, based on the differential correction data with multiple altitude layer attributes, when the user is RTK positioned, the positioning accuracy of RTK positioning can be improved, and a more accurate user positioning result can be obtained.

Description

Technical Field

[0001] The present invention relates to the field of satellite positioning technology, and in particular to a positioning method, device, equipment and computer storage medium. Background Art

[0002] In the GNSS (Global Navigation Satellite System) positioning process, carrier phase observations must be used. RTK (Real-Time Kinematic) is a real-time kinematic positioning technology based on carrier phase observations.

[0003] The grid network RTK technology is to grid the base station network, divide the grid points according to equal distance intervals (such as 5km), generate corresponding differential correction numbers according to the coordinates of each grid point and store them in the grid database. When the user needs to locate, the mobile station uploads the user's approximate location information (such as longitude and latitude) in real time. The approximate location information has a fixed elevation. Based on the approximate location information, the server obtains the differential correction number of the grid point closest to the mobile station from the grid database, broadcasts it to the mobile station, and uses RTK technology to perform high-precision positioning of the user.

[0004] However, within the coverage of the same grid point, there may be multiple users with greatly different elevations (such as users measuring at different undulating points on the hills, users measuring on the ground and on the top floor of a tall building, etc.). When the broadcasted differential correction number only corresponds to the elevation of a fixed layer of grid points, the elevation of the grid points may differ by hundreds of meters from the elevation of some users' measurement locations, making the final calculated atmospheric error data inaccurate. When the user uses this differential correction number with hundreds of meters of elevation difference for RTK positioning, the positioning result obtained is also inaccurate. Summary of the invention

[0005] The embodiments of the present disclosure provide a positioning method, apparatus, device and computer storage medium, which can improve the accuracy of RTK positioning of users.

[0006] In one aspect, an embodiment of the present disclosure provides a positioning method, the method comprising:

[0007] According to the user's positioning request, the grid point corresponding to the positioning request and the target master station corresponding to the grid point are determined; the target master station is a base station within the preset range of the user; the grid points are divided into multiple altitude layers;

[0008] Obtain observation data through the target master station, and determine target data based on the grid points and the target master station; the target data includes at least one of the following data: geometric distance correction data of observation satellites corresponding to different altitude layers of the grid points, tropospheric model error correction data corresponding to different altitude layers of the grid points, and ionosphere and troposphere interpolation correction data corresponding to different altitude layers of the grid points;

[0009] According to the observation data and target data, the differential correction data of different altitude layers in the corresponding grid points are solved;

[0010] Based on the differential correction data, the user is positioned in real time through the network using RTK.

[0011] In some embodiments, based on the grid points and the target master station, determining the target data includes:

[0012] Determine the first coordinates of the grid point and the second coordinates of the target master station; the first coordinates include longitude and latitude coordinates and elevation coordinates corresponding to different altitude layers;

[0013] According to the first coordinates, first distances from the observation satellite to different altitude layers in the grid points are calculated, and first distance arrays corresponding to the different altitude layers in the grid points are formed;

[0014] Calculate a second distance from the observation satellite to the target main station according to the second coordinate;

[0015] The data in the first distance array are subtracted from the second distance respectively to obtain the geometric distance correction data of the observation satellite at different altitude layers of the corresponding grid points.

[0016] In some embodiments, based on the grid points and the target master station, determining the target data includes:

[0017] Determine the first coordinates of the grid point; the first coordinates include latitude and longitude coordinates and elevation coordinates corresponding to different altitude layers;

[0018] The first coordinate is input into a preset tropospheric error correction model to solve the tropospheric model error correction data of different altitude layers corresponding to the grid points.

[0019] In some embodiments, the tropospheric error correction model is one of the following models:

[0020] Niell model, UNB3 model, EGNOS model, Black model, Hopfield model, Saastamoinen model and WAAS model.

[0021] In some embodiments, based on the grid points and the target master station, determining the target data includes:

[0022] Determine the first coordinates of the grid point; the first coordinates include latitude and longitude coordinates and elevation coordinates corresponding to different altitude layers;

[0023] Select a target baseline that meets the preset baseline conditions from the base station network where the grid points are located, and determine the double-difference ionospheric error value and the double-difference tropospheric error value of the target baseline;

[0024] According to the double-difference ionospheric error value and the double-difference tropospheric error value of the first coordinate and the target baseline, the ionospheric and tropospheric interpolation correction data of different altitude layers of the corresponding grid points are obtained by interpolation algorithm.

[0025] In some embodiments, based on the observation data and the target data, solving the differential correction data of different altitude layers in the corresponding grid points includes:

[0026] Substitute the target data into the pre-established differential correction data solution equation to solve the differential correction data of different altitude layers in the corresponding grid points;

[0027] Pre-established differential correction data solution equations include:

[0028]

[0029] In formula (1),

[0030] O nf is the differential correction array corresponding to nf altitude layers, P i is the i-th frequency pseudorange observation value of the target master station, dR nf is the distance correction data corresponding to nf altitude layers, ΔT m nf is the tropospheric model error correction data of nf altitude layers, ΔI nf is the ionospheric interpolation correction data of nf altitude layers, ΔT nf is the interpolated correction data of the troposphere at nf altitude layers; f 1 is the first frequency of the target master station, L i is the phase carrier observation data of the i-th frequency, λ i is the corresponding carrier observation data L i Corresponding wavelength, f i is the frequency of the i-th frequency.

[0031] In some embodiments, network real-time dynamic RTK positioning is performed on the user based on the differential correction data, including:

[0032] According to the real-time approximate coordinate information uploaded in the user positioning request, the target differential correction number of the corresponding altitude layer is matched from the differential correction data;

[0033] The target differential correction number is broadcast to the mobile station corresponding to the user, so as to perform network real-time dynamic RTK positioning for the user through the target differential correction number.

[0034] In some embodiments, before determining the corresponding grid point and the target master station corresponding to the grid point according to the user's positioning request, the method further includes:

[0035] Divide the area covered by the base station into grid points, and divide the height layers of the grid points according to the elevation conditions and tropospheric changes in the area;

[0036] According to multiple base stations within a preset range, baselines are formed between two base stations, and multiple baselines constitute a base station network;

[0037] According to the observation data and coordinates of the base station, the double-difference wide-lane ambiguity and double-difference narrow-lane ambiguity of each baseline are fixed;

[0038] According to the double-difference wide-lane ambiguity and the double-difference narrow-lane ambiguity, the double-difference ionospheric error value and the double-difference tropospheric error value of the corresponding baseline are solved.

[0039] On the other hand, an embodiment of the present disclosure provides a positioning device, the device comprising:

[0040] The first determination module is used to determine the corresponding grid point and the target master station corresponding to the grid point according to the user's positioning request; the target master station is a base station within a preset range from the user; the grid point is divided into multiple altitude layers;

[0041] The second determination module is used to obtain observation data through the target master station and determine target data based on the grid points and the target master station; the target data includes at least one of the following data: observation satellite geometric distance correction data corresponding to different altitude layers of the grid points, tropospheric model error correction data corresponding to different altitude layers of the grid points, and ionosphere and troposphere interpolation correction data corresponding to different altitude layers of the grid points;

[0042] The first solution module is used to solve the differential correction data of different altitude layers in the corresponding grid points according to the observation data and the target data;

[0043] The positioning module is used to perform network real-time dynamic RTK positioning for users based on differential correction data.

[0044] In another aspect, an embodiment of the present disclosure provides a positioning device, the device comprising: a processor and a memory storing computer program instructions;

[0045] When the processor executes the computer program instructions, the positioning method according to any embodiment of the first aspect is implemented.

[0046] On the other hand, an embodiment of the present disclosure provides a computer storage medium, on which computer program instructions are stored. When the computer program instructions are executed by a processor, a positioning method as in any embodiment of the first aspect is implemented.

[0047] The positioning method, device, equipment and computer storage medium of the disclosed embodiment can determine the grid point where the user is located and the target main station according to the user's positioning request based on the grid point with multiple altitude layers; then solve the target data to obtain the differential correction data of different altitude layers in the grid point. In this way, when performing RTK positioning on the user based on the differential correction data with altitude layer attributes, the positioning accuracy of RTK positioning can be improved, and a more accurate user positioning result can be obtained. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solution of the embodiment of the present disclosure, the following is a brief introduction to the drawings required for use in the embodiment of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0049] Figure 1 is a flowchart of a positioning method provided by an embodiment of the present disclosure;

[0050] Figure 2 is a flowchart of a positioning method in a specific embodiment of the present disclosure;

[0051] Figure 3 is a flowchart of step S102 in a specific example of the present disclosure;

[0052] Figure 4 is a flowchart of step S102 in another specific example of the present disclosure;

[0053] Figure 5 is a flowchart of step S102 in another specific example of the present disclosure;

[0054] Figure 6 is a flowchart of a positioning method in another specific embodiment of the present disclosure;

[0055] Figure 7 is a structural schematic diagram of a positioning device provided by another embodiment of the present disclosure;

[0056] Figure 8 is a structural schematic diagram of a positioning device provided by a specific embodiment of the present disclosure;

[0057] Fig. 9 It is a structural diagram of a positioning device provided by yet another embodiment of the present disclosure. DETAILED DESCRIPTION

[0058] The features and exemplary embodiments of various aspects of the present disclosure will be described in detail below. In order to make the purpose, technical solutions and advantages of the present disclosure clearer, the present disclosure 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 intended to explain the present disclosure, rather than to limit the present disclosure. For those skilled in the art, the present disclosure can be implemented without the need for some of these specific details. The following description of the embodiments is only intended to provide a better understanding of the present disclosure by illustrating examples of the present disclosure.

[0059] 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.

[0060] The basic principle of network RTK (Real-Time Kinematic, real-time dynamic carrier phase differential positioning technology) is: sparsely and evenly deploy multiple base stations (also known as "base stations", the same below) in a larger area to form a base station network; provide high-precision differential correction data for mobile stations within the coverage of the base station network, thereby achieving high-precision positioning of mobile stations. Usually, in the network RTK algorithm, the method of directly responding to the user's positioning request is adopted, and the corresponding differential correction data is provided to each user based on the user's approximate position contained in the positioning request.

[0061] However, in scenarios with a large number of users and high concurrency, the computing resources of the data center supporting the operation of this network RTK algorithm will be reused, resulting in a large computing load. Therefore, gridded network RTK technology came into being. Gridded network RTK technology is to grid the area covered by the base station network in the plane dimension, divide it into grid points at equal distances (such as 5km), and generate corresponding differential correction numbers based on the coordinates of each grid point and store them in the grid database to reduce repeated calculations when positioning users.

[0062] In grid network RTK technology, there may be multiple users with large elevation differences within the coverage of the same grid point, but the differential correction numbers stored in the database for the grid points divided by the plane dimension only correspond to one layer of elevation. If all users within the coverage of the same grid point use the differential correction numbers generated by the grid point coordinates, the base station will not be able to take into account all users within the range when broadcasting the differential correction numbers to the users. For example, the elevation of the grid point may differ by hundreds of meters from the elevation of the actual measurement location of some users. In this way, if the user end uses the above differential correction numbers with hundreds of meters of elevation difference for RTK solution, the positioning result obtained will introduce several centimeters of error, which is unacceptable in scenarios such as high-precision measurement and mapping. In other words, when the elevation of the differential correction number received by the user end deviates greatly from the actual elevation of the user, the error introduced by the elevation difference will lead to poor elevation accuracy of the RTK positioning result.

[0063] In order to solve the problems in the prior art, the embodiments of the present disclosure provide a positioning method, an apparatus, a device and a computer storage medium. The positioning method provided by the embodiments of the present disclosure is first introduced below.

[0064] Figure 1 FIG. 1 is a flow chart of a positioning method provided by an embodiment of the present disclosure. Figure 1 As shown, the method includes:

[0065] S101. According to the user's positioning request, determine the grid point corresponding to the positioning request and the target master station corresponding to the grid point; the target master station is a base station within a preset range from the user; the grid points are divided into multiple height layers;

[0066] S102. Obtain observation data through the target master station, and determine target data based on the grid points and the target master station; the target data includes at least one of the following data: geometric distance correction data of observation satellites corresponding to different altitude layers of the grid points, tropospheric model error correction data corresponding to different altitude layers of the grid points, and ionosphere and troposphere interpolation correction data corresponding to different altitude layers of the grid points;

[0067] S103. Calculate the differential correction data of different altitude layers in the corresponding grid points according to the observation data and target data;

[0068] S104. Perform network real-time dynamic RTK positioning for the user based on the differential correction data.

[0069] In this embodiment, the user's positioning request contains the user's approximate position coordinate information (i.e., the user's measured position coordinates, which are solved by the user end). Based on the grid points with multiple altitude layers, when the user's positioning request is received, the grid point where the user is located and the nearest target master station corresponding to the grid point are first determined according to the approximate position coordinate information in the positioning request. Based on the target master station, observation data can be obtained. Since the grid points have altitude layer attributes, the geometric distance correction data of the observation satellite corresponding to the different altitude layers of the grid points, the tropospheric model error correction data corresponding to the different altitude layers of the grid points, and the ionosphere and troposphere interpolation correction data corresponding to the different altitude layers of the grid points and other target data can be calculated based on the grid point coordinates and the target master station coordinates.

[0070] Then, based on the above observation data and target data, the differential correction data of different altitude layers in the grid points can be solved. In this way, when performing RTK positioning for users based on the differential correction data with altitude layer attributes, the positioning accuracy of RTK positioning can be improved, and more accurate user positioning results can be obtained.

[0071] This embodiment uses the differential correction number with the attribute of the altitude layer, and can broadcast the elevation differential correction number in the corresponding layer when the user is positioned, and output the differential correction number that is more in line with the user's elevation, thereby improving the elevation positioning accuracy of the user-side RTK. It solves the problem that when the grid network RTK broadcasts a single-layer elevation differential correction number, the difference between the broadcast differential correction number elevation and the user's elevation in the area with large elevation difference is large, which leads to a large error in the elevation of the user-side RTK positioning result.

[0072] In a specific embodiment, before step S101, Figure 2 As shown, the positioning method also includes:

[0073] S201. Divide the area covered by the base station into grid points, and divide the height layers of the grid points according to the elevation conditions and tropospheric changes in the area;

[0074] S202. Based on multiple base stations within a preset range, a baseline is formed between two base stations, and multiple baselines constitute a base station network;

[0075] S203. According to the observation data and coordinates of the base station, the double-difference wide lane ambiguity and double-difference narrow lane ambiguity of each baseline are fixed;

[0076] S204. According to the double-difference wide-lane ambiguity and the double-difference narrow-lane ambiguity, the double-difference ionospheric error value and the double-difference tropospheric error value of the corresponding baseline are solved.

[0077] Exemplarily, in step S201, when dividing the area covered by the base station into grid points, the plane dimension can be divided according to regular shapes, such as regular quadrilaterals or regular hexagons with a spacing of 5 km. At the same time, according to the elevation conditions in the area and the changes in the troposphere, the height layers of the grid points are divided to obtain grid points with different height layers.

[0078] For example, areas with large height differences (i.e. elevation differences, the same below) are divided into nf altitude layers (such as nf=10, divided into 10 layers), each layer is hf meters (such as hf=100 or hf=200). Generally, hf should not be greater than 300 to avoid large errors in the differential correction numbers of the corresponding elevations broadcast during positioning due to excessive intervals between altitude layers.

[0079] The grid point coordinates are updated according to the divided altitude layers, that is, the plane coordinates of each grid point remain unchanged, and the elevation coordinates of the grid point become a coordinate set consisting of nf different elevation coordinates. Then the coordinates of the grid point can be expressed as the following formula (1):

[0080]

[0081] In formula (1),

[0082] Lat, lon, and h are the longitude, latitude, and elevation coordinates of the grid point, respectively;

[0083] h 0 …h nf are the elevation coordinates of different altitude layers.

[0084] Exemplarily, when networking and baseline solving are performed through step S202, for multiple base stations within a preset range, each of the base stations is connected to form a baseline, and multiple base stations and multiple baselines within the range can form a base station network.

[0085] High-precision GNSS positioning technology must use carrier phase observations, and RTK positioning technology is a real-time dynamic positioning technology based on carrier phase observations. Therefore, each base station obtains observation data for solution in subsequent steps. The observation data obtained by the base station includes carrier phase observation data and pseudorange observation data.

[0086] Exemplarily, in step S203, the double-difference wide lane ambiguity and the double-difference narrow lane ambiguity of each baseline are fixed using the observation data and base station coordinates.

[0087] In this example, when the double-difference wide-lane ambiguity of each baseline is fixed, the following formula (2) can be used:

[0088]

[0089] In formula (2),

[0090] is the double difference wide lane ambiguity (WL stands for WideLane); f 1 、f 2 are the first frequency and the second frequency of the base station carrier phase observation data, respectively, 1 , 2 are the first frequency wavelength and the second frequency wavelength respectively; P 1 , L 1 , P 2 , L 2 They are respectively the first frequency pseudorange observation quantity, the first frequency phase observation quantity, the second frequency pseudorange observation quantity and the second frequency phase observation quantity; They are respectively the first frequency double-difference pseudorange observation quantity, the first frequency double-difference phase observation quantity, the second double-difference frequency pseudorange observation quantity and the second frequency double-difference phase observation quantity.

[0091] Similarly, by using the following formula (3), the observation value and related parameters such as the base station coordinates in the network are combined in narrow lanes to obtain the double-difference narrow lane ambiguity:

[0092]

[0093] In formula (3),

[0094] is the double difference narrow lane ambiguity (NL is NarrowLane, i.e. wide lane); f NL (*) is the narrow lane combination function, P 1 , L 1 , P 2 , L 2 are the first frequency pseudorange observation, the first frequency phase observation, the second frequency pseudorange observation, and the second frequency phase observation respectively; k ,y k 、z k are the three-dimensional coordinate values ​​of the kth baseline respectively.

[0095] In this example, in step S204, the double-difference phase integer ambiguity of each frequency point can be inversely calculated according to the double-difference wide lane ambiguity and the double-difference narrow lane ambiguity according to the following equations (4) and (5):

[0096]

[0097]

[0098] In formula (4) and formula (5),

[0099] They are the first-frequency double-difference phase integer ambiguity and the second-frequency double-difference phase integer ambiguity respectively.

[0100] The double-difference ionospheric error value of each baseline is calculated based on the double-difference phase integer ambiguity of each frequency point and the observation data. and double difference tropospheric error The double difference tropospheric error value It can be solved by the following formula (6):

[0101]

[0102] In formula (6), is the double-difference tropospheric error value, c is the speed of light, and ρ is the geometric distance between the satellite and the receiver.

[0103] It can be understood by those skilled in the art that the double difference ionospheric error value It can also be obtained by reverse calculation using the principle similar to formula (6).

[0104] After gridding of different elevation layers and networking of base stations, the observation data, base station coordinates, antenna data of the base stations in the network, and the above-mentioned double-difference wide lane ambiguity, double-difference narrow lane ambiguity, double-difference tropospheric error value and double-difference ionospheric error value fixed based on the observation data are saved in the base station database for easy call-up during subsequent RTK positioning solution.

[0105] In this example, when executing step S101, the positioning request uploaded by the user includes the user's approximate location, and the grid point where the user is located can be determined based on the probabilistic location. According to the coordinates of the determined grid point, the base station closest to the grid point in the base station network is selected as the target master station. That is, through step S101, it can be determined which base station's coverage range the grid point where the user is located belongs to, and then the base station is used as the target master station for positioning solution.

[0106] In this embodiment, through step S102, based on the determined target master station, the observation data of the target master station can be acquired, including carrier phase observation data and pseudorange observation data.

[0107] In this embodiment, target data is also determined based on the target master station and grid point coordinates to be used for calculating differential correction data corresponding to the altitude layer where the user is located.

[0108] For example, the target data may include geometric distance correction data of observation satellites at different altitudes of corresponding grid points. Figure 3 As shown, step S102 determines the target data based on the grid points and the target master station, which may include:

[0109] S301. Determine the first coordinate of the grid point and the second coordinate of the target master station; the first coordinate (lat, lon, h) includes the longitude and latitude coordinates and the elevation coordinates corresponding to different altitude layers; the second coordinate can be directly retrieved from the target master station.

[0110] S302. Calculate first distances from the observation satellite to different altitude layers in the grid points according to the first coordinates, and form first distance arrays corresponding to different altitude layers in the grid points.

[0111] In this step, the first distance ρ of the observation satellite to different altitude layers nf in the grid point nf , we can obtain it by subtracting the coordinates of the known observation satellite from the position coordinates of the grid points at different altitude layers nf. The set of distance values ​​between each altitude layer nf and the observation satellite, that is, the first distance array {ρ corresponding to the grid points at different altitude layers nf 1 , 2 ,……,ρ nf}.

[0112] S303. Calculate the second distance ρ from the observation satellite to the target main station according to the second coordinate ref ; The second distance ρ ref It can be obtained by subtracting the coordinates of the known observed satellite from the second coordinate.

[0113] S304. Subtract the data in the first distance array from the second distance to obtain the geometric distance correction data of the observation satellite at different altitude layers of the corresponding grid points.

[0114] A specific example of step S304 is to calculate by the following formula (7):

[0115] dR nf =ρ nf -cdt-ρ ref (7)

[0116] In formula (7),

[0117] cdt is the observed satellite clock error, ρ ref is the distance from the observation satellite to the ground target main station, ρ nf is the distance from the satellite to the grid points of each layer (nf layer) on the ground, dR nf It is the distance correction array corresponding to different altitude layers.

[0118] The geometric distance correction number of the observation satellite is one of the parameters for solving the differential correction data. In this embodiment, the parameter is layered according to the elevation. In this way, the differential correction data calculated using the geometric distance correction data of the observation satellites at different altitude layers of the corresponding grid points can also correspond to different elevations, thereby reducing the difference in elevation caused by the differential correction number to the RTK positioning solution.

[0119] Similarly, illustratively, the target data may also include tropospheric model error correction data corresponding to different altitude layers of the grid points. Figure 4As shown, step S102 determines the target data based on the grid points and the target master station, and may also include:

[0120] S401. Determine the first coordinate of the grid point; the first coordinate (lat, lon, h) includes the latitude and longitude coordinates and the elevation coordinates corresponding to different altitude layers;

[0121] S402. Input the first coordinate into a preset tropospheric error correction model to solve the tropospheric model error correction data of different altitude layers corresponding to the grid points.

[0122] In this example, the preset tropospheric error correction model may be a Niell model, a UNB3 model, an EGNOS model, a Black model, a Hopfield model, a Saastamoinen model, a WAAS model, etc., without any limitation.

[0123] In this example, the tropospheric error correction model of step S402 can be expressed by the following equation (8):

[0124]

[0125] In formula (8),

[0126] ΔT m nf is the multi-layer (nf layer) tropospheric model error correction number (m is model, representing the model correction number), f(*) is the corresponding model function, (lat, lon, h nf ) are the coordinates of grid points at different height layers, and the model function estimates the corresponding error correction number based on the grid point coordinates.

[0127] The tropospheric model error correction number is also one of the parameters for solving the differential correction data. In this embodiment, the parameter is layered by elevation, and then the tropospheric model error correction number of the corresponding grid point at different altitude layers can be used to solve the differential correction data, further reducing the difference in elevation caused by the differential correction number to the RTK positioning solution.

[0128] Exemplarily, the target data may also include ionosphere and troposphere interpolation correction data corresponding to different altitude layers of the grid points. Figure 5 As shown, step S102 determines the target data based on the grid points and the target master station, and may also include:

[0129] S501. Determine the first coordinate of the grid point; the first coordinate (lat, lon, h) includes the latitude and longitude coordinates and the elevation coordinates corresponding to different altitude layers;

[0130] S502. Select a target baseline that meets the preset baseline conditions from the base station network where the grid point is located, and determine the double difference ionospheric error value and the double difference tropospheric error value of the target baseline;

[0131] In step S502, when selecting the target baseline, a suitable baseline that meets the preset baseline condition can be selected by using the star baseline method, for example, the baseline condition is set to select a baseline whose length is less than 1.5 times the mean of the relevant baseline, and the relevant baseline refers to the baseline formed on the current base station (the target master station in this example). There can be multiple target baselines.

[0132] After selecting the target baseline, the double difference ionospheric error value and the double difference tropospheric error value of each baseline stored in the corresponding target master station (such as the double difference ionospheric error value and the double difference tropospheric error value obtained through the above steps S201 to S204) are used for the calculation of the subsequent step S503.

[0133] S503. According to the double difference ionospheric error value and the double difference tropospheric error value of the first coordinate and the target baseline, the ionospheric and tropospheric interpolation correction data of different altitude layers of the corresponding grid points are obtained by interpolation algorithm.

[0134] In this example, when calculating the ionospheric interpolation correction data of different altitude layers corresponding to the grid points in step S503, the following formula (9) can be used:

[0135]

[0136] In formula (9),

[0137] ΔI nf is the multi-level (nf layer) ionospheric interpolation correction, is the double difference ionospheric error value of the selected n target baselines, and F(*) is the interpolation function. In this example, the interpolation algorithm can be selected from the inverse distance weighted method, Kriging interpolation method, least square collocation method, etc., which is not limited to a single method.

[0138] Similarly, when calculating the tropospheric interpolation correction data of different altitude layers corresponding to the grid points in step S503, the following formula (10) can be used:

[0139]

[0140] In formula (10),

[0141] ΔT nf is the interpolation correction value of the troposphere in multiple altitude layers (nf layer), is the double difference tropospheric error value of the selected n target baselines, and F(*) is the interpolation function. In this example, the interpolation algorithm can be selected from the inverse distance weighted method, Kriging interpolation method, least squares collocation method, etc., which is not limited to a single method.

[0142] The ionosphere and troposphere interpolation correction data are also parameters for solving the differential correction data, which can eliminate the adverse effects of the corresponding atmospheric errors on the positioning solution. In this embodiment, the two interpolation correction values ​​are divided into layers according to the elevation, and then the ionosphere and troposphere interpolation correction data of the corresponding grid points at different altitude layers are used to solve the differential correction data, further reducing the difference in elevation caused by the differential correction number to the RTK positioning solution.

[0143] In a preferred embodiment, in step S103, the differential correction data of different altitude layers in the corresponding grid points are calculated according to the observation data and the target data, which may specifically include:

[0144] Substitute the target data into the pre-established differential correction data solution equation to solve the differential correction data of different altitude layers in the corresponding grid points;

[0145] The pre-established differential correction data solution equation may include the following equation (11):

[0146]

[0147] In formula (11),

[0148] O nf is the differential correction array corresponding to nf altitude layers, P i is the i-th frequency pseudorange observation value of the target master station, dR nf is the geometric distance correction data corresponding to nf altitude layers, ΔT m nf is the tropospheric model error correction data of nf altitude layers, ΔI nf is the ionospheric interpolation correction data of nf altitude layers, ΔT nf is the interpolated correction data of the troposphere at nf altitude layers; f 1 is the frequency of the first frequency of the carrier phase observation data of the target master station, L i is the phase carrier observation data of the i-th frequency, λ i is the corresponding carrier observation data L i Corresponding wavelength, f i is the frequency of the i-th frequency.

[0149] The observation data of the target master station obtained above, the geometric distance correction data of the observation satellite corresponding to the different altitude layers of the grid points, the tropospheric model error correction data corresponding to the different altitude layers of the grid points, and the ionosphere and troposphere interpolation correction data corresponding to the different altitude layers of the grid points are substituted into equation (11), the differential correction data of different altitude layers are solved, and then saved in the target master station.

[0150] It can be understood by those skilled in the art that, based only on the geometric distance correction data of the observation satellite at one layer of elevation, based only on the tropospheric model error correction data at one layer of elevation, or based only on the ionosphere and tropospheric interpolation correction data at one layer of elevation, etc., the differential correction number can also be solved based on the above formula (11) together with other parameters corresponding to different elevations. However, in this embodiment, the geometric distance correction data of the observation satellite corresponding to different altitude layers, the tropospheric model error correction data corresponding to different altitude layers, and the ionosphere and tropospheric interpolation correction data corresponding to different altitude layers are preferably brought into formula (11) to obtain the differential correction number, so that the differential correction number that is more in line with the user's elevation can be obtained, which greatly reduces the difference in elevation caused by the differential correction number to the RTK positioning solution, and improves the accuracy of RTK positioning.

[0151] In a specific embodiment, step S104 performs network real-time dynamic RTK positioning of the user according to the differential correction data, which may include:

[0152] According to the real-time approximate coordinate information uploaded in the user positioning request, the target differential correction number of the corresponding altitude layer is matched from the differential correction data;

[0153] The target differential correction number is then broadcast to the mobile station corresponding to the user, so as to perform network real-time dynamic RTK positioning for the user through the target differential correction number.

[0154] In this specific embodiment, Figure 6 As shown, after dividing the grid points with altitude layers in step S601, and performing base station networking and baseline solution in step S602, the corresponding grid points and the target main station are determined in step S603 after obtaining the user request, and then the corresponding target data is solved in step S604, and the differential correction numbers corresponding to different altitude layers are solved by the target data in step S605.

[0155] The target master station saves the differential correction data corresponding to different elevations. When receiving the user's positioning request, it can determine the user's altitude layer at the grid point based on the approximate coordinate information in the user's positioning request, and then match the target differential correction number corresponding to the altitude layer.

[0156] Through step S606, the target master station broadcasts the hierarchically determined differential correction data to the mobile station user terminal through the data link.

[0157] In step S607, the user end receives the differential correction data from the target master station, combines it with its own observation data, and constructs inter-station and inter-satellite double difference observation values ​​to eliminate errors including the mobile station receiver carrier pseudorange bias, receiver clock error, satellite clock error, etc., and greatly weakens the influence of satellite orbit error, atmospheric error, etc. on the integer ambiguity search, so that the user end can quickly fix the integer ambiguity and obtain real-time centimeter-level high-precision positioning results.

[0158] Figure 7 FIG. 2 shows a schematic diagram of the structure of the positioning device according to an embodiment of the present disclosure. Figure 7 As shown, the device comprises:

[0159] The first determination module 701 is used to determine the corresponding grid point and the target master station corresponding to the grid point according to the user's positioning request; the target master station is a base station within a preset range from the user; the grid point is divided into multiple altitude layers;

[0160] The second determination module 702 is used to obtain observation data through the target master station, and determine target data based on the grid points and the target master station; the target data includes at least one of the following data: observation satellite geometric distance correction data corresponding to different altitude layers of the grid points, tropospheric model error correction data corresponding to different altitude layers of the grid points, and ionosphere and troposphere interpolation correction data corresponding to different altitude layers of the grid points;

[0161] The first solution module 703 is used to solve the differential correction data of different altitude layers in the corresponding grid points according to the observation data and the target data;

[0162] The positioning module 704 is used to perform network real-time dynamic RTK positioning of the user based on the differential correction data.

[0163] Exemplarily, the first determining module 701 may execute the above Figure 1 In step S101 shown in FIG. 1 , the second determining module 702 may perform the above Figure 1 In step S102 shown in FIG. 1 , the first solution module 703 may perform the above Figure 1 In step S103 shown in FIG. 1 , the positioning module 704 may perform the above Figure 1 Step S104 shown in FIG.

[0164] It should be noted that all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module and can achieve its corresponding technical effects. For the sake of concise description, they will not be repeated here.

[0165] In a specific embodiment, Figure 8 As shown, the positioning device may also include:

[0166] The division module 801 is used to divide the area covered by the base station into grid points, and divide the height layers of the grid points according to the elevation conditions and tropospheric changes in the area;

[0167] The networking module 802 is used to form a baseline between two base stations according to a plurality of base stations within a preset range, and the plurality of baselines constitute a base station network;

[0168] A fixing module 803 is used to fix the double-difference wide lane ambiguity and the double-difference narrow lane ambiguity of each baseline according to the observation data and coordinates of the base station;

[0169] The second solving module 804 is used to solve the double difference ionospheric error value and the double difference tropospheric error value of the corresponding baseline according to the double difference wide lane ambiguity and the double difference narrow lane ambiguity.

[0170] Exemplarily, the partitioning module 801 may perform the above Figure 2 In step S201 shown in FIG. 1 , the networking module 802 may perform the above Figure 2 In step S202 shown in FIG. 1 , the fixing module 803 may perform the above Figure 2 In step S203 shown in FIG. 1 , the second solution module 804 may perform the above Figure 2 Step S204 shown in FIG.

[0171] It should be noted that all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module and can achieve its corresponding technical effects. For the sake of concise description, they will not be repeated here.

[0172] Fig. 9 FIG. 1 is a schematic diagram showing the hardware structure of a positioning device provided by an embodiment of the present disclosure. Fig. 9 As shown:

[0173] The positioning device may include a processor 901 and a memory 902 storing computer program instructions.

[0174] Specifically, the processor 901 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 disclosure.

[0175] The memory 902 may include a large capacity memory for data or instructions. By way of example and not limitation, the memory 902 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 appropriate cases, the memory 902 may include a removable or non-removable (or fixed) medium. In appropriate cases, the memory 902 may be inside or outside the integrated gateway disaster recovery device. In a specific embodiment, the memory 902 is a non-volatile solid-state memory.

[0176] The memory may include read-only memory (ROM), random access memory (RAM), magnetic disk storage media devices, optical storage media devices, flash memory devices, electrical, optical or other physical / tangible memory storage devices. Thus, typically, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the method according to an aspect of the present disclosure.

[0177] The processor 901 implements any one of the positioning methods in the above embodiments by reading and executing computer program instructions stored in the memory 902 .

[0178] In one example, the positioning device may further include a communication interface 903 and a bus 910. Fig. 9 As shown, the processor 901, the memory 902, and the communication interface 903 are connected via a bus 910 and communicate with each other.

[0179] The communication interface 903 is mainly used to implement communication between various modules, devices, units and / or equipment in the embodiments of the present disclosure.

[0180] Bus 910 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 (AGP) or other graphics bus, enhanced industrial standard architecture (EISA) bus, front-end bus (FSB), hypertransport (HT) interconnection, industrial 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 910 may include one or more buses. Although the present disclosure embodiment describes and shows a specific bus, the present disclosure considers any suitable bus or interconnection.

[0181] In addition, in combination with the positioning method in the above embodiments, the embodiments of the present disclosure 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 one of the positioning methods in the above embodiments is implemented.

[0182] It should be clear that the present disclosure is not limited to the specific configurations and processes described above and shown in the figures. For the sake of simplicity, a detailed description of the known methods is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present disclosure 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 disclosure.

[0183] The functional modules 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 (ASIC), appropriate firmware, a plug-in, a function card, etc. When implemented in software, the elements of the present disclosure are programs or code segments that are 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 a communication link by a data signal carried in a carrier wave. "Machine-readable medium" can 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 (RF) links, etc. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

[0184] It should also be noted that the exemplary embodiments mentioned in the present disclosure describe some methods or systems based on a series of steps or devices. However, the present disclosure is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiments, or in a different order from the embodiments, or several steps can be performed simultaneously.

[0185] Aspects of the present disclosure are described above with reference to the flowchart and / or block diagram of the method, device (system) and computer program product according to the embodiment of the present disclosure. It should be understood that each box in the flowchart and / or block diagram and the combination of each box in the flowchart and / or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, 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 implementation of the function / action specified in one or more boxes of the flowchart and / or 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 box in the block diagram and / or flowchart and the combination of boxes in the block diagram and / or flowchart can also be implemented by dedicated hardware that performs a specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions.

[0186] The above is only a specific implementation of the present disclosure. 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 disclosure 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 the present disclosure, and these modifications or replacements should be included in the protection scope of the present disclosure.

Claims

1. A positioning method, characterized in that: The method comprises: According to the user's positioning request, determine the grid point corresponding to the positioning request and the target master station corresponding to the grid point; the target master station is a base station within a preset range from the user; the grid point is divided into multiple altitude layers; Obtain observation data through the target master station, and determine target data based on the grid points and the target master station; the target data includes at least one of the following data: geometric distance correction data of observation satellites corresponding to different altitude layers of the grid points, tropospheric model error correction data corresponding to different altitude layers of the grid points, and ionosphere and troposphere interpolation correction data corresponding to different altitude layers of the grid points; Calculating differential correction data corresponding to different altitude layers in the grid points according to the observation data and the target data; Performing network real-time dynamic RTK positioning on the user according to the differential correction data; The step of calculating the differential correction data corresponding to different altitude layers in the grid points according to the observation data and the target data includes: Substitute the target data into the pre-established differential correction data solution equation to solve the differential correction data corresponding to different altitude layers in the grid points; The pre-established differential correction data solution equation includes: In formula (1), O nf is the differential correction array corresponding to nf altitude layers, P i is the i-th frequency pseudorange observation value of the target master station, dR nf is the distance correction data corresponding to nf altitude layers, ΔT m nf is the tropospheric model error correction data of nf altitude layers, ΔI nf is the ionospheric interpolation correction data of nf altitude layers, ΔT nf is the interpolation correction data of the troposphere at nf altitude layers; f1 is the frequency of the first frequency of the target master station, L i is the phase carrier observation data of the i-th frequency, λ i is the corresponding carrier observation data L i Corresponding wavelength, f i is the frequency of the i-th frequency.

2. The positioning method according to claim 1, characterized in that: The determining target data based on the grid points and the target master station includes: Determine the first coordinates of the grid point and the second coordinates of the target master station; the first coordinates include longitude and latitude coordinates and elevation coordinates corresponding to different altitude layers; Calculate first distances from the observation satellite to different altitude layers in the grid points according to the first coordinates, and form first distance arrays corresponding to different altitude layers in the grid points; Calculating a second distance from the observation satellite to the target master station according to the second coordinate; Subtract the data in the first distance array from the second distance respectively to obtain the observed satellite geometric distance correction data corresponding to the different altitude layers of the grid points.

3. The positioning method according to claim 1, characterized in that: The determining target data based on the grid points and the target master station includes: Determine the first coordinates of the grid point; the first coordinates include latitude and longitude coordinates and elevation coordinates corresponding to different altitude layers; The first coordinate is input into a preset tropospheric error correction model to solve the tropospheric model error correction data corresponding to different altitude layers of the grid points.

4. The positioning method according to claim 3, characterized in that: The tropospheric error correction model is one of the following models: Niell model, UNB3 model, EGNOS model, Black model, Hopfield model, Saastamoinen model and WAAS model.

5. The positioning method according to claim 1, characterized in that: The determining target data based on the grid points and the target master station includes: Determine the first coordinates of the grid point; the first coordinates include latitude and longitude coordinates and elevation coordinates corresponding to different altitude layers; Selecting a target baseline that meets a preset baseline condition from the base station network where the grid point is located, and determining a double-difference ionospheric error value and a double-difference tropospheric error value of the target baseline; According to the first coordinate and the double difference ionospheric error value and the double difference tropospheric error value of the target baseline, the ionospheric and tropospheric interpolation correction data corresponding to different altitude layers of the grid points are obtained by interpolation algorithm.

6. The positioning method according to any one of claims 1 to 5, characterized in that: The performing network real-time dynamic RTK positioning on the user according to the differential correction data comprises: According to the real-time approximate coordinate information of the user uploaded in the positioning request, matching the target differential correction number of the corresponding altitude layer from the differential correction data; The target differential correction number is broadcast to the mobile station corresponding to the user, so as to perform network real-time dynamic RTK positioning for the user through the target differential correction number.

7. The positioning method according to claim 1, characterized in that: Before determining the corresponding grid point and the target master station corresponding to the grid point according to the user's positioning request, the method further includes: Dividing the area covered by the base station into grid points, and dividing the height layers of the grid points according to the elevation conditions and tropospheric changes in the area; According to the plurality of base stations within a preset range, a baseline is formed between any two base stations, and the plurality of baselines constitute the base station network; Fixing the double-difference wide lane ambiguity and the double-difference narrow lane ambiguity of each of the baselines according to the observation data and coordinates of the base station; According to the double-difference wide-lane ambiguity and the double-difference narrow-lane ambiguity, the double-difference ionospheric error value and the double-difference tropospheric error value of the corresponding baseline are solved.

8. A positioning device, characterized in that: The device comprises: A first determination module is used to determine a corresponding grid point and a target master station corresponding to the grid point according to a positioning request of a user; the target master station is a base station within a preset range from the user; the grid point is divided into a plurality of altitude layers; The second determination module is used to obtain observation data through the target main station, and determine target data based on the grid point and the target main station; the target data includes at least one of the following data: observation satellite geometric distance correction data corresponding to different altitude layers of the grid point, tropospheric model error correction data corresponding to different altitude layers of the grid point, and ionosphere and troposphere interpolation correction data corresponding to different altitude layers of the grid point; A first solution module is used to solve the differential correction data corresponding to different altitude layers in the grid points according to the observation data and the target data; A positioning module, used for performing network real-time dynamic RTK positioning of the user according to the differential correction data; The first solution module is specifically used to bring the target data into the pre-established differential correction data solution equation to solve the differential correction data corresponding to different altitude layers in the grid points; The pre-established differential correction data solution equation includes: In formula (1), O nf is the differential correction array corresponding to nf altitude layers, P i is the i-th frequency pseudorange observation value of the target master station, dR nf is the distance correction data corresponding to nf altitude layers, ΔT m nf is the tropospheric model error correction data of nf altitude layers, ΔI nf is the ionospheric interpolation correction data of nf altitude layers, ΔT nf is the interpolation correction data of the troposphere at nf altitude layers; f1 is the frequency of the first frequency of the target master station, L i is the phase carrier observation data of the i-th frequency, λ i is the corresponding carrier observation data L i Corresponding wavelength, f i is the frequency of the i-th frequency.

9. A positioning device, characterized in that: The device comprises: a processor and a memory storing computer program instructions; When the processor executes the computer program instructions, the positioning method according to any one of claims 1 to 7 is implemented.

10. A computer storage medium, characterized in that: The computer storage medium stores computer program instructions, and when the computer program instructions are executed by the processor, the positioning method according to any one of claims 1 to 7 is implemented.

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