Precise point positioning method and apparatus, electronic device, and storage medium

Abstract

This application discloses a precise point positioning method, apparatus, electronic device, and storage medium. The method includes: receiving broadcast ephemeris and GPS observations; acquiring a first state space correction received by the internet link before it changes from connected to disconnected; acquiring a second state space correction received by the satellite-based link after the internet link changes from connected to disconnected; the first and second state space corrections being of the same type and being at least one of orbital correction, clock error correction, pseudorange deviation correction, and phase deviation correction; if the deviation between the first and second state space corrections is less than a preset threshold, using the second state space correction as the target state space correction; and performing precise point positioning based on the target state space correction, broadcast ephemeris, and GPS observations. This enhances the stability of the precise point positioning results during internet link state switching.

Description

Technical Field

[0001] This application relates to computer technology, specifically to a precise single-point positioning method, apparatus, electronic device, and storage medium. Background Technology

[0002] Precise point positioning (PPP) is a research hotspot in Global Navigation Satellite System (GNSS) satellite positioning.

[0003] Real-time kinematic (RTK) technology has the unique advantage of fast convergence speed. It combines traditional PPP precise point positioning with RTK technology to obtain precise point positioning technology - real-time kinematic (PPP-RTK). PPP-RTK technology can quickly obtain high-precision positioning.

[0004] In practical applications, PPP-RTK technology requires the simultaneous reception of three layers of state space corrections. The first and second layer corrections can be broadcast via satellite-based links and internet links, while the third layer correction, due to its larger data volume, is typically broadcast only via the internet link. However, due to the instability of internet links, state space corrections may be lost, forcing a switch back to satellite-based links for reception. Switching receiver sources and inconsistent received content can cause abrupt jumps in precise point positioning results, leading to discontinuities in the results. Summary of the Invention

[0005] This invention provides a precise single-point positioning method, apparatus, electronic device, and storage medium to achieve the technical effect that precise single-point positioning will not jump when the Internet link switches between a connected state and an interrupted state.

[0006] The technical solution of this application is as follows:

[0007] Firstly, a precise single-point positioning method is provided, including:

[0008] Receive broadcast ephemeris and GPS observations;

[0009] Obtain the first state space correction number received through the Internet link before the Internet link changes from a connected state to an interrupted state;

[0010] After the Internet link changes from a connected state to an interrupted state, the second state space correction number received via the satellite-based link is obtained; the first state space correction number and the second state space correction number are of the same type and are at least one of orbit correction number, clock error correction number, pseudorange deviation correction number, and phase deviation correction number;

[0011] If the deviation between the first state space correction and the second state space correction is less than a preset threshold, the second state space correction received through the satellite link will be determined as the target state space correction.

[0012] Precise point positioning is achieved based on target state-space corrections, broadcast ephemeris data, and GPS observations.

[0013] Secondly, a precise single-point positioning method is provided, including:

[0014] Receive broadcast ephemeris and GPS observations;

[0015] Obtain the first state space correction number received through the Internet link after the Internet link changes from an interrupted state to a connected state;

[0016] Before the Internet link changes from an interrupted state to a connected state, the second state space correction received via the satellite-based link is obtained; the first state space correction and the second state space correction are of the same type and are at least one of orbit correction, clock error correction, pseudorange deviation correction and phase deviation correction;

[0017] If the deviation between the first state space correction and the second state space correction is less than a preset threshold, the first state space correction received through the Internet link will be determined as the target state space correction.

[0018] Precise point positioning is achieved based on target state-space corrections, broadcast ephemeris data, and GPS observations.

[0019] Thirdly, a precision single-point positioning device is provided, the device comprising:

[0020] The data receiving module is used to receive broadcast ephemeris and GPS observations;

[0021] The first state space correction number acquisition module is used to acquire the first state space correction number received through the Internet link before the Internet link changes from a connected state to an interrupted state.

[0022] The second state space correction acquisition module is used to acquire the second state space correction received through the satellite-based link after the Internet link changes from a connected state to an interrupted state; the first state space correction and the second state space correction are of the same type and are at least one of orbit correction, clock error correction, pseudorange deviation correction and phase deviation correction.

[0023] The target state space correction determination module is used to determine the second state space correction received through the satellite link as the target state space correction when the deviation between the first state space correction and the second state space correction is less than a preset threshold.

[0024] The precise point positioning module is used for precise point positioning based on target state space corrections, broadcast ephemeris, and GPS observations.

[0025] Fourthly, embodiments of this application provide an electronic device, which includes a processor, a memory, and a program or instructions stored in the memory and executable on the processor. When the program or instructions are executed by the processor, they implement the steps of the precise single-point positioning method described in any one of the embodiments of the present invention.

[0026] Fifthly, embodiments of this application provide a computer storage medium storing computer program instructions, which, when executed by a processor, implement the steps of the precise single-point positioning method described in any one of the embodiments of the present invention.

[0027] The technical solutions provided by the embodiments of this application have at least the following beneficial effects:

[0028] The precise point positioning method provided in this application addresses the issue that the internet link, due to instability, switches between connected and interrupted states. During these switching states, the reception of state space corrections is also affected, leading to unstable positioning results. The method acquires a first state space correction when the internet link is connected and a second state space correction received via a satellite-based link when the internet link is interrupted. If the deviation between the first and second state space corrections is less than a preset threshold, it indicates that the difference between the second and first state space corrections received via the satellite-based link is small. Therefore, the second state space correction received via the satellite-based link is determined as the target state space correction, ensuring that the target state space correction does not jump during internet link state switching and maintains stability. Precise point positioning is then performed using the target state space correction, broadcast ephemeris, and GPS observations. Because the target state space correction maintains stability during internet link state switching, the impact of internet link state switching on the precise point positioning results is reduced, enhancing the stability of the precise point positioning results.

[0029] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0030] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application, and do not constitute an undue limitation of this application.

[0031] Figure 1 This is a flowchart illustrating a precise single-point positioning method provided in an embodiment of this application. Figure 1 ;

[0032] Figure 2 This is a flowchart illustrating a precise single-point positioning method provided in an embodiment of this application. Figure 2 ;

[0033] Figure 3 This is a flowchart illustrating a precise single-point positioning method provided in an embodiment of this application. Figure 3 ;

[0034] Figure 4 This is a flowchart illustrating a precise single-point positioning method provided in an embodiment of this application. Figure 4 ;

[0035] Figure 5 This is a schematic diagram of the structure of a precision single-point positioning device provided in an embodiment of this application. Figure 1 ;

[0036] Figure 6 This is a schematic diagram of the structure of a precision single-point positioning device provided in an embodiment of this application. Figure 2 ;

[0037] Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0038] To enable those skilled in the art to better understand the technical solutions of this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely intended to explain this application and not to limit it. For those skilled in the art, this application can be implemented without some of these specific details. The following description of the embodiments is merely to provide a better understanding of this application by illustrating examples.

[0039] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples consistent with some aspects of this application as detailed in the appended claims.

[0040] As the background technology indicates, Precise Point Positioning (PPP) technology utilizes precise satellite orbits and clock bias products, employing carrier observation information from a single GNSS device. Based on rigorous consideration of various error corrections, it uses reasonable parameter estimation strategies (such as least squares or Kalman filtering) to simultaneously solve for parameters such as user coordinates, receiver clock bias, atmospheric delay, and carrier phase ambiguity. This allows for positioning accuracy ranging from centimeters to decimeters globally. PPP technology includes Precise Point Positioning-Ambiguity Resolution (PPP-AR) and Precise Point Positioning-Real-time Kinematic (PPP-RTK) technologies.

[0041] In practical applications, PPP-AR requires receiving first- and second-layer State Space Representation (SSR) corrections, while PPP-RTK technology requires receiving three layers of SSR corrections simultaneously. The first-layer SSR corrections are orbit and clock bias corrections; the second-layer SSR corrections are pseudorange and phase deviation corrections; and the third-layer SSR corrections are tropospheric delay and ionospheric delay corrections. The first and second-layer SSR corrections can be broadcast via satellite-based links and internet links, while the third-layer SSR corrections, due to their larger data volume, are generally broadcast only via internet links.

[0042] When the internet link changes from stable to unstable (i.e., from connected to interrupted), the SSR data source switches from the internet link to the satellite-based link, and can only receive the first and second layer SSR corrections. When the internet link changes from unstable to stable (i.e., from interrupted to connected), the SSR data source switches from the satellite-based link to the internet link. At this time, in addition to receiving the first and second layer SSR corrections, it can also receive the third layer SSR correction. To avoid abrupt jumps in positioning results caused by changes in the first and second layer SSR corrections and sudden increases or decreases in the third layer SSR tropospheric delay corrections and ionospheric delay corrections during SSR data source switching, appropriate processing is required based on the current precise point positioning status.

[0043] Based on this, embodiments of this application provide a precise single-point positioning method, apparatus, electronic device, and storage medium. By maintaining the deviation of the state space correction number of the Internet link before and after state switching less than a preset threshold, the impact of Internet link state switching on the precise single-point positioning result is reduced, thereby achieving the technical effect of enhancing the stability of the precise single-point positioning result.

[0044] The precise single-point positioning method provided in the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0045] Figure 1 The following is a flowchart illustrating a precise single-point positioning method provided in an embodiment of this application: Figure 1 As shown, the method may include steps S110-S150.

[0046] Step S110: Receive broadcast ephemeris and GPS observations.

[0047] Specifically, this step may involve the user acquiring broadcast ephemeris and GNSS observations using a terminal device. The GNSS observations include carrier phase and pseudorange measurements, among other things.

[0048] Broadcast ephemeris is a radio signal transmitted by positioning satellites carrying a message information predicting the number of satellite elements within a certain period; carrier phase refers to the measured value of the phase of the satellite signal received by the reference station at the same receiving time relative to the phase of the carrier signal generated by the receiver; the distance between the receiver and the satellite is usually called pseudorange. It is called pseudorange because it is not the true distance, and there are various errors between pseudorange and true distance. Precise point positioning is performed based on the received broadcast ephemeris and observations from the Global Positioning System (GPS).

[0049] Step S120: Obtain the first state space correction number received through the Internet link before the Internet link changes from a connected state to an interrupted state.

[0050] The first state space correction includes at least one of the following: orbit correction, clock error correction, pseudorange deviation correction, and phase deviation correction. Specifically, this step may involve the user terminal device receiving the first state space correction via the internet link before the internet link changes from a connected state to an interrupted state.

[0051] Step S130: Obtain the second state space correction number received via the satellite-based link after the Internet link changes from a connected state to an interrupted state; the first state space correction number and the second state space correction number are of the same type and are at least one of orbit correction number, clock error correction number, pseudorange deviation correction number and phase deviation correction number.

[0052] Specifically, this step may involve the following: Due to the instability of the internet link, interruptions may occur. When the internet link changes from a connected state to an interrupted state, the user terminal device switches from receiving state space corrections via the internet link to receiving them via a satellite-based link. The second state correction is of the same type as the first state space correction and includes at least one of the following: orbital correction, clock bias correction, pseudorange deviation correction, and phase deviation correction.

[0053] In one example, after obtaining the second state space correction number received via the satellite link after the Internet link changes from a connected state to an interrupted state, the process may further include: step S131, step S132, or step S133.

[0054] Step S131: If the deviation between the first state space correction and the second state space correction is greater than a preset threshold, the first state space correction is determined as the target state space correction.

[0055] Specifically, this step might involve: after the internet link changes from a connected state to an interrupted state, receiving state space correction data via the satellite-based link. It is necessary to check whether there is a discrepancy between the first state space correction data obtained via the internet link and the second state space correction data obtained via the satellite-based link.

[0056] When the deviation between the first and second state space corrections exceeds a preset threshold, it indicates a significant difference between them. After an internet link interruption, due to the large discrepancy between the second and first state space corrections, using the second state space correction obtained via the satellite link as the target state space correction will result in abrupt jumps in the precise point positioning results. Therefore, the first state space correction received via the internet link should be used as the target state space correction. Maintaining the stability of the target state space correction prevents abrupt jumps in the precise point positioning results.

[0057] Step S132: If the deviation between the first state space correction and the second state space correction is greater than a preset threshold, mark the target state space correction as unavailable.

[0058] Understandably, when the deviation between the first state space correction and the second state space correction exceeds a preset threshold, the second state space correction received via the satellite-based link cannot be used as the target state space correction. In this case, the target state space correction can be marked as unavailable. Precise point positioning can then be performed directly using the acquired broadcast ephemeris and GPS observations, without needing to correct for various errors in the precise point positioning results using the target state space correction.

[0059] Step S133: If the deviation between the first state space correction and the second state space correction is greater than a preset threshold, the second state space correction is increased by variance and then determined as the target state space correction.

[0060] Specifically, this step can be as follows: if the deviation between the first state space correction and the second state space correction exceeds a preset threshold, set a larger variance for the second state space correction and determine it as the target state space correction. The variance reflects the accuracy of the state space correction and can be set in advance. For example, increasing the variance of the second state space correction by a factor of n (where n is a positive integer) can improve the variance of the second state space correction.

[0061] Step S140: If the deviation between the first state space correction and the second state space correction is less than a preset threshold, the second state space correction received through the satellite link is determined as the target state space correction.

[0062] Specifically, this step can be: obtaining the deviation between the first state space correction and the second state space correction, that is, obtaining the deviation between the orbit, clock error, pseudorange error, and phase error corrections received by the satellite-based link and the corresponding orbit, clock error, pseudorange error, and phase error corrections received by the Internet link.

[0063] When the deviation between the first state space correction and the second state space correction is less than a preset threshold, such as 1 cm, it means that the difference between the first state space correction and the second state space correction is not large. The second state space correction obtained through the satellite link after the Internet link is interrupted can be used as the target state space correction, thereby ensuring the stability of the state space correction.

[0064] Step S150: Perform precise single-point positioning based on the target state space correction, broadcast ephemeris, and GPS observations.

[0065] It is understood that the target state space correction includes at least one of the following: orbital correction, clock error correction, pseudorange deviation correction, and phase deviation correction.

[0066] Specifically, this step can be as follows: when the target state space correction includes the orbit correction, the orbit information is corrected according to formula (1) to obtain high-precision orbit information.

[0067] X pre =X brdc +e rac ×dr ssr (1)

[0068] Among them, X pre For the corrected orbital information, X brdc To utilize the location information in the Earth-centered Earth-fixed system obtained from broadcast ephemeris calculations, e rac Let dr be the transformation matrix from the stellar-solid system to the Earth-centric solid system. ssr This is the orbital correction number.

[0069] When the target state space correction includes clock error correction, the clock error is corrected according to formula (2) to obtain high-precision clock error information.

[0070]

[0071] in, For the corrected clock bias information, To calculate clock difference information using broadcast ephemeris, dt ssr This is the clock error correction.

[0072] When the target state space correction includes pseudorange deviation correction, the pseudorange observations in the GNSS observations are corrected according to formula (3) to correct the pseudorange deviation.

[0073]

[0074] Where, p′ i p represents the corrected pseudorange observation. i These are the pseudorange observations before correction. Let be the pseudorange deviation correction value at the i-th frequency satellite end.

[0075] When the target state space correction includes the phase deviation correction, the phase observation value, i.e. the carrier phase observation value, in the GNSS observation value is corrected according to formula (4) to correct the phase deviation.

[0076]

[0077] Among them, L′ i For the corrected phase observation, L i These are the phase observations before correction. This is the phase deviation correction number at the i-th frequency satellite end.

[0078] High-precision satellite position and time information can be obtained using orbital or clock bias corrections and broadcast ephemeris. Pseudorange bias corrections or phase bias corrections can be used to correct pseudorange and carrier wave time deviations at the satellite end of GNSS observations. Based on the corrected satellite position and time information, fuzzy positioning is achieved through filtering, thus obtaining the final user terminal position, i.e., precise point positioning.

[0079] The precise point positioning method provided in this application addresses the issue that the internet link, due to instability, switches between connected and interrupted states. During these transitions, the reception of state space corrections is affected, leading to unstable positioning results. When the internet link changes from connected to interrupted, a first state space correction is obtained during the connected state, and a second state space correction is received via a satellite-based link during the interrupted state. If the deviation between the first and second state space corrections is less than a preset threshold, it indicates that the difference between the second and first state space corrections received via the satellite-based link is small. Therefore, the second state space correction received via the satellite-based link is determined as the target state space correction, ensuring that the target state space correction does not jump during internet link state transitions and maintains stability. Precise point positioning is then performed using the target state space correction, broadcast ephemeris, and GPS observations. Because the target state space correction maintains stability during internet link state transitions, the impact of internet link state transitions on the precise point positioning results is reduced, enhancing the stability of the precise point positioning results.

[0080] To further ensure the correction of various errors in the precise point positioning results and improve their accuracy, this application also provides another implementation method for precise point positioning, as detailed in the following embodiments. Please refer to... Figure 2 Another implementation of device node initialization provided in this application includes the following steps:

[0081] Step S210: Receive broadcast ephemeris and GPS observations.

[0082] Step S220: Obtain the first state space correction number received through the Internet link before the Internet link changes from a connected state to an interrupted state.

[0083] Step S230: Obtain the second state space correction number received via the satellite-based link after the Internet link changes from a connected state to an interrupted state; the first state space correction number and the second state space correction number are of the same type and are at least one of orbit correction number, clock error correction number, pseudorange deviation correction number and phase deviation correction number.

[0084] Step S240: If the deviation between the first state space correction and the second state space correction is less than a preset threshold, the second state space correction received through the satellite-based link is determined as the target state space correction.

[0085] Step S250: Before the Internet link changes from a connected state to an interrupted state, receive the tropospheric delay correction number and / or the ionospheric delay correction number through the Internet link.

[0086] Specifically, this step can be as follows: When the internet link is connected, the user terminal device can obtain tropospheric delay corrections and / or ionospheric delay corrections through the internet link. Tropospheric delay corrections can be used to correct the tropospheric delay for precise point positioning. Ionospheric delay corrections can be used to correct the ionospheric delay for precise point positioning.

[0087] The user terminal obtains the first state space correction, the second state space correction, the tropospheric delay correction, and the ionospheric delay correction through a dual-engine system. One engine receives the first state space correction, tropospheric delay correction, and ionospheric delay correction for the internet link. The other engine receives the second state space correction for the satellite-based link. This dual-engine approach improves the availability of the correction data.

[0088] Step S260: After the Internet link changes from a connected state to an interrupted state, the received tropospheric delay correction and / or ionospheric delay correction are fitted to obtain the predicted tropospheric delay correction and / or predicted ionospheric delay correction.

[0089] When the Internet link changes from connected to interrupted, it becomes impossible to continue receiving tropospheric delay corrections and / or ionospheric delay corrections via the Internet link. In order to ensure that the precise point positioning results do not exhibit jitter, it is necessary to predict the tropospheric delay corrections and / or ionospheric delay corrections.

[0090] Specifically, this step can be as follows: Considering that the tropospheric delay changes slowly while the ionospheric delay changes rapidly, a first-order function is used to fit the tropospheric delay correction within a certain sliding window (e.g., 3 minutes), and a second-order function is used to fit the ionospheric delay correction within a certain sliding window (e.g., 1 minute), thereby obtaining the fitted values ​​of the tropospheric delay correction and / or the fitted values ​​of the ionospheric delay correction. Formula (5) represents the fitted values ​​of the tropospheric delay correction and the ionospheric delay correction.

[0091]

[0092] Among them, T zwd，ssr I is the fitted value of the tropospheric delay correction. 1，ssr Here, a0 and a1 are the fitted values ​​of the ionospheric delay correction, b0, b1, and b2 are the fitted coefficients of the tropospheric delay correction, and t0, t... i , t jLet i be the time corresponding to the SSR correction number, i = 0, 1, ..., 180, j = 0, 1, ..., 60.

[0093] Based on the fitted value obtained from formula (5), the predicted value of the tropospheric delay correction / or ionospheric delay correction at the next moment is obtained, and used as external information to correct the tropospheric delay / or ionospheric delay error, thereby further improving the accuracy of precise single-point positioning.

[0094] Step S270: Perform precise point positioning based on the target state-space correction, the predicted tropospheric delay correction and / or the predicted ionospheric delay correction, the broadcast ephemeris, and the GPS observations.

[0095] Specifically, this step may involve: using orbital or clock bias corrections from the target state-space corrections, and broadcast ephemeris data to obtain high-precision satellite position and time information. The pseudorange bias corrections or phase bias corrections from the target state-space corrections can then be used to correct for pseudorange and carrier time deviations at the satellite end of GPS observations. Finally, predicted tropospheric delay corrections and / or predicted ionospheric delay corrections are used to correct tropospheric and / or ionospheric delay errors, thus correcting atmospheric errors at the user's location.

[0096] The tropospheric delay error is corrected according to formula (6).

[0097] T zwd =T zwd，ssr (6)

[0098] Among them, T zwd For precise single-point positioning estimation of tropospheric delay, T zwd，ssr This is the predicted tropospheric delay correction.

[0099] The ionospheric delay error is corrected according to formula (7).

[0100]

[0101] in, Ionospheric delay estimated for precise single-point positioning, This is the predicted ionospheric delay correction.

[0102] If no ionospheric delay correction is received, and the positioning satellite has completed ambiguity fixing, the ionospheric delay can be calculated using the already fixed ambiguity. The carrier observation equations for the two frequency points can be expressed as follows:

[0103]

[0104] Where i is the frequency number; m is the receiver number; p is the satellite number; t r，m, t s，p The clock biases at the receiver and satellite ends were respectively corrected, and relativistic effects were also corrected. These are carrier phase and pseudorange observations, respectively. λ represents the distance between the phase centers of the receiver and the satellite, and corrects for Earth's rotation effects and station displacement caused by tides; i Wavelength; I1 is the integer ambiguity; I1 is the ionospheric delay corresponding to the first frequency point; α i Ionospheric retardation factor; b r，i，m b s，i，p The phase deviations at the receiver and satellite ends are respectively; B r，im B s，i，p This refers to the pseudorange deviation between the receiver and the satellite. For phase winding; T zwd，m T zhd，m These represent the wet and dry tropospheric delays at the zenith, respectively. These are the wet projection function and the dry projection function of the troposphere, respectively.

[0105] use minus Ionospheric delay can be obtained:

[0106]

[0107] The ionospheric delay calculated at the current time can be used as a priori value of the ionospheric delay to correct the ionospheric delay error in the next epoch.

[0108] Based on the satellite position, corrected time information, and corrected atmospheric error, fuzzy positioning is achieved through a filter to obtain the final user terminal position, i.e., the precise point positioning result.

[0109] The precise single-point positioning method provided in this application, when the Internet link changes from a connected state to an interrupted state due to instability, obtains a first state space correction number when the Internet link is connected, and a second state space correction number received via a satellite-based link when the Internet link is interrupted. If the deviation between the first and second state space correction numbers is less than a preset threshold, it indicates that the difference between the second state space correction number received via the satellite-based link and the first state space correction number received via the Internet link is not significant. Therefore, the second state space correction number received via the satellite-based link is determined as the target state space correction number, ensuring that the target state space correction number remains constant during Internet link state transitions. The system maintains stability by preventing jumps in the internet link state. It acquires the tropospheric delay correction and / or ionospheric delay correction received via the internet link before it changes from connected to disconnected. After the internet link changes from connected to disconnected, it fits the received tropospheric delay correction and / or ionospheric delay correction to obtain the predicted tropospheric delay correction and / or predicted ionospheric delay correction. Precise point positioning is then performed using the target state space correction, the predicted tropospheric delay correction and / or predicted ionospheric delay correction, broadcast ephemeris, and GPS observations, further improving the accuracy of precise point positioning. Because the target state space correction and the tropospheric delay correction and / or predicted ionospheric delay correction remain stable during internet link state switching, the impact of internet link state switching on the precise point positioning results is reduced, enhancing the stability of the precise point positioning results.

[0110] To ensure that the precise point positioning (PPS) results do not abruptly change after the internet link transitions from an interrupted state to a connected state, and to improve the accuracy of the PPS results, this application also provides another implementation method for PPS, as detailed in the following embodiments. Please refer to... Figure 3 Another implementation of device node initialization provided in this application includes the following steps:

[0111] Step S310: Receive broadcast ephemeris and GPS observations.

[0112] Step S320: Obtain the first state space correction number received through the Internet link after the Internet link changes from an interrupted state to a connected state.

[0113] It is understandable that when the internet link is in an interrupted state, it receives the state space correction number via the satellite link. When the internet link is in a connected state, it receives the state space correction number via the internet link. Therefore, this step can specifically be: when the internet link changes from an interrupted state to a connected state, the state space correction number, i.e., the first state space correction number, is obtained via the internet link.

[0114] Step S330: Obtain the second state space correction received via the satellite-based link before the Internet link changes from an interrupted state to a connected state; the first state space correction and the second state space correction are of the same type and are at least one of orbit correction, clock error correction, pseudorange deviation correction and phase deviation correction.

[0115] Specifically, this step may involve obtaining a second state space correction number via a satellite-based link when the internet link is interrupted. The first and second state space correction numbers are of the same type and both include at least one of the following: orbital correction, clock error correction, pseudorange deviation correction, and phase deviation correction.

[0116] In one example, after obtaining the second state space correction number received via the satellite-based link before the Internet link changes from an interrupted state to a connected state, the process may include: step S331, step S332, or step S333.

[0117] Step S331: If the deviation between the first state space correction and the second state space correction is greater than a preset threshold, the second state space correction is determined as the target state space correction.

[0118] When the deviation between the first and second state space corrections exceeds a preset threshold, it indicates a significant difference between them. After internet connectivity is established, due to this large discrepancy, using the first state space correction obtained via the internet as the target state space correction will result in abrupt jumps in the precise point positioning results. Therefore, the second state space correction received via the satellite link should be used as the target state space correction. Maintaining the stability of the target state space correction prevents abrupt jumps in the precise point positioning results.

[0119] Step S332: If the deviation between the first state space correction and the second state space correction is greater than a preset threshold, mark the target state correction as unavailable.

[0120] Step S333: If the deviation between the first state space correction and the second state space correction is greater than a preset threshold, the first state space correction is increased by variance and then determined as the target state space correction.

[0121] Step S340: If the deviation between the first state space correction and the second state space correction is less than a preset threshold, the first state space correction received through the Internet link is determined as the target state space correction.

[0122] Specifically, this step can be as follows: when the deviation between the first state space correction and the second state space correction is less than a preset threshold, it indicates that the difference between the first state space correction obtained after the Internet link is connected and the second state space correction obtained through the satellite link when the Internet link is interrupted is not significant. In this case, the first state space correction can be used as the target state space correction to ensure the stability of the state space correction.

[0123] Step S350: Perform precise point positioning based on the target state space correction, broadcast ephemeris, and GPS observations.

[0124] The precise point positioning method provided in this application addresses the issue that when the internet link undergoes state switching due to instability, the reception of state space corrections is also affected, leading to unstable positioning results. When the internet link changes from an interrupted state to a connected state, the method acquires a first state space correction under connected internet conditions and a second state space correction received via a satellite-based link under interrupted internet conditions. Since the deviation between the first and second state space corrections is less than a preset threshold, it indicates that the difference between the second state space correction received via the satellite-based link and the first state space correction received via the internet link is small. Therefore, the first state space correction received via the internet link is determined as the target state space correction, ensuring that the target state space correction does not jump during internet link state switching and maintains stability. Precise point positioning is then performed using the target state space correction, broadcast ephemeris, and GPS observations. Because the target state space correction maintains stability during internet link state switching, the impact of internet link state switching on the precise point positioning results is reduced, enhancing the stability of the precise point positioning results.

[0125] To further ensure the correction of various errors in the precise point positioning results and improve their accuracy, this application also provides another implementation method for precise point positioning, as detailed in the following embodiments. Please refer to... Figure 4 Another implementation of device node initialization provided in this application includes the following steps:

[0126] Step S410: Receive broadcast ephemeris and GPS observations.

[0127] Step S420: Obtain the first state space correction number received through the Internet link after the Internet link changes from an interrupted state to a connected state.

[0128] Step S430: Obtain the second state space correction received via the satellite-based link before the Internet link changes from an interrupted state to a connected state; the first state space correction and the second state space correction are of the same type and are at least one of orbit correction, clock error correction, pseudorange deviation correction and phase deviation correction.

[0129] Step S440: If the deviation between the first state space correction and the second state space correction is less than a preset threshold, the first state space correction received through the Internet link is determined as the target state space correction.

[0130] Step S450: Before the Internet link changes from an interrupted state to a connected state, the tropospheric delay value and / or the ionospheric delay value are estimated in real time through precise single-point positioning.

[0131] Understandably, when the internet link is connected, the GPS observations also include tropospheric delay corrections and ionospheric delay corrections obtained through the internet link. Specifically, this step can be as follows: When performing precise point positioning while the internet link is interrupted, fitting the tropospheric and ionospheric delay corrections obtained before the internet link changed from connected to interrupted state is performed. This yields fitting functions for the tropospheric and ionospheric delay corrections. Prediction is then performed using the tropospheric delay correction fitting functions to obtain the real-time estimated tropospheric delay value. Similarly, prediction is performed using the ionospheric delay correction fitting functions to obtain the real-time estimated ionospheric delay value. Therefore, when the internet link is interrupted, delay error correction is performed based on the estimated tropospheric delay value and / or the estimated ionospheric delay value.

[0132] Step S460: After the Internet link changes from an interrupted state to a connected state, receive the tropospheric delay correction number and / or the ionospheric delay correction number through the Internet link.

[0133] Once the internet link returns to connectivity after an interruption, tropospheric delay corrections and / or ionospheric delay corrections are received via the internet link. These tropospheric and / or ionospheric delay corrections are newly added. Due to the limited accuracy of these corrections and the potentially short tracking time of some satellites, these newly added corrections deviate from the estimated tropospheric and ionospheric delay values ​​used during the internet link interruption. Directly using these newly added corrections to adjust the tropospheric and / or ionospheric delays could lead to failure in fixing the current epoch or instability in the positioning results. Therefore, further evaluation of the newly added tropospheric and ionospheric delay corrections is necessary.

[0134] Step S470: When the difference between the tropospheric delay correction and / or ionospheric delay correction received via the Internet link and the corresponding estimated tropospheric delay value and / or estimated ionospheric delay value is less than a preset threshold, precise single-point positioning is performed based on the target state space correction, the tropospheric delay correction and / or ionospheric delay correction received via the Internet link, the broadcast ephemeris, and the observation value from the Global Positioning System.

[0135] When the internet link returns to connectivity after an interruption, if the difference between the newly received tropospheric delay correction and / or ionospheric delay correction and the corresponding estimated tropospheric delay value and / or ionospheric delay value is less than a preset threshold, it indicates that the difference between the newly received tropospheric delay correction and / or ionospheric delay correction and the corresponding estimated value is small, and it can be directly used for precise point positioning without any jumps in the precise point positioning result. The tropospheric delay error and / or ionospheric delay error are corrected using the newly received tropospheric delay correction and / or ionospheric delay correction to obtain the corrected atmospheric error. The orbital error, clock error, phase, and / or pseudorange deviation in the GPS observations are corrected using the target state space correction. Precise point positioning is then performed based on the corrected atmospheric error, corrected orbital error, corrected clock error, corrected phase, and / or corrected pseudorange deviation.

[0136] If the Internet link changes from an interrupted state to a connected state but the fuzzy fixation is not completed at the current time, the delay error can be corrected directly using the newly received tropospheric delay correction and / or ionospheric delay correction, without having to compare it with the estimated value.

[0137] In one example, when the difference between the tropospheric delay correction and / or ionospheric delay correction received via the Internet link and the corresponding estimated tropospheric delay value and / or estimated ionospheric delay value is less than a preset threshold, precise single-point positioning based on the target state space correction, the tropospheric delay correction and / or ionospheric delay correction received via the Internet link, broadcast ephemeris, and GPS observations may include: steps S4701-S4703.

[0138] Step S4701: When the difference between the tropospheric delay correction and / or ionospheric delay correction received via the Internet link and the corresponding estimated tropospheric delay value and / or ionospheric delay value is less than a preset threshold, a first positioning result is obtained by performing precise single-point positioning through a first filter based on the target state space correction, the tropospheric delay correction and / or ionospheric delay correction received via the Internet link, the broadcast ephemeris, and the observation value from the Global Positioning System.

[0139] Specifically, this step can be as follows: when the Internet link changes from an interrupted state to a connected state, a backup filter is copied as the first filter. Based on the target state space correction, broadcast ephemeris, GNSS observations, and the tropospheric delay correction and / or ionospheric delay correction newly received through the Internet link, the positioning solution is performed through the first filter to obtain the first positioning result of precise single-point positioning.

[0140] Step S4702: Based on the target state space correction, broadcast ephemeris, and GPS observations, a second positioning result is obtained by performing precise single-point positioning through a second filter.

[0141] Specifically, this step can be as follows: The filter used for precise point positioning during the internet link interruption state is used as the second filter. Based on the target state space correction, broadcast ephemeris, and GNSS observations obtained after the internet link returns to connectivity, the positioning is calculated using the second filter to obtain the second positioning result.

[0142] Step S4703: When the difference between the first positioning result and the second positioning result is less than a preset threshold, the first positioning result is used as the target positioning result.

[0143] Specifically, this step can be as follows: When the first filter completes fuzzy fixation, the difference between the first and second positioning results is obtained. If the difference is less than a preset threshold, it indicates that the gap between the first and second positioning results is small, and the first positioning result can be used as the target positioning result. The first filter is then used to replace the second filter for subsequent positioning result calculations, and the second filter is deleted. If the difference is greater than the preset threshold, it indicates that the gap between the first and second positioning results is large. In this case, the second positioning result is used as the target positioning result, and the second filter is used again for subsequent positioning result calculations, while the first filter is deleted. This ensures that the positioning results do not jump when the internet link switches from an interrupted state to a connected state, maintaining the stability of the positioning results.

[0144] If the first filter fails to achieve fuzzy fixation, the solution result of the second filter will be used as the target localization result.

[0145] The precise single-point positioning method provided in this application obtains a first state space correction value for the internet link in the connected state and a second state space correction value received via a satellite-based link in the interrupted state when the internet link changes from an interrupted state due to instability. If the deviation between the first and second state space correction values ​​is less than a preset threshold, it indicates that the difference between the second state space correction value received via the satellite-based link and the first state space correction value received via the internet link is not significant. Therefore, the first state space correction value received via the internet link is determined as the target state space correction value, ensuring that the target state space correction value does not jump during internet link state switching and maintaining stability. To further improve the accuracy of positioning results, when the difference between the estimated tropospheric delay value and / or estimated ionospheric delay value before the Internet link changes from an interrupted state to an connected state, and the newly received tropospheric delay correction and / or ionospheric delay correction after the Internet link changes from an interrupted state to an connected state, is less than a preset threshold, precise point positioning is performed using the target state space correction, broadcast ephemeris, newly received tropospheric delay correction and / or ionospheric delay correction, and GPS observations. Since the target state space correction maintains stability during Internet link state switching, the impact of Internet link state switching on the precise point positioning results is reduced, thus enhancing the stability of the precise point positioning results.

[0146] Based on the same inventive concept, this application also provides a precision single-point positioning device.

[0147] Figure 5 This application illustrates a precision single-point positioning device according to an embodiment of the present application, such as... Figure 5 As shown, the precision single-point positioning device may include:

[0148] Data receiving module 510 is used to receive broadcast ephemeris and Global Positioning System observations;

[0149] The first state space correction number acquisition module 520 is used to acquire the first state space correction number received through the Internet link before the Internet link changes from a connected state to an interrupted state.

[0150] The second state space correction acquisition module 530 is used to acquire the second state space correction received through the satellite-based link after the Internet link changes from a connected state to an interrupted state; the first state space correction and the second state space correction are of the same type and are at least one of orbit correction, clock error correction, pseudorange deviation correction and phase deviation correction.

[0151] The target state space correction determination module 540 is used to determine the second state space correction received through the satellite link as the target state space correction when the deviation between the first state space correction and the second state space correction is less than a preset threshold.

[0152] The Precision Point Positioning Module 550 is used for precise point positioning based on target state space corrections, broadcast ephemeris, and GPS observations.

[0153] In some embodiments, the precision single-point positioning device may include:

[0154] The second determination module for the target state space correction is used to determine the first state space correction as the target state space correction when the deviation between the first state space correction and the second state space correction is greater than a preset threshold.

[0155] Alternatively, the target state space correction marking module is used to mark the target state space correction as unavailable if the deviation between the first state space correction and the second state space correction is greater than a preset threshold.

[0156] Alternatively, the third module for determining the target state space correction is used to determine the target state space correction by increasing the variance of the second state space correction when the deviation between the first state space correction and the second state space correction is greater than a preset threshold.

[0157] In some embodiments, the precision single-point positioning device may include:

[0158] The delay correction receiving module is used to obtain the tropospheric delay correction and / or ionospheric delay correction received through the Internet link before the Internet link changes from a connected state to an interrupted state.

[0159] The delay correction fitting module is used to fit the received tropospheric delay correction and / or ionospheric delay correction to obtain the predicted tropospheric delay correction and / or predicted ionospheric delay correction after the Internet link changes from a connected state to an interrupted state.

[0160] The positioning module is used for precise point positioning based on target state-space corrections, predicted tropospheric delay corrections and / or predicted ionospheric delay corrections, broadcast ephemeris, and GPS observations.

[0161] The precise point positioning method provided in this application addresses the issue that the internet link, due to instability, switches between connected and interrupted states. During these switching states, the reception of state space corrections is affected, leading to unstable positioning results. The method acquires a first state space correction during the connected state and a second state space correction received via a satellite-based link during the interrupted state. Since the deviation between the first and second state space corrections is less than a preset threshold, the difference between the second and first state space corrections received via the satellite-based link is small. Therefore, the second state space correction received via the satellite-based link is determined as the target state space correction, ensuring that the target state space correction does not jump during internet link state switching and maintains stability. Precise point positioning is then performed using the target state space correction, broadcast ephemeris, and GPS observations. Because the target state space correction maintains stability during internet link state switching, the impact of internet link state switching on the precise point positioning results is reduced, enhancing the stability of the precise point positioning results.

[0162] Based on the same inventive concept, in order to maintain the stability of the positioning results after the Internet link changes from an interrupted state to a connected state, this application also provides another precise single-point positioning device.

[0163] Figure 6 This application illustrates a precision single-point positioning device according to an embodiment of the present application, such as... Figure 6 As shown, the precision single-point positioning device may include:

[0164] Data receiving module 610 is used to receive broadcast ephemeris and Global Positioning System observations;

[0165] The first state space correction number acquisition module 620 is used to acquire the first state space correction number received through the Internet link after the Internet link changes from the interrupted state to the connected state.

[0166] The second state space correction acquisition module 630 is used to acquire the second state space correction received through the satellite-based link before the Internet link changes from an interrupted state to a connected state; the first state space correction and the second state space correction are of the same type and are at least one of orbit correction, clock error correction, pseudorange deviation correction and phase deviation correction.

[0167] The target state space correction determination module 640 is used to determine the first state space correction received through the Internet link as the target state space correction when the deviation between the first state space correction and the second state space correction is less than a preset threshold.

[0168] The Precision Point Positioning Module 650 is used for precise point positioning based on target state space corrections, broadcast ephemeris, and GPS observations.

[0169] In some embodiments, the precision single-point positioning device may include:

[0170] The second determination module for the target state space correction is used to determine the second state space correction as the target state space correction when the deviation between the first state space correction and the second state space correction is greater than a preset threshold.

[0171] Alternatively, the target state correction marking module is used to mark the target state correction as unavailable if the deviation between the first state space correction and the second state space correction is greater than a preset threshold.

[0172] Alternatively, the third module for determining the target state space correction is used to determine the target state space correction by increasing the variance of the first state space correction when the deviation between the first state space correction and the second state space correction is greater than a preset threshold.

[0173] In some embodiments, the precision single-point positioning device may include:

[0174] The estimated delay value acquisition module is used to estimate the tropospheric delay value and / or the estimated ionospheric delay value in real time through precise single-point positioning before the Internet link changes from an interrupted state to a connected state.

[0175] The delay correction acquisition module is used to acquire the tropospheric delay correction and / or ionospheric delay correction through the Internet link after the Internet link changes from an interrupted state to a connected state.

[0176] The positioning module is used to perform precise single-point positioning based on the target state-space correction, the tropospheric delay correction and / or ionospheric delay correction received via the Internet link, the broadcast ephemeris, and the observations of the Global Positioning System when the difference between the tropospheric delay correction received via the Internet link and the corresponding estimated tropospheric delay value and / or estimated ionospheric delay value is less than a preset threshold.

[0177] In some embodiments, the positioning module may include:

[0178] The first positioning result determination module is used to obtain a first positioning result by performing precise single-point positioning through a first filter when the difference between the tropospheric delay correction and / or ionospheric delay correction received via the Internet link and the corresponding estimated tropospheric delay value and / or estimated ionospheric delay value is less than a preset threshold. This is based on the target state space correction, the tropospheric delay correction and / or ionospheric delay correction received via the Internet link, the broadcast ephemeris, and the observation value from the Global Positioning System.

[0179] The second positioning result determination module is used to obtain the second positioning result by performing precise single-point positioning based on the target state space correction, broadcast ephemeris and global satellite positioning system observations through the second filter.

[0180] The target positioning result determination module is used to take the first positioning result as the target positioning result when the difference between the first positioning result and the second positioning result is less than a preset threshold.

[0181] The precise point positioning method provided in this application, when the Internet link changes from an interrupted state to a connected state due to instability, obtains a first state space correction number in the connected state and a second state space correction number received via a satellite-based link in the interrupted state. The deviation between the first and second state space correction numbers is less than a preset threshold, indicating that the difference between the second state space correction number received via the satellite-based link and the first state space correction number received via the Internet link is small. Therefore, the first state space correction number received via the Internet link is determined as the target state space correction number, ensuring that the target state space correction number does not jump during Internet link state switching and maintains stability. Precise point positioning is performed using the target state space correction number, broadcast ephemeris, and observations from the Global Positioning System. Because the target state space correction number maintains stability during Internet link state switching, the impact of Internet link state switching on the precise point positioning result is reduced, enhancing the stability of the precise point positioning result.

[0182] Based on the same inventive concept, embodiments of this application also provide an electronic device.

[0183] Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. For example... Figure 7 As shown, the electronic device may include a processor 701 and a memory 702 storing computer programs or instructions.

[0184] Specifically, the processor 701 may include a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the embodiments of the present invention.

[0185] Memory 702 may include mass storage for data or instructions. For example, and not limitingly, memory 702 may include a hard disk drive (HDD), floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or Universal Serial Bus (USB) drive, or a combination of two or more of these. Where appropriate, memory 702 may include removable or non-removable (or fixed) media. Where appropriate, memory 702 may be internal or external to the integrated gateway disaster recovery device. In a particular embodiment, memory 702 is non-volatile solid-state memory. In a particular embodiment, memory 702 includes read-only memory (ROM). Where appropriate, 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 flash memory, or a combination of two or more of these.

[0186] The processor 701 reads and executes computer program instructions stored in the memory 702 to implement any of the base station fault detection methods in the above embodiments.

[0187] In one example, the electronic device may also include a communication interface 703 and a bus 710. For example, Figure 7 As shown, the processor 701, memory 702, and communication interface 703 are connected through bus 710 and complete communication with each other.

[0188] The communication interface 703 is mainly used to realize communication between various modules, devices, units and / or devices in the embodiments of the present invention.

[0189] Bus 710 includes hardware, software, or both, that couples components of an electronic device together. For example, and not limitingly, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an Infinite Bandwidth Interconnect, a Low Pin Count (LPC) bus, a memory bus, a Microchannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local (VLB) bus, or other suitable buses, or combinations of two or more of these. Where appropriate, bus 710 may include one or more buses. Although specific buses are described and illustrated in embodiments of the invention, the invention contemplates any suitable bus or interconnect.

[0190] The electronic device can perform the precise single-point positioning method in the embodiments of the present invention, thereby achieving... Figures 1-4 The method for precise single-point positioning is described.

[0191] Furthermore, in conjunction with the precise single-point positioning method in the above embodiments, this invention can be implemented using a readable storage medium. This readable storage medium stores program instructions; when these program instructions are executed by a processor, they implement any of the precise single-point positioning methods described in the above embodiments.

[0192] It should be clarified that the present invention is not limited to the specific configurations and processes described above and shown in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present invention is not limited to the specific steps described and shown. Those skilled in the art can make various changes, modifications, and additions, or change the order of steps, after understanding the spirit of the present invention.

[0193] The functional blocks shown in the above-described structural diagram can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application-specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, etc. When implemented in software, the elements of this invention are programs or code segments used to perform the required tasks. The programs or code segments can be stored on a machine-readable medium or transmitted over a transmission medium or communication link via data signals 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, fiber optic media, radio frequency (RF) links, etc. Code segments can be downloaded via computer networks such as the Internet, intranets, etc.

[0194] It should also be noted that the exemplary embodiments mentioned in this invention describe methods or systems based on a series of steps or apparatus. However, this invention is not limited to the order of the steps described above; that is, the steps can be performed in the order mentioned in the embodiments, or in a different order, or several steps can be performed simultaneously.

[0195] The above description is merely a specific embodiment of the present invention. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should all be covered within the protection scope of the present invention.

Claims

1. A precise single-point positioning method, characterized in that, include: Receive broadcast ephemeris and GPS observations; Obtain the first state space correction number received through the Internet link before the Internet link changes from a connected state to an interrupted state; After the Internet link changes from a connected state to an interrupted state, the second state space correction number received via the satellite-based link is obtained; the first state space correction number and the second state space correction number are of the same type and are at least one of orbit correction number, clock error correction number, pseudorange deviation correction number, and phase deviation correction number; If the deviation between the first state space correction and the second state space correction is less than a preset threshold, the second state space correction received through the satellite link will be determined as the target state space correction. Precise point positioning is performed based on the target state space correction, the broadcast ephemeris, and the GPS observations. After obtaining the second state space correction number received via the satellite-based link after the Internet link changes from a connected state to an interrupted state, the method further includes: If the deviation between the first state space correction and the second state space correction is greater than a preset threshold, the first state space correction is determined as the target state space correction. Alternatively, if the deviation between the first state space correction and the second state space correction is greater than a preset threshold, the target state space correction is marked as unavailable. Alternatively, if the deviation between the first state space correction and the second state space correction is greater than a preset threshold, the second state space correction is increased by variance and then determined as the target state space correction.

2. The method according to claim 1, characterized in that, After determining the second state space correction received via the satellite link as the target state space correction when the deviation between the first state space correction and the second state space correction is less than a preset threshold, the method further includes: Before the Internet link changes from a connected state to an interrupted state, the tropospheric delay correction number and / or ionospheric delay correction number are received through the Internet link; When the Internet link changes from a connected state to an interrupted state, the received tropospheric delay correction and / or ionospheric delay correction are fitted to obtain the predicted tropospheric delay correction and / or the predicted ionospheric delay correction. Precise point positioning is performed based on the target state-space correction, the predicted tropospheric delay correction and / or the predicted ionospheric delay correction, the broadcast ephemeris, and GPS observations.

3. A precise single-point positioning method, characterized in that, include: Receive broadcast ephemeris and GPS observations; After the Internet link changes from an interrupted state to a connected state, the first state space correction number received through the Internet link is obtained. Before the Internet link changes from an interrupted state to a connected state, the second state space correction number received via the satellite-based link is obtained; the first state space correction number and the second state space correction number are of the same type and are at least one of orbit correction number, clock error correction number, pseudorange deviation correction number, and phase deviation correction number; If the deviation between the first state space correction and the second state space correction is less than a preset threshold, the first state space correction received through the Internet link will be determined as the target state space correction. Precise point positioning is performed based on the target state space correction, the broadcast ephemeris, and the GPS observations. After obtaining the second state space correction number received via the satellite-based link before the Internet link changes from an interrupted state to a connected state, the method further includes: If the deviation between the first state space correction and the second state space correction is greater than a preset threshold, the second state space correction is determined as the target state space correction. Alternatively, if the deviation between the first state space correction and the second state space correction is greater than a preset threshold, the target state correction is marked as unavailable. Alternatively, if the deviation between the first state space correction and the second state space correction is greater than a preset threshold, the first state space correction is increased by variance and then determined as the target state space correction.

4. The method according to claim 3, characterized in that, After determining the first state space correction received via the internet link as the target state space correction when the deviation between the first state space correction and the second state space correction is less than a preset threshold, the method further includes: Before the Internet link changes from an interrupted state to a connected state, the tropospheric delay value and / or the ionospheric delay value are estimated in real time through precise single-point positioning. After the Internet link changes from an interrupted state to a connected state, the tropospheric delay correction and / or ionospheric delay correction are received through the Internet link. When the difference between the tropospheric delay correction and / or ionospheric delay correction received via the Internet link and the corresponding estimated tropospheric delay value and / or estimated ionospheric delay value is less than a preset threshold, precise single-point positioning is performed based on the target state space correction, the tropospheric delay correction and / or ionospheric delay correction received via the Internet link, the broadcast ephemeris, and the Global Positioning System observations.

5. The method according to claim 4, characterized in that, The step of performing precise point positioning based on the target state-space correction, the tropospheric delay correction and / or ionospheric delay correction received via the Internet link, the corresponding estimated tropospheric delay value and / or estimated ionospheric delay value when the difference between these two values ​​is less than a preset threshold, further includes: When the difference between the tropospheric delay correction and / or ionospheric delay correction received via the Internet link and the corresponding estimated tropospheric delay value and / or ionospheric delay value is less than a preset threshold, a first positioning result is obtained by performing precise single-point positioning through a first filter based on the target state space correction, the tropospheric delay correction and / or ionospheric delay correction received via the Internet link, the broadcast ephemeris, and the observation value from the Global Positioning System. Based on the target state space correction, the broadcast ephemeris, and the GPS observations, a second positioning result is obtained by precise single-point positioning through a second filter. When the difference between the first positioning result and the second positioning result is less than a preset threshold, the first positioning result is used as the target positioning result.

6. A precision single-point positioning device, characterized in that, The device includes: The data receiving module is used to receive broadcast ephemeris and GPS observations; The first state space correction number acquisition module is used to acquire the first state space correction number received through the Internet link before the Internet link changes from a connected state to an interrupted state. The second state space correction acquisition module is used to acquire the second state space correction received via the satellite-based link after the Internet link changes from a connected state to an interrupted state; the first state space correction and the second state space correction are of the same type and are at least one of orbit correction, clock error correction, pseudorange deviation correction and phase deviation correction. The target state space correction determination module is used to determine the second state space correction received through the satellite link as the target state space correction when the deviation between the first state space correction and the second state space correction is less than a preset threshold. A precise point positioning module is used to perform precise point positioning based on the target state space correction, the broadcast ephemeris, and the observations of the Global Positioning System. The device further includes: The second determination module for the target state space correction is used to determine the first state space correction as the target state space correction when the deviation between the first state space correction and the second state space correction is greater than a preset threshold. Alternatively, the target state space correction marking module is used to mark the target state space correction as unavailable if the deviation between the first state space correction and the second state space correction is greater than a preset threshold. Alternatively, the third module for determining the target state space correction is used to determine the target state space correction by increasing the variance of the second state space correction when the deviation between the first state space correction and the second state space correction is greater than a preset threshold.

7. An electronic device, characterized in that, It includes a processor, a memory, and a program or instructions stored in the memory and executable on the processor, wherein the program or instructions, when executed by the processor, implement the steps of the precise single-point positioning method as described in any one of claims 1-5.

8. A computer storage medium, characterized in that, The computer storage medium stores computer program instructions, which, when executed by a processor, implement the precise single-point positioning method as described in any one of claims 1-5.

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