PPP-RTK positioning solution method and related device

Abstract

The application discloses a PPP-RTK positioning solution method and related devices, the method comprises the following steps: assigning non-combination floating filter information to non-combination fixed solution filter, performing ionospheric constraint on the non-combination fixed solution filter of the current epoch through ionospheric correction number, and outputting non-combination fixed solution filter information; performing position constraint on the non-ionosphere combination floating point filter through the non-combination fixed solution position information in the non-combination fixed solution filter information, and outputting the non-ionosphere combination floating point solution after the non-combination fixed solution position constraint; fixing the single difference ambiguity of the non-ionosphere combination floating point solution, obtaining single difference ionospheric information through the obtained single difference ambiguity information; determining the ionospheric activity degree according to the single difference ionospheric information and the ionospheric correction number, and obtaining a determination result; according to the determination result, selecting the single difference ionospheric information or the non-combination fixed solution filter information to fix the non-combination ambiguity, and outputting the non-combination fixed solution result.

Description

Technical Field

[0001] This application belongs to the field of satellite positioning technology, and in particular relates to a PPP-RTK positioning solution method, system, device and computer storage medium. Background Technology

[0002] Precise Point Positioning (PPP) has wide applications in surveying, unmanned agriculture, and autonomous driving. PPP can achieve centimeter-level positioning accuracy within minutes by receiving observational data. Building upon this, if additional atmospheric information is broadcast from a server, Precise Point Positioning-Real-Time Kinematic (PPP-RTK) technology can achieve second-level convergence and fixation. However, in practical applications, if the ionosphere is active, the accuracy of atmospheric information is poor, leading to significant deviations in the positioning accuracy of PPP-RTK. Summary of the Invention

[0003] This application provides a PPP-RTK positioning calculation method, system, device, and computer storage medium, which can improve the problem that the positioning accuracy of PPP-RTK is greatly affected by the active period of the ionosphere in the prior art.

[0004] Firstly, a PPP-RTK positioning solution method is provided, which may include:

[0005] Floating-point filtering is performed on the non-combined observations to obtain non-combined floating-point filtered information, and floating-point filtering is performed on the non-ionospheric combined observations to obtain non-ionospheric combined floating-point filtered information;

[0006] Obtain the ionospheric correction;

[0007] First, the non-combined floating-point filtering information is assigned to the non-combined fixed solution filter. Then, the non-combined fixed solution filter of the current epoch is subjected to ionospheric constraints through the ionospheric correction number to output the non-combined fixed solution filtering information. The non-combined fixed solution filtering information may include the non-combined fixed solution position information.

[0008] The positional constraint of the ionosphere-free combined floating-point filter is performed by using the positional information of the non-combined fixed solution, so as to output the ionosphere-free combined floating-point solution after the positional constraint of the non-combined fixed solution.

[0009] The single-difference ambiguity of the non-ionospheric combined floating-point solution is fixed to obtain the single-difference ambiguity information, and the single-difference ionospheric information is obtained through the single-difference ambiguity information.

[0010] The activity level of the ionosphere is determined based on single-difference ionospheric information and ionospheric corrections, and the determination result is obtained.

[0011] Based on the judgment result, either single-difference ionospheric information or non-combined fixed solution filtering information is selected for non-combined ambiguity fixation to output the non-combined fixed solution result.

[0012] Optionally, based on the determination result, either single-difference ionospheric information or non-combined fixed solution filtering information can be selected for non-combined ambiguity fixing, which may include:

[0013] When the determination result indicates that the ionosphere is inactive, the non-combined fixed solution filtering information is assigned to the floating-point solution filter, and the non-combined ambiguity is fixed through the floating-point solution filter;

[0014] When the determination result indicates that the ionosphere is active, the non-combined fixed solution filter is subjected to ionospheric constraints by using single-difference ionospheric information, so as to fix the non-combined ambiguity through the non-combined fixed solution filter.

[0015] Optionally, the degree of ionospheric activity is determined based on single-difference ionospheric information and ionospheric corrections to obtain a determination result, which may include:

[0016] Based on the single-difference ionospheric information and ionospheric corrections, calculate the residual of the single-difference ionospheric correction for each satellite at each epoch;

[0017] Calculate the average of the residuals for all satellites at each epoch based on the residuals of the single-difference ionospheric correction for each satellite at each epoch.

[0018] When the average value of multiple consecutive epochs is greater than the threshold, the determination result indicates that the ionosphere is active.

[0019] Optionally, obtaining single-difference ionospheric information through single-difference ambiguity information may include:

[0020] The single-difference ionospheric information is calculated using the following formula.

[0021]

[0022] Among them, ion s1,s2 Indicates single-difference ionospheric information, and Let λ1 and λ2 represent the single-difference carrier observations between satellites s1 and s2 at the first and second frequency points, respectively; let N1 and N2 represent the wavelengths at the first and second frequency points, respectively; and let N1 and N2 represent the integer ambiguities at the first and second frequency points, respectively. and represents the fractional phase deviation at the first and second frequency points, respectively, and w represents the phase winding correction.

[0023] Optionally, floating-point filtering is performed on the non-combined observations to obtain non-combined floating-point filtered information, which may include:

[0024] Input the non-combined observations into the non-combined floating-point filter;

[0025] Upon receiving the tropospheric correction, tropospheric constraints are applied to the non-combined floating-point filter to output non-combined floating-point filter information;

[0026] Floating-point filtering is applied to the ionosphere-free composite observations to obtain ionosphere-free composite floating-point filtering information, which may include:

[0027] Input the combined observations of the ionosphere-free combination into the combined floating-point filter of the ionosphere-free combination;

[0028] Upon receiving the tropospheric correction, tropospheric constraints are applied to the ionosphere-free combined floating-point filter to obtain ionosphere-free combined floating-point filter information.

[0029] Secondly, a PPP-RTK positioning solution system is provided, which may include:

[0030] The floating-point filtering module is used to perform floating-point filtering on non-combined observations to obtain non-combined floating-point filtered information, and to perform floating-point filtering on ionospheric-free combined observations to obtain ionospheric-free combined floating-point filtered information.

[0031] The acquisition module is used to obtain ionospheric corrections.

[0032] The ionospheric constraint module is used to first assign the non-combined floating-point filtering information to the non-combined fixed solution filter, and then perform ionospheric constraint on the non-combined fixed solution filter of the current epoch through the ionospheric correction number to output the non-combined fixed solution filtering information, which may include the non-combined fixed solution position information.

[0033] The position constraint module is used to constrain the position of the ionosphere-free combined floating-point filter using the position information of the non-combined fixed solution, so as to output the ionosphere-free combined floating-point solution after the position constraint of the non-combined fixed solution.

[0034] The ambiguity fixing module is used to fix the single-difference ambiguity of the ionosphere-free combined floating-point solution, obtain the single-difference ambiguity information, and obtain the single-difference ionosphere information through the single-difference ambiguity information.

[0035] The determination module is used to determine the level of ionospheric activity based on single-difference ionospheric information and ionospheric corrections, and obtain the determination result.

[0036] The selection module is used to select either single-difference ionospheric information or non-combined fixed solution filtering information for non-combined ambiguity fixation based on the judgment result, so as to output the non-combined fixed solution result.

[0037] Thirdly, a PPP-RTK positioning and calculation device is provided, the PPP-RTK positioning and calculation device including a memory, a processor, and a PPP-RTK positioning and calculation program stored in the memory and running on the processor, the PPP-RTK positioning and calculation program implementing the steps of the PPP-RTK positioning and calculation method of the first aspect.

[0038] Fourthly, a computer storage medium is provided, which, when executed by a processor, implements the steps of the PPP-RTK positioning solution method of the first aspect.

[0039] Fifthly, a computer program product is provided, the computer program product comprising a computer program, which, when executed by a processor, implements the steps of the PPP-RTK positioning solution method of the first aspect.

[0040] Compared with existing technologies, the PPP-RTK positioning solution method and related apparatus provided in this application perform floating-point filtering through both non-combined and ionospheric-free combinations. Then, the non-combined fixed solution position information obtained from the non-combined fixed solution filter is used to constrain the position of the ionospheric-free combined floating-point filter, thereby accelerating the convergence of the ionospheric-free combined floating-point solution. Based on the ambiguity fixation of the ionospheric-free combined floating-point solution and the extracted single-difference ionospheric information, combined with the ionospheric correction number, the ionospheric activity level is determined. Based on the determination result, either the single-difference ionospheric information or the non-combined fixed solution filtering information is flexibly selected for non-combined ambiguity fixation to output the non-combined fixed solution result. Therefore, based on the implementation of satellite-based PPP-RTK, the non-combined ambiguity fixation can be flexibly achieved using the determination result indicating ionospheric activity level, taking into account the influence of ionospheric active periods, thus helping to improve the positioning accuracy of the non-combined fixed solution. This addresses the problem of significant deviations in PPP-RTK positioning accuracy due to the influence of ionospheric active periods in existing technologies. Attached Figure Description

[0041] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0042] Figure 1This is a schematic flowchart of a PPP-RTK positioning solution method according to an embodiment of this application.

[0043] Figure 2 This is a schematic block diagram of a PPP-RTK positioning solution system according to another embodiment of this application.

[0044] Figure 3 This is a schematic block diagram of a PPP-RTK positioning and calculation device according to another embodiment of this application. Detailed Implementation

[0045] The features and exemplary embodiments of various aspects of this application will now be described in detail. Numerous specific details are set forth in the following detailed description in order to provide a comprehensive understanding of this application. However, it will be apparent to those skilled in the art that this application can be implemented without some of these specific details. The following description of embodiments is merely intended to provide a better understanding of this application by illustrating examples thereof.

[0046] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The embodiments will now be described in detail with reference to the accompanying drawings.

[0047] As described in the background section, Precise Point Positioning-Real-Time Kinematic (PPP-RTK) technology has been widely used in various industries.

[0048] During the research and development process in this field, the inventors of this application discovered that in the actual application of PPP-RTK, if the ionosphere is in an active period, the accuracy of the broadcast atmospheric information is poor, which leads to a large deviation in the positioning accuracy of PPP-RTK.

[0049] In related technologies, the solutions for optimizing the positioning performance of ionospheric activity mainly focus on the field of RTK technology. When using RTK terminals, the ionospheric influence factor broadcast by the server is used to determine whether the ionosphere is active during the current usage period. Then, during periods of ionospheric activity, a combination model without ionospheric activity is adopted to minimize the impact of ionospheric activity.

[0050] However, when these technical solutions are applied to space-based systems, the lack of ionospheric constraints results in slow convergence of ionospheric-free composite models, failing to achieve the rapid fixation effect of PPP-RTK. This contradicts the original intention and effect of PPP-RTK's second-level convergence and fixation. Furthermore, these solutions require the server to broadcast relevant ionospheric influence factors to determine ionospheric activity during a given period, making the operation rather cumbersome.

[0051] In summary, there is a lack of research schemes for PPP-RTK positioning performance during periods of ionospheric activity in related technologies. Therefore, this application proposes a PPP-RTK positioning calculation method, system, device, computer storage medium, and computer program product to solve the above problems.

[0052] The following section first introduces the PPP-RTK positioning solution method of this application. (See attached image) Figure 1 In one embodiment of the PPP-RTK positioning solution method of this application, the method includes:

[0053] S110: Perform floating-point filtering on the non-combined observations to obtain non-combined floating-point filtered information, and perform floating-point filtering on the ionosphere-free combined observations to obtain ionosphere-free combined floating-point filtered information.

[0054] S120, obtain the ionospheric correction number.

[0055] S130: First, the non-combined floating-point filtering information is assigned to the non-combined fixed solution filter. Then, the non-combined fixed solution filter of the current epoch is subjected to ionospheric constraints through the ionospheric correction number to output the non-combined fixed solution filtering information.

[0056] The aforementioned non-combined fixed solution filtering information may include non-combined fixed solution location information.

[0057] S140 uses the non-combined fixed solution position information to perform position constraints on the ionosphere-free combined floating-point filter, so as to output the ionosphere-free combined floating-point solution after the non-combined fixed solution position constraint.

[0058] S150, fix the single-difference ambiguity of the non-ionospheric combined floating-point solution to obtain single-difference ambiguity information, and obtain single-difference ionospheric information through the single-difference ambiguity information.

[0059] S160, the activity level of the ionosphere is determined based on the single-difference ionospheric information and the ionospheric correction number, and the determination result is obtained.

[0060] S170, based on the judgment result, select either single-difference ionospheric information or non-combined fixed solution filtering information to fix the non-combined ambiguity, so as to output the non-combined fixed solution result.

[0061] This embodiment performs floating-point filtering through both non-combined and ionospheric-free combined filtering. Then, it uses the non-combined fixed solution position information obtained from the non-combined fixed solution filter to constrain the position of the ionospheric-free combined floating-point filter, thereby accelerating the convergence of the ionospheric-free combined floating-point solution. Based on the ambiguity fixation of the ionospheric-free combined floating-point solution and the extracted single-difference ionospheric information, combined with the ionospheric correction, the ionospheric activity level is determined. Based on the determination result, either the single-difference ionospheric information or the non-combined fixed solution filtering information is flexibly selected for non-combined ambiguity fixation to output the non-combined fixed solution result. Therefore, based on the implementation of satellite-based PPP-RTK, by fusing non-combined filtering and ionospheric-free combined filtering in floating-point and fixed solutions, the influence of ionospheric active periods is considered. The determination result indicating ionospheric activity level can be used to flexibly achieve non-combined ambiguity fixation, helping to improve the positioning accuracy of the non-combined fixed solution. This addresses the problem of significant positioning accuracy deviations in PPP-RTK due to ionospheric active periods in existing technologies.

[0062] The PPP-RTK positioning solution method described above can be applied to a positioning solution terminal, which, for example, can be a receiver. The above-mentioned non-combined model refers to the non-differential non-combined observation model, while the ionospheric-free combined model refers to the ionospheric-free combined observation model.

[0063] In some optional examples, floating-point filtering can be performed simultaneously for both the ionospheric-free combined and non-combined samples. Before the floating-point filtering, the corresponding observations for the ionospheric-free combined and non-combined samples can be obtained, i.e., the ionospheric-free combined observations and the non-combined observations.

[0064] It should be noted that the aforementioned non-combined observations can be the original observations. This allows the non-difference, non-combined observation model to start from the original observations, retaining more observational information. Subsequently, high ionospheric constraints can be utilized to make ambiguity fixation more efficient. When ionospheric-free combined observations are applied to the ionospheric-free combined observation model, the combination of signals of different frequencies is used to eliminate the low-order terms of ionospheric delay.

[0065] The aforementioned observations may include pseudorange observations and carrier observations. The calculation process of pseudorange observations and carrier observations in non-combined observations can refer to the following formula (1), and the calculation process of pseudorange observations and carrier observations without ionospheric combination can refer to the following formula (2).

[0066]

[0067]

[0068] in, and Let these represent the pseudorange and carrier observations at epoch t, ​​respectively, without difference or combination. The distance between the satellite's position and the receiver is represented by c, where c represents the speed of light, and t represents the speed of light. r,sys t represents the receiver clock bias. s Indicates satellite clock bias, T represents the tropospheric mapping function. z Indicates tropospheric wet delay, This represents the ionospheric delay, and f represents the frequency. b represents the ionospheric coefficient. r,f and B represents the pseudorange hardware delay at the satellite and receiver ends, respectively. r,f and These represent the carrier hardware delay at the satellite and receiver ends, respectively. The carrier integer ambiguity is represented by w, and phase winding correction is represented by w. and These represent the noise of the pseudorange and the carrier wave, respectively. and These represent the pseudorange and carrier observations of the ionosphere-free combination at epoch t, ​​respectively. and These represent the raw carrier phase observations from receiver r to satellite s, respectively. and These represent the raw pseudorange observations from receiver r to satellite s, respectively.

[0069] It can also receive broadcast ephemeris and various state quantity errors. For example, the state quantity errors may include orbit differential correction data, pseudorange and carrier hardware delay deviations, ionospheric corrections, and tropospheric corrections, etc.

[0070] In some optional examples, if the received state quantity error includes a tropospheric correction, the non-combined observation can be input into a non-combined floating-point filter, and then the non-combined floating-point filter can be tropospherically constrained according to the tropospheric correction, so that the non-combined floating-point filter after tropospheric constraint outputs non-combined floating-point filtering information.

[0071] Similarly, if the received state error includes tropospheric corrections, then when performing ionospheric-free combined floating-point filtering, the ionospheric-free combined observations can be input into the ionospheric-free combined floating-point filter, and then tropospheric constraints can be applied to the ionospheric-free combined floating-point filter so that the ionospheric-free combined floating-point filter after tropospheric constraints outputs ionospheric-free combined floating-point filtering information.

[0072] If the tropospheric correction is not included in the state variable error, the tropospheric constraint process can be skipped, and the floating-point filter information can be directly output by the floating-point filter.

[0073] In these embodiments, applying tropospheric constraints to both ionosphere-free and non-combined floating-point filters upon receiving tropospheric corrections can accelerate convergence.

[0074] It should be noted that if ionospheric corrections are used to apply ionospheric constraints to the non-combined fixed solution filters across multiple epochs, it will affect the data in subsequent epochs. Therefore, in this embodiment, after assigning the non-combined floating-point filter information to the non-combined fixed solution filter, ionospheric constraints are limited to the non-combined fixed solution filter of the current epoch to ensure data accuracy and avoid affecting the accuracy of subsequent PPP-RTK positioning calculations.

[0075] In some optional examples, in S140, the positional constraint of the non-combined fixed solution in the non-combined fixed solution filtering information is applied to the ionosphere-free combined floating-point filter to output the ionosphere-free combined floating-point solution after the non-combined fixed solution position constraint. Thus, the atmospheric and positional information in the non-combined fixed solution filtering information helps to accelerate the convergence of the ionosphere-free combined floating-point solution.

[0076] In the above S150, the single-difference ambiguity can be fixed by combining floating-point solutions without ionosphere to obtain single-difference ambiguity information, and then the single-difference ionosphere information can be obtained based on the obtained single-difference ambiguity information.

[0077] In some optional examples, the single-difference ionospheric information can be calculated using the following formula (3), thereby extracting the single-difference ionospheric information based on the fixed single-difference ambiguity information.

[0078]

[0079] Among them, ion s1,s2 Indicates single-difference ionospheric information, and Let λ1 and λ2 represent the single-difference carrier observations between satellites s1 and s2 at the first and second frequency points, respectively; let N1 and N2 represent the wavelengths at the first and second frequency points, respectively; and let N1 and N2 represent the integer ambiguities at the first and second frequency points, respectively. and represents the fractional phase deviation at the first and second frequency points, respectively, and w represents the phase winding correction.

[0080] In some optional examples, the process of determining ionospheric activity using single-difference ionospheric information and ionospheric corrections to obtain the determination result may include: calculating the residual of the single-difference ionospheric correction for each satellite at each epoch based on the single-difference ionospheric information and ionospheric corrections; and then calculating the average of the residuals for all satellites at each epoch based on the residuals of the single-difference ionospheric corrections for each satellite at each epoch. Wherein, when the average of the residuals for multiple consecutive epochs is greater than a threshold, the determination result indicates that the ionosphere is active in the current period. Conversely, the determination result indicates that the ionosphere is inactive in the current period.

[0081] Optionally, the process of calculating the residual of the single-difference ionospheric correction for each satellite at each epoch based on the single-difference ionospheric information and the ionospheric correction can be referred to the following formula (4).

[0082]

[0083] in, The residual representing the single-difference ionospheric correction, ion s1,s2 Indicates single-difference ionospheric information, stec s1 ,s2 This represents the ionospheric correction number.

[0084] These embodiments provide a method for determining the level of ionospheric activity. The observation error of the ionosphere is evaluated by using the residual average of the single-difference ionospheric corrections of all satellites over multiple consecutive epochs, which truly reflects the level of ionospheric activity.

[0085] It should be noted that during periods of high ionospheric activity, the accuracy of atmospheric information is poor, resulting in significant deviations in PPP-RTK positioning accuracy. Therefore, this embodiment can assess ionospheric activity by extracting single-difference ionospheric information from the non-ionospheric combined fixed ambiguity and the ionospheric information broadcast by the service. Based on the corresponding judgment results, parameters for non-combined ambiguity fixed ambiguity can be flexibly selected to accelerate the convergence and fixation of non-combined ambiguity and ensure PPP-RTK positioning accuracy.

[0086] In some optional examples, when the determination result during the activity level assessment indicates that the ionosphere is relatively active, the non-combined fixed solution filtering information obtained by performing ionospheric constraints will be affected. In this case, it is possible to use single-difference ionospheric information to perform ionospheric constraints on the non-combined fixed solution filter, so as to fix the non-combined ambiguity through the non-combined fixed solution filter and obtain the final fixed solution result. Thus, during the active ionospheric period, the single-point ionospheric information extracted from the non-ionospheric combined ambiguity information is used to replace the ionospheric products broadcast by the service to accelerate the convergence and fixation of non-combined ambiguity.

[0087] Conversely, if the determination result during the activity level assessment indicates that the ionosphere is in a less active period, the non-combined fixed solution filtering information can be directly used, assigned to the floating-point solution filter, and the non-combined ambiguity can be fixed through the floating-point solution filter to output the final fixed solution result.

[0088] In these embodiments, the parameters for fixing the non-combined ambiguity are flexibly selected according to the different activity levels of the ionosphere, which accelerates the convergence and fixing of the non-combined ambiguity and helps improve the positioning accuracy of the non-combined fixed solution. This can improve the problem that the positioning accuracy of PPP-RTK is greatly affected by the active period of the ionosphere in the prior art.

[0089] The PPP-RTK positioning calculation method of this application embodiment has been described in detail above. The following will combine... Figure 2 This application describes in detail the PPP-RTK positioning solution system according to its embodiments.

[0090] In one embodiment, the PPP-RTK positioning solution system may include:

[0091] The floating-point filtering module 210 can be used to perform floating-point filtering on non-combined observations to obtain non-combined floating-point filtering information, and to perform floating-point filtering on ionosphere-free combined observations to obtain ionosphere-free combined floating-point filtering information.

[0092] Module 220 can be used to obtain ionospheric corrections;

[0093] The ionospheric constraint module 230 can be used to first assign non-combined floating-point filtering information to the non-combined fixed solution filter, and then perform ionospheric constraint on the non-combined fixed solution filter of the current epoch through the ionospheric correction number to output non-combined fixed solution filtering information, which includes non-combined fixed solution position information.

[0094] The position constraint module 240 can be used to constrain the position of the ionosphere-free combined floating-point filter using the position information of the non-combined fixed solution, so as to output the ionosphere-free combined floating-point solution after the position constraint of the non-combined fixed solution.

[0095] The ambiguity fixing module 250 can be used to fix the single-difference ambiguity of the non-ionospheric combined floating-point solution, obtain the single-difference ambiguity information, and obtain the single-difference ionospheric information through the single-difference ambiguity information.

[0096] The judgment module 260 can be used to judge the degree of ionospheric activity based on single-difference ionospheric information and ionospheric correction number, and obtain the judgment result;

[0097] The selection module 270 can be used to select either single-difference ionospheric information or non-combined fixed solution filtering information for non-combined ambiguity fixation based on the judgment result, so as to output the non-combined fixed solution result.

[0098] In some embodiments, the selection module 270 may include:

[0099] The first selection unit can be used to assign the non-combined fixed defilter information to the floating-point defilter when the determination result indicates that the ionosphere is inactive, and to fix the non-combined ambiguity through the floating-point defilter;

[0100] The second selection unit can be used to apply ionospheric constraints to the non-combined fixed solution filter using single-difference ionospheric information when the determination result indicates that the ionosphere is active, so as to fix the non-combined ambiguity through the non-combined fixed solution filter.

[0101] In other embodiments, the determination module 260 may include:

[0102] The calculation unit can be used to calculate the residual of the single-difference ionospheric correction for each satellite at each epoch, based on the single-difference ionospheric information and the ionospheric correction.

[0103] The calculation unit can also be used to calculate the average value of the residuals of all satellites at each epoch based on the residuals of the single-difference ionospheric corrections of each satellite at each epoch; wherein, when the average value of multiple consecutive epochs is greater than the threshold, the determination result indicates that the ionosphere is active.

[0104] In other embodiments, the ambiguity fixing module 250 can be used to calculate single-difference ionospheric information using the following formula.

[0105]

[0106] Among them, ion s1,s2 Indicates single-difference ionospheric information, and Let λ1 and λ2 represent the single-difference carrier observations between satellites s1 and s2 at the first and second frequency points, respectively; let N1 and N2 represent the wavelengths at the first and second frequency points, respectively; and let N1 and N2 represent the integer ambiguities at the first and second frequency points, respectively. and represents the fractional phase deviation at the first and second frequency points, respectively, and w represents the phase winding correction.

[0107] In some other embodiments, the floating-point filtering module 210 can also be used to input non-combined observations into a non-combined floating-point filter; upon receiving a tropospheric correction, apply tropospheric constraints to the non-combined floating-point filter to output non-combined floating-point filtering information; and input ionosphere-free combined observations into an ionosphere-free combined floating-point filter; upon receiving a tropospheric correction, apply tropospheric constraints to the ionosphere-free combined floating-point filter to obtain ionosphere-free combined floating-point filtering information.

[0108] Figure 3 A schematic diagram of the hardware structure of the PPP-RTK positioning and calculation device provided in an embodiment of this application is shown. The PPP-RTK positioning and calculation device may include a processor 301 and a memory 302 storing computer program instructions.

[0109] Specifically, the processor 301 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 this application.

[0110] Memory 302 may include mass storage for data or instructions. For example, and not limitingly, memory 302 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 302 may include removable or non-removable (or fixed) media. Where appropriate, memory 302 may be internal or external to a PPP-RTK positioning computing device. In a particular embodiment, memory 302 is a non-volatile solid-state memory.

[0111] Memory 302 may include read-only memory (ROM), flash memory device, random access memory (RAM), disk storage medium device, optical storage medium device, electrical, optical, or other physical / tangible memory storage device. Therefore, typically, memory 302 includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software that may include computer-executable instructions and, when executed (e.g., by one or more processors), is operable to perform the operations described with reference to the methods described above according to the foregoing aspects of this disclosure.

[0112] The processor 301 reads and executes computer program instructions stored in the memory 302 to implement any of the PPP-RTK positioning calculation methods in the above embodiments.

[0113] In one example, the PPP-RTK positioning and calculation device may further include a communication interface 303 and a bus 310. For example, Figure 3 As shown, the processor 301, memory 302, and communication interface 303 are connected through bus 310 and complete communication with each other.

[0114] The communication interface 303 is mainly used to realize communication between various modules, systems, devices, units and / or equipment in the embodiments of this application.

[0115] Bus 310 includes hardware, software, or both, that couples components of a PPP-RTK positioning and solving 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 310 may include one or more buses. Although specific buses are described and illustrated in embodiments of this application, any suitable bus or interconnect is contemplated herein.

[0116] This PPP-RTK positioning and calculation device can achieve a combination of PPP-RTK positioning and calculation methods. Figures 1 to 2 The PPP-RTK positioning solution method and system are described.

[0117] In conjunction with the PPP-RTK positioning and calculation methods in the above embodiments, this application embodiment can provide a computer storage medium for implementation. The computer storage medium stores computer program instructions; when these computer program instructions are executed by a processor, they implement any of the PPP-RTK positioning and calculation methods in the above embodiments.

[0118] In addition, in conjunction with the PPP-RTK positioning and calculation methods in the above embodiments, this application embodiment can provide a computer program product for implementation. This computer program product stores computer program instructions; when these computer program instructions are executed by a processor, they implement any of the PPP-RTK positioning and calculation methods in the above embodiments.

[0119] Furthermore, the term "and / or" in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0120] It should be understood that in the embodiments of this application, "B corresponding to A" means that B is associated with A, and B can be determined based on A. However, it should also be understood that determining B based on A does not mean that B is determined solely based on A; B can also be determined based on A and / or other information.

[0121] The above description is merely a specific embodiment of this application, but the scope of protection of this application 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 this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A PPP-RTK positioning solution method, characterized in that, include: Floating-point filtering is performed on the non-combined observations to obtain non-combined floating-point filtered information, and floating-point filtering is performed on the non-ionospheric combined observations to obtain non-ionospheric combined floating-point filtered information; Obtain the ionospheric correction; First, the non-combined floating-point filtering information is assigned to the non-combined fixed solution filter. Then, the non-combined fixed solution filter in the current epoch is subjected to ionospheric constraints through the ionospheric correction number to output non-combined fixed solution filtering information, which includes non-combined fixed solution position information. The non-combined fixed solution position information is used to constrain the ionosphere-free combined floating-point filter to output the ionosphere-free combined floating-point solution after the non-combined fixed solution position constraint. The single-difference ambiguity of the non-ionosphere combined floating-point solution is fixed to obtain single-difference ambiguity information, and single-difference ionosphere information is obtained through the single-difference ambiguity information. The activity level of the ionosphere is determined based on the single-difference ionospheric information and the ionospheric correction number, and a determination result is obtained. Based on the determination result, either the single-difference ionospheric information or the non-combined fixed solution filtering information is selected for non-combined ambiguity fixing to output the non-combined fixed solution result.

2. The method according to claim 1, characterized in that, The step of selecting either the single-difference ionospheric information or the non-combined fixed defiltering information for non-combined ambiguity fixing based on the determination result includes: When the determination result indicates that the ionosphere is inactive, the non-combined fixed defilter information is assigned to the floating-point defilter, and the non-combined ambiguity is fixed through the floating-point defilter; When the determination result indicates that the ionosphere is active, the non-combined fixed solution filter is subjected to ionospheric constraints using the single-difference ionospheric information, so as to fix the non-combined ambiguity through the non-combined fixed solution filter.

3. The method according to claim 1, characterized in that, The step of determining the ionospheric activity level based on the single-difference ionospheric information and the ionospheric correction number to obtain a determination result includes: Based on the single-difference ionospheric information and the ionospheric correction, calculate the residual of the single-difference ionospheric correction for each satellite at each epoch; Based on the residual of the single-difference ionospheric correction for each satellite at each epoch, calculate the average value of the residuals for all satellites at each epoch; When the average value of multiple consecutive epochs is greater than the threshold, the determination result indicates that the ionosphere is active.

4. The method according to claim 1, characterized in that, The step of obtaining single-difference ionospheric information through the single-difference ambiguity information includes: The single-difference ionospheric information is calculated using the following formula. Among them, ion s1,s2 Indicates single-difference ionospheric information, and Let λ1 and λ2 represent the single-difference carrier observations between satellites s1 and s2 at the first and second frequency points, respectively; let N1 and N2 represent the wavelengths at the first and second frequency points, respectively; and let N1 and N2 represent the integer ambiguities at the first and second frequency points, respectively. and represents the fractional phase deviation at the first and second frequency points, respectively, and w represents the phase winding correction.

5. The method according to claim 1, characterized in that, The floating-point filtering process performed on the non-combined observations to obtain non-combined floating-point filtered information includes: The non-combined observations are input into a non-combined floating-point filter; Upon receiving the tropospheric correction, the non-combined floating-point filter is subjected to tropospheric constraints to output the non-combined floating-point filter information. The step of performing floating-point filtering on the combined ionosphere observations to obtain combined ionosphere floating-point filtered information includes: Input the combined observations of the ionosphere-free combination into the combined floating-point filter of the ionosphere-free combination; Upon receiving the tropospheric correction, the ionosphere-free combined floating-point filter is subjected to tropospheric constraints to obtain ionosphere-free combined floating-point filter information.

6. A PPP-RTK positioning solution system, characterized in that, The PPP-RTK positioning solution system includes: The floating-point filtering module is used to perform floating-point filtering on non-combined observations to obtain non-combined floating-point filtered information, and to perform floating-point filtering on ionospheric-free combined observations to obtain ionospheric-free combined floating-point filtered information. The acquisition module is used to obtain ionospheric corrections. The ionospheric constraint module is used to first assign the non-combined floating-point filtering information to the non-combined fixed solution filter, and then use the ionospheric correction number to perform ionospheric constraint on the non-combined fixed solution filter in the current epoch, so as to output the non-combined fixed solution filtering information, the non-combined fixed solution filtering information including the non-combined fixed solution position information; The position constraint module is used to constrain the position of the ionosphere-free combined floating-point filter using the non-combined fixed solution position information, so as to output the ionosphere-free combined floating-point solution after the non-combined fixed solution position constraint. The ambiguity fixing module is used to fix the single-difference ambiguity of the ionosphere-free combined floating-point solution, obtain the single-difference ambiguity information, and obtain the single-difference ionosphere information through the single-difference ambiguity information. The determination module is used to determine the degree of ionospheric activity based on the single-difference ionospheric information and the ionospheric correction number, and obtain the determination result; The selection module is used to select either the single-difference ionospheric information or the non-combined fixed solution filtering information for non-combined ambiguity fixing based on the determination result, so as to output the non-combined fixed solution result.

7. A PPP-RTK positioning calculation device, characterized in that, The PPP-RTK positioning and calculation device includes a memory, a processor, and a PPP-RTK positioning and calculation program stored in the memory and running on the processor. The PPP-RTK positioning and calculation program performs the steps of the PPP-RTK positioning and calculation method as described in any one of claims 1 to 5.

8. A computer storage medium, characterized in that, When the computer storage medium is executed by the processor, it implements the steps of the PPP-RTK positioning solution method according to any one of claims 1 to 5.

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