A positioning method and apparatus for fusing multiple sbas systems

Abstract

This application discloses a positioning method and apparatus that integrates multiple SBAS systems. The method includes: if not all corrections of satellites in a certain SBAS system are observed, selecting one system from at least two SBAS systems as a reference system and the others as non-reference systems; calculating the difference between the values ​​of the same type of corrections between each non-reference system and the reference system to obtain the system bias corresponding to each non-reference system; using the system bias corresponding to each non-reference system to correct the values ​​of the corrections of satellites in the corresponding non-reference system to obtain the corrected corrections of the non-reference system; and performing a positioning operation using the corrected corrections of the non-reference system and the corrections of the reference system to achieve joint positioning of multiple SBAS systems.

Description

Technical Field

[0001] This application relates to the field of satellite positioning, and more particularly to a positioning method and apparatus that integrates multiple SBAS systems. Background Technology

[0002] With the continuous development and improvement of the Global Navigation Satellite System (GNSS), GNSS has shown excellent prospects in various fields and is now widely used in drones, maritime shipping, automated agriculture, and personal navigation. Especially as countries and regions continue to build and improve their own satellite navigation systems, Satellite-Based Augmentation Systems (SBAS) have been widely applied in various fields. The advantage of SBAS systems is that their corrections are broadcast directly via satellite, effectively improving the accuracy of single-point positioning from meters to decimeters without relying on a network. However, the disadvantages of SBAS systems are that each country and region's SBAS system operates independently, and each system can only cover a portion of the area. When using SBAS services, users can only confirm the use of a single system based on their own location. However, for a single system, if the user is in an area on the edge of the service system, the number of available satellites will be reduced, leading to poorer positioning results. If some SBAS systems broadcast insufficient corrections, some satellites will lack corrections, affecting positioning accuracy.

[0003] To improve the positioning accuracy of SBAS systems, one proposed technique is to perform dual detection on correction data, which effectively ensures the quality of the correction data and thus guarantees the positioning accuracy of the SBAS system. Another related technique proposes using SBAS base stations to calculate the time differences of multiple GNSS systems, thereby improving the positioning accuracy of multi-system GNSS. While both techniques can improve GNSS positioning accuracy to some extent, they are ineffective when the number of correction data broadcast by a single SBAS system is insufficient, or when the user is in an area where multiple SBAS systems intersect. Summary of the Invention

[0004] To address any of the aforementioned technical problems, embodiments of this application provide a positioning method and apparatus that integrates multiple SBAS systems.

[0005] To achieve the objectives of the embodiments of this application, the embodiments of this application provide a positioning method that integrates multiple SBAS systems, including:

[0006] If not all corrections of satellites in a certain SBAS system are observed, then select one of at least two SBAS systems as the reference system and the others as non-reference systems.

[0007] Calculate the difference between each non-reference system and the reference system for the same type of correction to obtain the system bias corresponding to each non-reference system;

[0008] By using the system bias corresponding to each non-reference system, the correction values ​​of the satellites in the corresponding non-reference system are corrected to obtain the correction values ​​of the non-reference system.

[0009] The positioning operation is performed using the correction values ​​of the modified non-reference system and the correction values ​​of the reference system.

[0010] A storage medium storing a computer program, wherein the computer program is configured to execute the method described above when run.

[0011] A positioning device integrating multiple SBAS systems includes a memory and a processor, wherein the memory stores a computer program and the processor is configured to run the computer program to perform the method described above.

[0012] One of the above technical solutions has the following advantages or beneficial effects:

[0013] If not all corrections from satellites in a particular SBAS system are observed, one system is selected from at least two SBAS systems as a reference system, and the others are designated as non-reference systems. The difference between the values ​​of the same type of corrections in each non-reference system and the reference system is calculated to obtain the system bias for each non-reference system. Using the system bias for each non-reference system, the correction values ​​of the satellites in that corresponding non-reference system are corrected to obtain the corrected correction values ​​for the non-reference systems. This achieves the goal of unifying the correction values ​​from multiple SBAS systems at the receiver. Then, the corrected non-reference system correction values ​​and the reference system correction values ​​are used for positioning operations, achieving the fusion and use of correction values ​​from multiple SBAS systems, thereby effectively improving the positioning accuracy and stability of the SBAS system.

[0014] Other features and advantages of the embodiments of this application will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the embodiments of this application. The objects and other advantages of the embodiments of this application may be realized and obtained by means of the structures particularly pointed out in the description, claims and drawings. Attached Figure Description

[0015] The accompanying drawings are used to provide a further understanding of the technical solutions of the embodiments of this application and constitute a part of the specification. They are used together with the embodiments of this application to explain the technical solutions of the embodiments of this application and do not constitute a limitation on the technical solutions of the embodiments of this application.

[0016] Figure 1 A flowchart illustrating the positioning method integrating multiple SBAS systems provided in this application embodiment;

[0017] Figure 2 A schematic diagram illustrating the intersection of two SBAS system service areas provided in this embodiment of the application;

[0018] Figure 3 This is a schematic diagram illustrating the application of the positioning method of multiple SBAS systems provided in the embodiments of this application. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the embodiments of this application will be described in detail below with reference to the accompanying drawings. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this application can be arbitrarily combined with each other.

[0020] Figure 1 A flowchart illustrating the positioning method integrating multiple SBAS systems provided in this application embodiment.

[0021] like Figure 1 As shown, the method includes:

[0022] Step 101: If not all corrections of satellites in a certain SBAS system are observed, select one system from at least two SBAS systems as the reference system and the others as non-reference systems.

[0023] In one exemplary embodiment, if the correction data broadcast by the SBAS system is incomplete, the received correction data will be incomplete; or, if the current location is in the overlapping coverage area of ​​multiple SBAS systems, only a portion of the correction data broadcast by each SBAS system will be received.

[0024] In one exemplary embodiment, the correction is at least one of the following: a correction for orbital error, a correction for star clock error, and a correction for ionospheric delay error.

[0025] The formula for pseudorange single-point positioning in the SBAS system is shown below:

[0026]

[0027] In equation (1), P is the pseudorange observation value, ρ is the geometric distance between the station and the satellite, c is the speed of light, and dt is the distance between the station and the satellite. r dt is the clock bias of the receiver.s For the satellite's clock bias, d Trop For tropospheric delay error, d ION For ionospheric delay error, For orbital error, For the star clock error, ε P This is pseudorange observation noise.

[0028] In single-point positioning operations, tropospheric errors are corrected using a model, ionospheric delay errors are corrected using a model or mitigated using a combination of ionospheric de-escalation techniques, while orbital and clock errors are not corrected.

[0029] In the embodiments of this application, when using the SBAS system correction number for positioning, the ionospheric delay error is corrected using the correction number of the ionospheric delay error, the orbital error is corrected using the correction number of the orbital error, and the star clock error is corrected using the correction number of the star clock error.

[0030] The SBAS system broadcasts corrections for orbital errors, satellite clock errors, and ionospheric delay errors to users via satellite-based transmission. After receiving these corrections, the receiver can use them to mitigate the orbital, clock, and ionospheric delay errors, thereby improving the accuracy of point positioning.

[0031] Furthermore, the correction for star clock errors also includes corrections for slow clock errors and corrections for fast clock errors.

[0032] In one exemplary embodiment, a reference system is selected from at least two SBAS systems in the following manner:

[0033] Obtain the number of corrections for satellites observed in each SBAS system;

[0034] Select a reference system based on the number of corrections corresponding to each SBAS system.

[0035] Specifically, based on the number of corrections corresponding to each SBAS system, the SBAS system with more corrections can be selected as the reference system;

[0036] Step 102: Calculate the difference between each non-reference system and the reference system for the same type of correction, and obtain the system bias corresponding to each non-reference system;

[0037] In practical applications, the corresponding systematic deviation can be calculated for each type of correction, or the systematic deviation can be calculated by selecting one or two of them.

[0038] Specifically, the corresponding systematic bias can be calculated for each type of correction. Taking a non-reference system as SBAS-A and a reference system as SBAS-B as an example, the systematic bias of the orbital error correction between SBAS-A and SBAS-B can be calculated separately, as can the systematic bias of the clock error correction between SBAS-A and SBAS-B, and the systematic bias of the ionospheric delay error correction between SBAS-A and SBAS-B.

[0039] Optionally, the three corrections can be grouped, with the corrections for orbital errors and satellite clock errors forming one group, and the correction for ionospheric delay errors forming another group; the systematic bias corresponding to each group of corrections can then be calculated separately. Continuing with the example of a non-reference system SBAS-A and a reference system SBAS-B, the systematic bias between SBAS-A and SBAS-B can be calculated separately, taking the corrections for orbital errors and satellite clock errors as the whole, and the systematic bias between SBAS-A and SBAS-B for the correction for ionospheric delay errors.

[0040] By dividing the corrections into two groups, computational efficiency can be improved while ensuring calculation accuracy.

[0041] Step 103: Using the system bias corresponding to each non-reference system, correct the value of the correction number of the satellite in the corresponding non-reference system to obtain the corrected correction number of the non-reference system;

[0042] Specifically, the corrections for satellites in the non-reference system are corrected using the corresponding system biases to obtain the corrected corrections for the non-reference system. These corrections are based on the reference system and do not have any system differences from the reference system's corrections. The corrections for orbital errors, clock errors, and ionospheric delay errors from multiple SBAS systems are then standardized at the receiver.

[0043] Step 104: Perform a positioning operation using the corrected values ​​of the non-reference system and the corrected values ​​of the reference system.

[0044] Specifically, after the correction data is standardized, the receiver can use the correction data from multiple SBAS systems when performing SBAS system positioning, thereby improving the positioning accuracy of the SBAS system.

[0045] The method provided in this application embodiment, if not all corrections of satellites in a certain SBAS system are observed, selects one system from at least two SBAS systems as a reference system and the others as non-reference systems. It calculates the difference between the values ​​of the same type of corrections between each non-reference system and the reference system to obtain the system bias corresponding to each non-reference system. Using the system bias corresponding to each non-reference system, it corrects the values ​​of the corrections of satellites in the corresponding non-reference system to obtain the corrected corrections of the non-reference system. This achieves the purpose of unifying the corrections of multiple SBAS systems at the receiver end. Then, it uses the corrected corrections of the non-reference system and the corrections of the reference system to perform positioning operations, thereby achieving the fusion and use of corrections from multiple SBAS systems and effectively improving the positioning accuracy and stability of the SBAS system.

[0046] The above methods can be applied to multiple navigation fields such as lane-level navigation, personal navigation, marine transport platforms, and wearable devices.

[0047] The method provided in the embodiments of this application is described below:

[0048] In an exemplary embodiment, the first systematic deviation corresponding to the correction of the orbital error and the correction of the star clock error is obtained by means of:

[0049] The sum of the corrections for orbital errors and the corrections for satellite clock errors of the same common-view satellite in the non-reference system and the reference system is obtained respectively, and the comprehensive corrections corresponding to orbital errors and satellite clock errors are obtained.

[0050] The first bias is obtained by calculating the difference between the combined corrections of the same satellite in the non-reference system and the reference system;

[0051] Based on the first deviation of each common-view satellite in each non-reference system, calculate the first system deviation corresponding to the orbital error and star clock error between each non-reference system and the reference system;

[0052] The calculation method for the first systematic bias is explained below:

[0053] Step A1: Convert the orbital error corrections broadcast by the SBAS system into pseudorange direction corrections;

[0054] The orbital error corrections broadcast by the SBAS system consist of three corrections in the XYZ directions of a spatial rectangular coordinate system, which can be expressed as follows:

[0055]

[0056] In order to unify the corrections for the orbital errors of various SBAS systems, the corrections in the XYZ directions are first converted to the corrections in the pseudorange direction, as shown in equation (3):

[0057]

[0058] in The coefficient matrix can be derived from the satellite positions and the approximate locations of the users.

[0059] The clock error corrections broadcast by the SBAS system include the slow clock error correction dClk. slow and fast clock correction dClk fast The combined correction for orbital error and star clock error can be expressed as equation (4):

[0060] dCorr=dρ Orbit +dClk slow +dClk fast (4)

[0061] The overall correction for each satellite in each observable SBAS system is obtained using equation (4).

[0062] Step A2: Obtain the common-view satellites for each non-reference system and the reference system;

[0063] Among them, a co-observed satellite refers to the same satellite observed simultaneously by two systems.

[0064] Step A3: For each non-reference system, calculate the difference between the integrated corrections of the same common-view satellite between the non-reference system and the reference system to obtain the first bias of each common-view satellite in the non-reference system;

[0065] Taking the calculation of the first deviation of the i-th common-view satellite of the k-th non-reference system as an example, see equation (5) for details.

[0066] dBias i (k)=dCorr i (k)-dCorr i (ref) (5)

[0067] In equation (5), ref represents the selected reference SBAS system, k represents the number of the non-reference system, and i represents the number of the common-view satellite, where i = 1, 2, 3, ..., n; where n and k are both positive integers;

[0068] dBias i (k) represents the first bias of the i-th common-view satellite of the k-th non-reference system.

[0069] dCorr i(k) represents the composite correction number of the i-th satellite in the k-th non-reference system;

[0070] dCorr i (ref) represents the composite correction number of the i-th satellite of the reference system.

[0071] Similarly, the first deviation of each common-view satellite of the k-th non-reference system SBAS-k relative to the reference SBAS system is calculated according to equation (5).

[0072] Step A4: Calculate the first deviation of the n common-view satellites to obtain the first system deviation of the k-th non-reference system SBAS-k relative to the reference system;

[0073] Specifically, the first systematic bias is obtained by averaging the first biases of the n co-viewing satellites, as shown in equation (6):

[0074]

[0075] In equation (6), n represents the total number of co-viewed satellites.

[0076] After obtaining the first system bias, when using the corrections from multiple SBAS systems for fusion positioning, the corrections from non-reference systems need to be corrected using the first system bias to adjust the orbital error corrections and satellite clock error corrections, thus obtaining the combined orbital clock error correction for each non-reference system. See equation (7) for details:

[0077]

[0078] Among them, dCorr i (k,new) represents the comprehensive correction number of the i-th common-view satellite in the k-th non-reference system SBAS-k after correction.

[0079] In one exemplary embodiment, the second systematic bias corresponding to the correction of the ionospheric delay error is obtained by means of:

[0080] The difference between the corrections for ionospheric delay errors of the same common-view satellite in the non-reference system and the reference system is calculated to obtain the second bias;

[0081] Based on the second deviation of each common-view satellite in each non-reference system, calculate the second system deviation corresponding to the ionospheric delay error between each non-reference system and the reference system.

[0082] The calculation method for the second systematic bias is explained below:

[0083] Step B1: Obtain the common-view satellites of each non-reference system and the reference system.

[0084] Step B2: For each non-reference system, calculate the difference between the corrections for the ionospheric delay error of the same consensus satellite between the non-reference system and the reference system to obtain the second bias of each common-view satellite in the non-reference system.

[0085] Taking the calculation of the second bias of the i-th common-view satellite of the k-th non-reference system as an example, see equation (5) for details.

[0086] dIonBias i (k)=dIon i (k)-dIon i (ref) (8)

[0087] In equation (8), ref represents the selected reference SBAS system, k represents the number of the non-reference system, and i represents the number of the common-view satellite, where i = 1, 2, 3, ..., n; where n and k are both positive integers;

[0088] dIonBias i (k) represents the second bias of the i-th common-view satellite of the k-th non-reference system;

[0089] dIon i (k) represents the correction number for the ionospheric delay error of the i-th common-view satellite in the k-th non-reference system;

[0090] dIon i (ref) represents the correction for the ionospheric delay error of the i-th common-view satellite of the reference system.

[0091] Similarly, the second deviation of each common-view satellite of the k-th non-reference system SBAS-k relative to the reference SBAS system is calculated according to equation (8).

[0092] Step A4: Calculate the second bias of the n common-view satellites to obtain the second system bias of the k-th non-reference system SBAS-k relative to the reference system;

[0093] Specifically, the second systematic bias is obtained by averaging the second biases of n co-viewed satellites, as shown in equation (9):

[0094]

[0095] In equation (9), n represents the total number of co-viewed satellites.

[0096] After obtaining the first system bias, when using the corrections from multiple SBAS systems for fusion positioning, the corrections from non-reference systems need to be corrected using the second system bias to correct the ionospheric delay error. The corrected ionospheric delay error for each non-reference system is obtained, as detailed in equation (10):

[0097]

[0098] Wherein, dIon in equation (10) i (k,new) represents the correction number for the ionospheric delay after correction by the i-th consensus satellite of the k-th non-reference system.

[0099] After obtaining the correction values ​​for each satellite in each non-reference system, the corrected SBAS correction values ​​can be used for multi-system SBAS fusion positioning.

[0100] This embodiment uses a scenario where two SBAS service areas intersect as an example for illustration.

[0101] like Figure 2 As shown, there are two SBAS systems, SBAS-A and SBAS-B, and the overlapping area of ​​their service areas is region C. When a user receiver is located in region C, it can receive correction data from both SBAS-A and SBAS-B. If only correction data from a single SBAS system is used, some satellites will lack SBAS correction data, leading to decreased SBAS positioning accuracy or even the inability to perform SBAS positioning. In this case, the method provided in this embodiment can be used for fusion positioning of multiple SBAS systems.

[0102] Step 301: Obtain the correction numbers for SBAS-A and SBAS-B systems;

[0103] In this embodiment, the SBAS-B system is used as the reference SBAS system, and the SBAS-A system is used as a non-reference system.

[0104] The correction includes corrections for orbital errors, clock errors, and ionospheric delay errors.

[0105] The systematic deviations corresponding to the above corrections are explained below:

[0106] Step 302: Calculate the first system deviation corresponding to the corrections for orbital errors and the corrections for star clock errors between the SBAS-A and SBAS-B systems;

[0107] Specifically, using formulas (2), (3), and (4) above, the comprehensive correction for each co-view satellite in the two systems can be obtained, which can be expressed as dBias respectively. i (A) and dBias i (B). The first deviation dBias between the i-th common-view satellite of the SBAS-A system and the SBAS-B system is obtained by using Equation (5) above. i (A)

[0108] After obtaining the first bias of all common-view satellites in the SBAS-A system, the first system bias corresponding to the SBAS-A system is obtained by averaging using the above formula (6).

[0109] Step 303: Use the first system deviation to correct the corrections for orbital errors and star clock errors in the SBAS-A system;

[0110] Specifically, after obtaining the first system deviation corresponding to the corrections for the orbital and clock errors of the SBAS-A and SBAS-B systems, the comprehensive correction dCorr of the SBAS-A system after deducting the deviation between the SBAS-A and SBAS-B systems is calculated using equation (7) above. i (A,new).

[0111] When the overall correction dCorr for each star after the SBAS-A system correction is obtained... i After (A,new), this correction can be used in combination with the orbital clock error correction of the SBAS-B system.

[0112] Step 304: Calculate the second system bias corresponding to the correction of the ionospheric delay error between the SBAS-A system and the SBAS-B system;

[0113] The second bias dIonBias between the i-th common-view satellite of the SBAS-A system and the SBAS-B system is obtained by using equation (8) above. i (A). After obtaining the second bias of all common-view satellites in the SBAS-A system, the second system bias corresponding to the SBAS-A system is obtained by averaging using the above formula (9).

[0114] Step 305: Correct the correction for ionospheric delay error in the SBAS-A system using the second system bias;

[0115] Specifically, after obtaining the second system deviation corresponding to the correction of the ionospheric delay error between the SBAS-A system and the SBAS-B system, the correction of the ionospheric delay error dIon after deducting the deviation between the SBAS-A system and the SBAS-B system is calculated using equation (10) above. i (A,new);

[0116] Step 306: Mix the correction values ​​from the SBAS-A system with the correction values ​​from the SBAS-B system for SBAS positioning.

[0117] The method provided in this application embodiment can calculate the system deviation of the correction values ​​of different SBAS systems when the user is located in the intersection area of ​​multiple SBAS systems, and perform unified processing on the correction values ​​of each SBAS system so that the user can use the SBAS correction values ​​of multiple systems, thereby improving the positioning accuracy of SBAS.

[0118] Similarly, when the correction data broadcast by a single SBAS system is incomplete, the system deviation of the correction data from different SBAS systems can be calculated, and the correction data from different SBAS systems can be standardized so that users can use the SBAS correction data from multiple systems when positioning, thereby improving the positioning accuracy of the SBAS system.

[0119] This application provides a storage medium storing a computer program, wherein the computer program is configured to execute the method described in any of the preceding descriptions when it runs.

[0120] This application provides a positioning device integrating multiple SBAS systems, including a memory and a processor. The memory stores a computer program, and the processor is configured to run the computer program to perform the method described in any of the preceding descriptions.

[0121] It will be understood by those skilled in the art that all or some of the steps, systems, or apparatuses disclosed above, and their functional modules / units, can be implemented as software, firmware, hardware, or suitable combinations thereof. In hardware implementations, the division between functional modules / units mentioned above does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed collaboratively by several physical components. Some or all components may be implemented as software executed by a processor, such as a digital signal processor or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit (ASIC). Such software may be distributed on a computer-readable medium, which may include computer storage media (or non-transitory media) and communication media (or transient media). As is known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and can be accessed by a computer. Furthermore, it is well known to those skilled in the art that communication media typically contain computer-readable instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

Claims

1. A positioning method for fusing multiple SBAS systems, characterized by, The method comprises the following steps: If all the corrections of a satellite in a certain SBAS system are not observed, one system is selected from at least two SBAS systems as a reference system, and the other systems are non-reference systems; The difference between the value of the same type of correction of each non-reference system and the reference system is calculated to obtain the system deviation of each non-reference system, comprising: determining the common view satellite of each non-reference system and the reference system; calculating the difference between the value of the same type of correction of the same common view satellite in each non-reference system and the reference system to obtain the correction deviation of each common view satellite; and calculating the system deviation of the correction between each non-reference system and the reference system according to the correction deviation of each common view satellite in each non-reference system; The value of the correction of the satellite in the corresponding non-reference system is corrected by using the system deviation of each non-reference system to obtain the corrected correction of the non-reference system; The positioning operation is performed by using the corrected correction of the non-reference system and the correction of the reference system.

2. The method of claim 1, wherein, The correction is at least one of the following: the correction of the orbit error, the correction of the satellite clock error, and the correction of the ionospheric delay error.

3. The method of claim 2, wherein, The correction of the satellite clock error includes the correction of the slow clock difference and the correction of the fast clock difference.

4. The method of claim 1, wherein, The reference system is selected from at least two SBAS systems by the following method, comprising: Obtaining the number of observed satellite corrections in each SBAS system; According to the number of corrections corresponding to each SBAS system, a reference system is selected.

5. The method according to any one of claims 1 to 4, characterized in that, The difference between the value of the same common view satellite in each non-reference system and the reference system is calculated to obtain the correction deviation of each common view satellite, comprising: Convert the orbit error correction in the space rectangular coordinate system into the radial correction; The correction deviation corresponding to the orbit error correction is obtained by using the difference between the radial corrections of the same common view satellite in each non-reference system and the reference system; Wherein, the orbit error correction is obtained by the following method, comprising: Wherein: dρ Orbit correction number for track error; H is a coefficient matrix, derived from the satellite position and the approximate position of the user; correction number for orbit error in spatial rectangular coordinate system, wherein 6. The method according to any one of claims 1-4, characterized in that: The difference between the value of the same common view satellite in each non-reference system and the reference system is calculated to obtain the correction deviation of each common view satellite, comprising: The sum of the orbit error correction and the satellite clock error correction of the same common view satellite in the non-reference system and the reference system is obtained respectively to obtain the comprehensive correction corresponding to the orbit error and the satellite clock error; and the difference between the comprehensive corrections of the same common view satellite in the non-reference system and the reference system is calculated to obtain the first deviation; And, The difference between the ionospheric delay error corrections of the same common view satellite in the non-reference system and the reference system is calculated to obtain the second deviation; The system deviation of the correction between each non-reference system and the reference system is calculated according to the correction deviation of each common view satellite in each non-reference system, comprising: The first system deviation corresponding to the orbit error and the satellite clock error between each non-reference system and the reference system is calculated according to the first deviation of each common view satellite in each non-reference system; And, According to the second bias of each common view satellite in each non-reference system, a second system bias corresponding to the ionospheric delay error between each non-reference system and the reference system is calculated.

7. The method according to any one of claims 1 to 4, characterized in that, The calculating the system bias of the correction number between each non-reference system and the reference system according to the bias of the correction number of each common view satellite in each non-reference system comprises: calculating the sum of the bias of the correction number of all common view satellites in the same non-reference system to obtain a bias sum; calculating the ratio of the bias sum to the total number of all common view satellites to obtain the system bias corresponding to each non-reference system.

8. A storage medium, characterized by The storage medium has a computer program stored therein, wherein the computer program is configured to execute the method in any one of claims 1 to 7 when executed.

9. A positioning apparatus of a fused multi-SBAS system, comprising a memory and a processor, wherein, The memory has a computer program stored therein, and the processor is configured to execute the computer program to execute the method in any one of claims 1 to 7.

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