Method, device, computer storage medium and terminal for implementing data verification processing
By establishing a service subnet and a verification subnet in the network RTK service, and calculating the double-difference pseudorange residual and double-difference carrier residual, the coverage and cost issues of virtual base station data verification are solved, and the accuracy and reliability of positioning calculation are improved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- TRUEPOINT TECH INC
- Filing Date
- 2022-10-08
- Publication Date
- 2026-07-21
AI Technical Summary
In existing network RTK services, the integrity verification of virtual base station data is costly and has limited coverage, making it difficult to ensure positioning accuracy nationwide. The movement and failure of physical base stations cause errors in virtual base station data, affecting user positioning accuracy.
By establishing a service subnet and a verification subnet, the observation information at the same time is determined, the double-difference pseudorange residual and double-difference carrier residual of the virtual base station are calculated, and it is determined whether the virtual base station data is abnormal, thus avoiding the broadcast of abnormal data.
It achieves full-network coverage verification of virtual base station data, reduces verification costs, improves the accuracy and reliability of positioning calculation, and avoids positioning errors caused by virtual base station data issues.
Smart Images
Figure CN115657087B_ABST
Abstract
Description
Technical Field
[0001] This article relates to, but is not limited to, satellite positioning technology, and in particular to a method, apparatus, computer storage medium, and terminal for data verification processing. Background Technology
[0002] Currently, multiple satellite navigation systems provide positioning services to users, including the Global Navigation Satellite System (GNSS), the US Global Positioning System (GPS), Russia's GLONASS, China's BeiDou, the European Union's Galileo, and Japan's Quasi-Zenith Satellite System (QZSS). The combined positioning of multiple satellite navigation systems significantly improves the availability, reliability, and accuracy of satellite navigation and positioning. Therefore, satellite navigation and positioning has been widely applied in numerous fields, including vehicle navigation, surveying and mapping, precision agriculture, intelligent robots, drones, and autonomous driving. Although the orbital clock error accuracy of various satellite navigation systems is constantly improving, and the number of available satellites is increasing, the accuracy of Standard Point Positioning (SPP) without precise external data support still cannot reach an accuracy better than one meter.
[0003] Real-time dynamic carrier phase differential (RTK) technology utilizes the error correlation between base stations and user stations to eliminate positioning errors. This correlation weakens as the distance between the base station and user station increases; the closer the base station and user station are, the stronger the error correlation, and the farther the distance, the weaker the correlation. Beyond a certain distance, such as 30 kilometers, atmospheric residuals reach decimeter levels, making it difficult to fix double-difference ambiguities and thus impossible to achieve centimeter-level positioning. To meet the needs of large-scale, high-precision applications such as precision agriculture, autonomous driving, and drones, multiple physical base stations are typically required to form a base station network. For multi-base station systems, virtual reference station technology (Lambert, 2003) is more commonly used. This technology utilizes observation data from multiple physical base stations to divide the coverage area of the physical base stations into more grids, generating virtual base station data for the center point of each grid, and providing the user with virtual base station data for their assigned grid. Network RTK can generate more virtual base station data than physical base stations, further shortening the distance between base stations and user stations, and is a common approach in current multi-base station systems. In multi-base station systems, the server sends data from the nearest base station to the user station based on its location, allowing the user station to form a shorter baseline. Currently, several companies in China provide network RTK services nationwide. Users report their location, and the server provides virtual base station data for the grid where the user station is located. These service providers offer nationwide network RTK services through thousands of physical base stations distributed across the country. However, network RTK services differ from physical base station services. The data sent by network RTK services is virtual base station data generated by processing physical base station data, not the observations output by the physical base stations. Most of these physical base stations are unattended, and some antennas may move due to weather or human factors. Some physical base stations may also be unstable due to prolonged operation, outputting problematic observations. Whether the antenna of the physical base station used for network RTK is displaced, or there are problems with the observations uploaded by the physical base station, the integrity of all virtual base station data generated using that physical base station will be affected.
[0004] To ensure the integrity of the virtual base station data provided to user sites, network RTK services often require verification. Most network RTK service providers establish more tracking stations than expected when building their physical base station (tracking station) networks. These tracking stations are generally located in areas with open views and reliable network and power supply. A portion of these tracking stations do not participate in network RTK calculations but are used to verify the network RTK services generated by other tracking stations. These testing and verification tracking stations typically account for about 5% to 10% of the total number of tracking stations. For nationwide network RTK services, service providers often reserve hundreds or even more tracking stations for testing and verification. The maintenance cost of each tracking station is tens of thousands of yuan per year, a considerable expense. Furthermore, each tracking station can only verify network RTK services within a certain radius of its surroundings, with a maximum coverage radius of 50 kilometers. Therefore, even hundreds of tracking stations cannot verify nationwide network RTK services. Some researchers have proposed using acquisition terminals to verify the integrity of virtual base station data (Fu Yutao, 2018). However, similar to the effect of tracking stations, a single acquisition terminal can only verify network RTK services in its vicinity. The methods mentioned above, such as establishing permanent tracking stations or using data collection terminals, essentially utilize data collected from physical base stations to verify the virtual base station data of the network RTK. Network RTK services cover a wide area, generating a large number of virtual base stations, and most network RTK service providers offering nationwide services divide their service areas into 5-kilometer zones. A 5-kilometer grid, with each grid corresponding to a virtual base station, often results in hundreds of thousands of virtual base stations. The two methods mentioned above cannot achieve full network coverage and are costly. Furthermore, to save costs, most tracking stations established by nationwide network RTK service providers are not built on permanent concrete or steel observation piers, but rather on building rooftops, with antennas erected by drilling holes in the walls or securing them with weights. These antennas can shift due to natural factors such as strong winds and landslides, or human factors such as moving, typically by a few decimeters or even just a few centimeters, which are difficult for network RTK software to detect in a timely manner. If the antenna coordinates corresponding to the observed values are inconsistent with the calculated coordinates, it will lead to significant errors in the virtual base station data calculated using the tracking station's data, ultimately affecting the positioning accuracy of network RTK users. Similarly, if a tracking station experiences receiver software or hardware failures, such as a damaged antenna, a faulty antenna cable connection, or a software malfunction in the satellite receiver used by the tracking station, resulting in abnormal observed values provided to the calculation center, the virtual base station data calculated using that tracking station's data will also fail to meet service requirements. Failure to detect problems with the virtual base station data in a timely manner may lead to serious consequences for user stations, such as drones or agricultural machinery using the virtual base station data veering off course. Related technologies also include monitoring stations for verifying virtual base station data. If a monitoring station is located near a tracking station and detects problems with the virtual base station data, it can promptly notify the calculation center to stop service in that area and investigate the problem. However, not all tracking stations have monitoring stations nearby.
[0005] In summary, ensuring the accuracy of virtual machine base station data used for positioning calculations remains an unresolved issue. Summary of the Invention
[0006] The following is an overview of the subject matter described in detail herein. This overview is not intended to limit the scope of the claims.
[0007] This invention provides a method, apparatus, computer storage medium, and terminal for data verification processing, which can verify the accuracy of virtual base station data used for location calculation.
[0008] This invention provides a method for implementing data verification processing, including: For the serving subnet and the pre-determined verification subnet corresponding to the serving subnet, the observation information of the serving subnet and the verification subnet at the same time are determined respectively. The observation information includes: pseudorange observation of satellite i frequency point K of virtual base station O, carrier observation of satellite i frequency point K of virtual base station O, pseudorange observation of satellite j frequency point K of virtual base station O, and carrier observation of satellite j frequency point K of virtual base station O. Based on the determined observation information, determine the double-difference pseudorange residuals and double-difference carrier residuals of satellite i and satellite j of virtual base station O; Based on the determined double-difference pseudorange residual and double-difference carrier residual, determine whether the virtual base station data obtained based on the service subnet solution is abnormal; The service subnet is a network consisting of different tracking stations from the verification subnet, but containing the same virtual base station O.
[0009] On the other hand, embodiments of the present invention also provide a computer storage medium storing a computer program, which, when executed by a processor, implements the above-described method for implementing data verification processing.
[0010] Furthermore, embodiments of the present invention also provide a terminal, comprising: a memory and a processor, wherein the memory stores a computer program; wherein, The processor is configured to execute computer programs in memory; When the computer program is executed by the processor, it implements the data verification processing method as described above.
[0011] Furthermore, embodiments of the present invention also provide an apparatus for implementing data verification processing, comprising: a unit for calculating observed values, a unit for determining residuals, and a judgment unit; wherein, The unit for calculating observations is set up as follows: for the serving subnet and the pre-determined verification subnet corresponding to the serving subnet, the observation information of the serving subnet and the verification subnet at the same time is determined respectively. The observation information includes: pseudorange observation of satellite i frequency point K of virtual base station O, carrier observation of satellite i frequency point K of virtual base station O, pseudorange observation of satellite j frequency point K of virtual base station O, and carrier observation of satellite j frequency point K of virtual base station O; The residual unit is set as follows: based on the determined observation information, determine the double-difference pseudorange residual and double-difference carrier residual of satellite i and satellite j of virtual base station O; The judgment unit is set to determine whether the virtual base station data obtained based on the service subnet calculation is abnormal, based on the determined double-difference pseudorange residual and double-difference carrier residual. The service subnet is a network consisting of different tracking stations from the verification subnet, but containing the same virtual base station O.
[0012] The technical solution of this application includes: determining, at the same time, the observation values of satellite i frequency point K of virtual base station O in the serving subnet and the verification subnet corresponding to the serving subnet, and the observation values of satellite j frequency point K of virtual base station O in the serving subnet and the verification subnet, respectively. The observation values include pseudorange observation values and carrier observation values. Based on the obtained observation values of satellite i frequency point K and satellite j frequency point K of virtual base station O, the double-difference pseudorange residuals and double-difference carrier residuals of satellite i and satellite j of virtual base station O are determined. Based on the determined double-difference pseudorange residuals and double-difference carrier residuals, it is determined whether the virtual base station data obtained based on the service subnet is abnormal. The service subnet is a network composed of different tracking stations from the verification subnet, but containing the same virtual base station O. This embodiment of the invention realizes the integrity verification of virtual base station data based on the service subnet, avoiding the impact of broadcasting virtual base station data on real-time dynamic carrier phase differential (RTK) network positioning calculation when the virtual base station data has integrity problems.
[0013] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the description, claims, and drawings. Attached Figure Description
[0014] The accompanying drawings are provided to further understand the technical solutions of the present invention and constitute a part of the specification. They are used together with the embodiments of this application to explain the technical solutions of the present invention and do not constitute a limitation on the technical solutions of the present invention.
[0015] Figure 1 This is a flowchart illustrating the data verification processing method implemented in an embodiment of the present invention; Figure 2 This is a structural block diagram of the apparatus for implementing data verification processing according to an embodiment of the present invention; Figure 3 This is a schematic diagram illustrating the network composition of the service subnet and the verification subnet, which serve as an application example of the present invention. Detailed Implementation
[0016] To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be noted that, unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.
[0017] The steps illustrated in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases the steps shown or described may be performed in a different order than that presented here.
[0018] Figure 1 This is a flowchart illustrating the data verification processing method implemented in an embodiment of the present invention, as shown below. Figure 1 As shown, it includes: Step 101: For the serving subnet and the pre-determined verification subnet corresponding to the serving subnet, determine the observation information of the serving subnet and the verification subnet at the same time. The observation information includes: pseudorange observation value of satellite i frequency point K of virtual base station O, carrier observation value of satellite i frequency point K of virtual base station O, pseudorange observation value of satellite j frequency point K of virtual base station O, and carrier observation value of satellite j frequency point K of virtual base station O; wherein, the serving subnet is a network composed of different tracking stations as the verification subnet, but containing the same virtual base station O; In this embodiment of the invention, the service subnet is a network composed of tracking stations used to provide virtual base station data. In an exemplary instance, this embodiment of the invention determines one or more service subnets in the network based on service requirements, and determines the aforementioned verification subnet.
[0019] Step 102: Based on the determined observation information, determine the double-difference pseudorange residuals and double-difference carrier residuals of satellite i and satellite j of virtual base station O; here, based on the obtained observation values of satellite i frequency point K and satellite j frequency point K of virtual base station O, the observation values include: based on the obtained pseudorange observation value of satellite i frequency point K, carrier observation value of satellite i frequency point K of virtual base station O, pseudorange observation value of satellite j frequency point K of virtual base station O, and carrier observation value of satellite j frequency point K of virtual base station O, determine the double-difference pseudorange residuals and double-difference carrier residuals of satellite i and satellite j of virtual base station O; Step 103: Based on the determined double-difference pseudorange residual and double-difference carrier residual, determine whether the virtual base station data obtained based on the service subnet solution is abnormal; This invention establishes a verification subnet containing the same virtual base stations as the serving subnet. By calculating the pseudorange and carrier observations of satellite frequency point K at frequency point K and satellite frequency point K of the same virtual base station, the double-difference pseudorange residual and double-difference carrier residual of the virtual base station are determined. Based on the determined double-difference pseudorange residual and double-difference carrier residual of the virtual base station, the integrity verification of the virtual base station data calculated based on the serving subnet is realized, avoiding the impact of broadcasting virtual base station data on the real-time dynamic carrier phase differential (RTK) network positioning calculation when the virtual base station data has integrity problems.
[0020] In one exemplary instance, the observation information of this embodiment of the invention is calculated using the following formula: (1) (2) (3) (4) Where k represents the frequency point identifier, and the value of k can be 1, 2, 3 or 4; This represents the pseudorange observation value of satellite i frequency point k of virtual base station O calculated based on the service subnet; This represents the pseudorange observation value of satellite i frequency point k of virtual base station O calculated based on the verification subnet; This represents the carrier observation value of satellite frequency point k of virtual base station O calculated based on the service subnet; This represents the carrier observation value of satellite frequency point k of virtual base station O calculated based on the verification subnet; c represents the geometric distance between virtual base station O and satellite i; c represents the speed of light in a vacuum. This represents the receiver clock bias contained in the pseudorange and carrier observations of the virtual base station O calculated based on the serving subnet; This represents the receiver clock bias contained in the pseudorange and carrier observations of the virtual base station O calculated based on the verification subnet; Indicates the clock bias of satellite i; This represents the tropospheric error contained in the pseudorange and carrier observations of the virtual base station O calculated based on the service subnet; This represents the tropospheric error contained in the pseudorange and carrier observations of the virtual base station O calculated based on the verification subnet; This represents the ionospheric error contained in the pseudorange and carrier observations of the virtual base station O calculated based on the service subnet; This represents the ionospheric error contained in the pseudorange and carrier observations of the virtual base station O calculated based on the verification subnet; This represents the square of the frequency of the first frequency point; This represents the square of the frequency at the k-th frequency point; The carrier wavelength represents the frequency point k; This represents the integer ambiguity contained in the carrier observations of the virtual base station O calculated based on the serving subnet; This represents the integer ambiguity contained in the carrier observations of the virtual base station O calculated based on the verification subnet; This represents the noise in the pseudorange observations of the virtual base station O calculated based on the service subnet; This shows the noise of pseudorange observations of the virtual base station O calculated based on the verification subnet; This represents the carrier observation noise of the virtual base station O calculated based on the serving subnet; This represents the carrier observation noise of the virtual base station O calculated based on the verification subnet.
[0021] In one exemplary instance, embodiments of the present invention may determine the observed value of satellite frequency point K of virtual base station O of service subnet and verification subnet by referring to formulas 1 to 4 above.
[0022] It should be noted that the above-mentioned observation values in the embodiments of the present invention can be obtained by referring to relevant theoretical calculations, and the embodiments of the present invention are not limited to calculating the observation values using the above formulas.
[0023] In one exemplary instance, this embodiment of the invention determines whether the virtual base station data obtained based on the serving subnet calculation is abnormal, including: If the double-difference pseudorange residual is greater than the preset double-difference pseudorange residual threshold, and the double-difference carrier residual is greater than the preset double-difference carrier residual threshold, the virtual base station data obtained based on the service subnet calculation is determined to be abnormal.
[0024] In one exemplary instance, when it is determined that the virtual base station data obtained based on the service subnet calculation is abnormal, the method of this embodiment of the invention further includes: Stop broadcasting virtual base station data obtained from service subnet calculations.
[0025] In one exemplary instance, the double-difference pseudorange residual threshold of this embodiment of the invention is equal to 2 meters, and the double-difference carrier residual threshold is equal to 0.2 times the carrier wavelength.
[0026] This invention also provides a computer storage medium storing a computer program, which, when executed by a processor, implements the above-described method for data verification processing.
[0027] This invention also provides a terminal, comprising: a memory and a processor, wherein the memory stores a computer program; wherein, The processor is configured to execute computer programs in memory; When a computer program is executed by a processor, it implements the data verification processing method described above.
[0028] Figure 2 This is a structural block diagram of the apparatus for implementing data verification processing according to an embodiment of the present invention, as shown below. Figure 2 As shown, it includes: a unit for calculating observed values, a unit for determining residuals, and a judgment unit; wherein, The unit for calculating observations is set up as follows: for the serving subnet and the pre-determined verification subnet corresponding to the serving subnet, the observation information of the serving subnet and the verification subnet at the same time is determined respectively. The observation information includes: pseudorange observation of satellite i frequency point K of virtual base station O, carrier observation of satellite i frequency point K of virtual base station O, pseudorange observation of satellite j frequency point K of virtual base station O, and carrier observation of satellite j frequency point K of virtual base station O; The residual unit is set as follows: based on the determined observation information, determine the double-difference pseudorange residual and double-difference carrier residual of satellite i and satellite j of virtual base station O; The judgment unit is set to determine whether the virtual base station data obtained based on the service subnet calculation is abnormal, based on the determined double-difference pseudorange residual and double-difference carrier residual. The service subnet is a network consisting of different tracking stations from the verification subnet, but containing the same virtual base station O.
[0029] In this embodiment of the invention, the service subnet is a network composed of tracking stations used to provide virtual base station data. In an exemplary instance, this embodiment of the invention determines one or more service subnets in the network based on service requirements, and determines the aforementioned verification subnet.
[0030] In one exemplary instance, the observation calculation unit of this embodiment of the invention is configured to calculate the observation information using the following formula: (1) (2) (3) (4) Where k represents the frequency point identifier, and the value of k can be 1, 2, 3 or 4; This represents the pseudorange observation value of satellite i frequency point k of virtual base station O calculated based on the service subnet; This represents the pseudorange observation value of satellite i frequency point k of virtual base station O calculated based on the verification subnet; This represents the carrier observation value of satellite frequency point k of virtual base station O calculated based on the service subnet; This represents the carrier observation value of satellite frequency point k of virtual base station O calculated based on the verification subnet; c represents the geometric distance between virtual base station O and satellite i; c represents the speed of light in a vacuum. This represents the receiver clock bias contained in the pseudorange and carrier observations of the virtual base station O calculated based on the serving subnet; This represents the receiver clock bias contained in the pseudorange and carrier observations of the virtual base station O calculated based on the verification subnet; Indicates the clock bias of satellite i; This represents the tropospheric error contained in the pseudorange and carrier observations of the virtual base station O calculated based on the service subnet; This represents the tropospheric error contained in the pseudorange and carrier observations of the virtual base station O calculated based on the verification subnet; This represents the ionospheric error contained in the pseudorange and carrier observations of the virtual base station O calculated based on the service subnet; This represents the ionospheric error contained in the pseudorange and carrier observations of the virtual base station O calculated based on the verification subnet; This represents the square of the frequency of the first frequency point; This represents the square of the frequency at the k-th frequency point; The carrier wavelength represents the frequency point k; This represents the integer ambiguity contained in the carrier observations of the virtual base station O calculated based on the serving subnet; This represents the integer ambiguity contained in the carrier observations of the virtual base station O calculated based on the verification network; This represents the noise in the pseudorange observations of the virtual base station O calculated based on the service network. This shows the noise of pseudorange observations of the virtual base station O calculated based on the verification subnet; This represents the carrier observation noise of the virtual base station O calculated based on the serving subnet; This represents the carrier observation noise of the virtual base station O calculated based on the verification subnet.
[0031] In one exemplary instance, the determination unit of this embodiment of the invention is configured as follows: If the double-difference pseudorange residual is greater than the preset double-difference pseudorange residual threshold, and the double-difference carrier residual is greater than the preset double-difference carrier residual threshold, the virtual base station data obtained based on the service subnet calculation is determined to be abnormal.
[0032] In one exemplary instance, the apparatus of this embodiment of the invention further includes a processing unit; The judgment unit is also configured to send preset abnormality handling information to the processing unit when it determines that the virtual base station data obtained based on the service subnet calculation is abnormal. The processing unit is configured to stop broadcasting virtual base station data obtained from the service subnet calculation based on the received anomaly handling information.
[0033] In one exemplary instance, the double-difference pseudorange residual threshold in this embodiment of the invention is equal to 2 meters, and the double-difference carrier residual threshold is equal to 0.2 times the carrier wavelength.
[0034] The following application examples briefly illustrate the embodiments of the present invention. These application examples are only used to describe the embodiments of the present invention and are not intended to limit the scope of protection of this application.
[0035] Application Examples Figure 3 This is a schematic diagram illustrating the network composition of the service subnet and the verification subnet, as an application example of the present invention. Figure 3As shown, tracking stations A, B, and C in the grid form a service subnet (a service subnet can calculate virtual base station data for multiple grids within its coverage area; the grid size is generally 5x5 kilometers, and the service subnet coverage can reach a triangle with a side length of 50 kilometers), and tracking stations D, E, and F form a verification subnet. The service subnet and the verification subnet contain the same virtual base station O. In an application example of this invention, for any service subnet composed of ABC, as long as the tracking station closest to the triangle formed by ABC is found, three tracking stations are selected from the closest tracking stations to form a triangular network with a coverage area. As long as this triangular network has the same coverage area as ABC, the tracking stations forming this triangular network can be used as D, E, and F. Since the service subnet composed of ABC and the verification subnet composed of DEF have the same coverage area, the service subnet composed of ABC and the verification subnet composed of DEF must contain the same virtual base station O. At any given time, the pseudorange observation value of satellite i at frequency k of virtual base station O calculated by tracking stations A, B, and C is... and carrier observations The observation equations are as follows: (1) (2) At the same time, the pseudorange observation value of satellite i frequency point k of virtual base station O calculated by tracking stations D, E, and F. and carrier observations Their observation equations can be expressed as follows: (3) (4) In formulas (1)-(4): k represents the frequency identifier, and the value of k can be 1, 2, 3 or 4; This represents the pseudorange observation value of satellite i frequency point k of virtual base station O calculated based on ABC. This represents the pseudorange observation value of satellite i frequency point k of virtual base station O calculated based on DEF; This represents the carrier observation value of satellite frequency point k of virtual base station O calculated based on ABC. This represents the carrier observation value of satellite frequency point k of virtual base station O calculated based on DEF; c represents the geometric distance between virtual base station O and satellite i; c represents the speed of light in a vacuum. This represents the receiver clock bias included in the observations of the virtual base station O calculated based on ABC. This represents the receiver clock bias included in the observations of the virtual base station O calculated based on DEF; Indicates the clock bias of satellite i; This represents the tropospheric error included in the observations of the virtual base station O calculated based on ABC. This represents the tropospheric error included in the observations of the virtual base station O calculated based on DEF. This represents the ionospheric error included in the observations of the virtual base station O calculated based on ABC. This represents the ionospheric error included in the observations of the virtual base station O calculated based on DEF. This represents the square of the frequency of the first frequency point; This represents the square of the frequency at the k-th frequency point; The carrier wavelength represents the frequency point k; This represents the integer ambiguity contained in the carrier observations of the virtual base station O calculated based on ABC. This represents the integer ambiguity contained in the carrier observations of the virtual base station O calculated based on DEF; This represents the noise in the pseudorange observation of the virtual base station O calculated based on ABC. This represents the noise in the pseudorange observations of the virtual base station O calculated based on DEF. This represents the carrier observation noise of the virtual base station O calculated based on ABC. This represents the carrier observation noise of the virtual base station O calculated based on DEF.
[0036] The above observations are pseudorange and carrier observations of the same virtual base station O at the same time, calculated using two different networking methods. Therefore, the clock bias of satellite i is the same in the above formula, and the geometric distance from satellite i to virtual base station O is equal. By subtracting the pseudorange observations and carrier observations of the virtual base stations for the two networking methods, we obtain the single-difference observation equation for satellite i at frequency k: (5) (6) in, This is a single difference operator; This represents the difference in tropospheric error between the virtual base station O at the same location calculated by the two networking methods; This represents the difference in ionospheric error between the virtual base station O at the same location calculated by the two networking methods. Although the physical base stations used in the two networking methods are different, they are both virtual base stations fitted to the same coordinates. The satellite signal propagation path to the same location on the ground is the same, theoretically... equal , equal , , ;neglect and Formula (3) can be simplified to: (7) (8) Among them, single-difference carrier observation noise Only millimeter-level noise, negligible. Single-difference pseudorange observation noise. Generally, the measurement ranges from decimeters to meters. These are the single difference values of carrier integer ambiguity for two different networking methods. The single difference in receiver clock bias between the observations of the two networking methods is an unknown quantity, and the variation of the receiver clock bias is irregular, with potentially large variations between two epochs. Because of the existence of this single-difference clock bias, it is difficult to determine whether the virtual base station observations generated by the two networking methods are consistent based on the single-difference pseudorange and carrier observations. For other satellites, such as pseudorange and carrier observations at frequency k of satellite j, the application example of this invention can also solve the following single-difference observation equations for the single-difference pseudorange and carrier observations: (9) (10) Since the receiver clock error has an equal impact on the observations at the same frequency point of two different satellites, satellite i can be used as the reference satellite. The difference between the single-difference observation at frequency k of satellite j and the single-difference observation at frequency k of satellite i can be calculated. For example, the difference can be calculated between (9) and (7), and between (10) and (8), which can eliminate the single difference of the receiver clock error. The following observation equations are obtained for the double-difference pseudorange observations and the double-difference carrier observations: (11) (12) Double-difference carrier observation noise The noise level is only at the millimeter level and can be ignored. Noise in double-difference pseudorange observations. Generally, the measurement ranges from decimeters to meters. These are the two carrier integer ambiguity differences for the two networking methods, and they are integers. Let k be the wavelength at frequency k. The wavelengths vary slightly between different frequencies across different satellite systems, but all fall within the 19-25 cm range; millimeter-level double-difference carrier observation noise is ignored. It can be calculated using formula (13). : (13) If the observations of the virtual base station O generated by the two networking methods contain the same correction information, then the double-difference pseudorange observations... Only decimeter- to meter-level white noise remains. Double difference pseudorange The absolute value can be called the double-difference pseudorange residual, and the double-difference carrier integer ambiguity. The carrier integer ambiguity must be close to an integer and can be truncated to double difference. The nearest integer, i.e., the integer part, is used to retain the fractional part. The absolute value of the remaining fractional part can be considered as the double-difference carrier residual. The double-difference carrier residual and the double-difference pseudorange residual can be expressed as follows: (14) (15) Here, | represents the absolute value symbol, and the round() function takes the nearest integer to the real number in parentheses.
[0037] In this invention, satellite observations at lower elevation angles exhibit greater noise and atmospheric propagation errors than those at higher elevation angles. Therefore, the satellite with the highest elevation angle can be selected as the reference satellite. The double-difference pseudorange residuals and carrier residuals between other satellites and the reference satellite are weighted by elevation angle to obtain a combined double-difference pseudorange residual and double-difference carrier residual from all observations. In one exemplary embodiment, the weighting coefficients can be determined based on the elevation angle. The highest digit of the elevation angle is π / 2, approximately equal to 1.57. The elevation angle value of each satellite is multiplied by its corresponding residual, and the sums are averaged to obtain the weighted average of the double-difference pseudorange residuals and double-difference carrier residuals from all observations. In another exemplary embodiment, a threshold can be set for the double-difference pseudorange residuals and double-difference carrier residuals. For example, the threshold for the double-difference pseudorange residual could be set to 2 meters, and the threshold for the double-difference carrier residual could be set to 0.2 times the carrier wavelength, which corresponds to a distance of approximately 4-5 cm (corresponding to a wavelength of 19-25 cm). At a certain grid point, if the double-difference pseudorange residual and double-difference carrier residual of the two sets of virtual base station observations obtained by the two networking methods both exceed the set threshold, it can be determined that at least one of the tracking stations used in the two networking methods does not meet the integrity requirements, and the broadcasting of virtual base station data covering the service area using the tracking station A, B and C subnets can be stopped.
[0038] This application example demonstrates how to re-network tracking stations (physical base stations) that generate network RTK virtual base station data to form a verification subnet. The virtual base station data generated by the service subnet is then used to verify the virtual base station data generated by the service subnet. This application example does not require the construction of new permanent tracking stations or any data acquisition terminals. Service providers can select the areas to be verified based on their needs. Network RTK calculation software typically uses a triangular network (service subnet) to calculate the virtual base station data for each grid within each triangle's coverage area. If a tracking station's antenna shifts or if a tracking station's receiver firmware or hardware malfunctions, it will only affect the grid points generated by the service subnet using that tracking station, and will not affect the grid points generated by other service subnets that do not use that tracking station. If, during the network RTK calculation process, after normal service networking is completed, a mutually exclusive networking scheme is used in the area requiring verification, such as a service subnet, then a tracking station not used in the service network is used to network and verify the service subnet's network RTK service—this is the verification subnet in this application example. The virtual base station data is calculated separately through the service subnet and the verification subnet. If a tracking station's antenna or receiver malfunctions, it will inevitably affect the virtual base station data in the serving subnet or verification subnet. In this case, the verification subnet can be used to verify the virtual base station data calculated by the serving subnet. If the verification confirms that the virtual base station data is abnormal, at least one tracking station in the serving subnet or verification subnet will not meet the integrity requirements. In this case, this application example immediately stops broadcasting virtual base station data for all grid points covered by that serving subnet. Through the above verification process, this application example avoids the impact of tracking station problems on the RTK network's positioning calculation.
[0039] 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 method for implementing data validation processing, comprising: For the serving subnet and the pre-determined verification subnet corresponding to the serving subnet, the observation information of the serving subnet and the verification subnet at the same time are determined respectively. The observation information includes: pseudorange observation of satellite i frequency point K of virtual base station O, carrier observation of satellite i frequency point K of virtual base station O, pseudorange observation of satellite j frequency point K of virtual base station O, and carrier observation of satellite j frequency point K of virtual base station O. Based on the determined observation information, determine the double-difference pseudorange residuals and double-difference carrier residuals of satellite i and satellite j of virtual base station O; Based on the determined double-difference pseudorange residual and double-difference carrier residual, determine whether the virtual base station data obtained based on the service subnet solution is abnormal; The service subnet is a network composed of different tracking stations from the verification subnet, but containing the same virtual base station O. The step of determining whether the virtual base station data obtained based on the service subnet is abnormal includes: when the double-difference pseudorange residual is greater than a preset double-difference pseudorange residual threshold, and the double-difference carrier residual is greater than a preset double-difference carrier residual threshold, the virtual base station data obtained based on the service subnet is determined to be abnormal.
2. The method according to claim 1, characterized in that, The observed information is calculated using the following formula: Where k represents the frequency point identifier, and the value of k can be 1, 2, 3 or 4; This represents the pseudorange observation value of satellite i frequency point k of the virtual base station O calculated based on the service subnet; This represents the pseudorange observation value of satellite i frequency point k of the virtual base station O calculated based on the verification subnet; This represents the carrier observation value of satellite i frequency point k of the virtual base station O calculated based on the service subnet; This represents the carrier observation value of satellite i frequency point k of the virtual base station O calculated based on the verification subnet; c represents the geometric distance between the virtual base station O and satellite i; c represents the speed of light in a vacuum. This represents the receiver clock bias included in the pseudorange and carrier observations of the virtual base station O calculated based on the service subnet; This represents the receiver clock bias contained in the pseudorange and carrier observations of the virtual base station O calculated based on the verification subnet; Indicates the clock bias of satellite i; This represents the tropospheric error contained in the pseudorange and carrier observations of the virtual base station O calculated based on the service subnet; This represents the tropospheric error contained in the pseudorange and carrier observations of the virtual base station O calculated based on the verification subnet; This represents the ionospheric error contained in the pseudorange and carrier observations of the virtual base station O calculated based on the service subnet; This represents the ionospheric error contained in the pseudorange and carrier observations of the virtual base station O calculated based on the verification subnet; This represents the square of the frequency of the first frequency point; This represents the square of the frequency at the k-th frequency point; The carrier wavelength represents the frequency point k; This represents the integer ambiguity contained in the carrier observation value of the virtual base station O calculated based on the service subnet; This represents the integer ambiguity contained in the carrier observation value of the virtual base station O calculated based on the verification subnet; This represents the pseudorange observation noise of the virtual base station O calculated based on the service subnet; This shows the pseudorange observation noise of the virtual base station O calculated based on the verification subnet; This represents the carrier observation noise of the virtual base station O calculated based on the service subnet; This represents the carrier observation noise of the virtual base station O calculated based on the verification subnet.
3. The method according to claim 1, characterized in that, When it is determined that the virtual base station data obtained based on the service subnet calculation is abnormal, the method further includes: Stop broadcasting virtual base station data obtained based on the service subnet calculation.
4. The method according to claim 1 or 3, characterized in that, The double-difference pseudorange residual threshold is equal to 2 meters, and the double-difference carrier residual threshold is equal to 0.2 times the carrier wavelength.
5. A computer storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the method for data verification processing as described in any one of claims 1-4.
6. A terminal, comprising: A memory and a processor, wherein the memory stores a computer program; wherein, The processor is configured to execute computer programs in memory; When the computer program is executed by the processor, it implements the method for data verification processing as described in any one of claims 1-4.
7. An apparatus for implementing data verification processing, comprising: Calculate the observation unit, determine the residual unit, and make a judgment unit; among them, The unit for calculating observations is set up as follows: for the serving subnet and the pre-determined verification subnet corresponding to the serving subnet, the observation information of the serving subnet and the verification subnet at the same time is determined respectively. The observation information includes: pseudorange observation of satellite i frequency point K of virtual base station O, carrier observation of satellite i frequency point K of virtual base station O, pseudorange observation of satellite j frequency point K of virtual base station O, and carrier observation of satellite j frequency point K of virtual base station O; The residual unit is set as follows: based on the determined observation information, determine the double-difference pseudorange residual and double-difference carrier residual of satellite i and satellite j of virtual base station O; The judgment unit is set to determine whether the virtual base station data obtained based on the service subnet calculation is abnormal, based on the determined double-difference pseudorange residual and double-difference carrier residual. The service subnet is a network composed of different tracking stations from the verification subnet, but containing the same virtual base station O. The step of determining whether the virtual base station data obtained based on the service subnet is abnormal includes: when the double-difference pseudorange residual is greater than a preset double-difference pseudorange residual threshold, and the double-difference carrier residual is greater than a preset double-difference carrier residual threshold, the virtual base station data obtained based on the service subnet is determined to be abnormal.
8. The apparatus according to claim 7, characterized in that, The observation calculation unit is configured to calculate the observation information using the following formula: Where k represents the frequency point identifier, and the value of k can be 1, 2, 3 or 4; This represents the pseudorange observation value of satellite i frequency point k of the virtual base station O calculated based on the service subnet; This represents the pseudorange observation value of satellite i frequency point k of the virtual base station O calculated based on the verification subnet; This represents the carrier observation value of satellite i frequency point k of the virtual base station O calculated based on the service subnet; This represents the carrier observation value of satellite i frequency point k of the virtual base station O calculated based on the verification subnet; c represents the geometric distance between the virtual base station O and satellite i; c represents the speed of light in a vacuum. This represents the receiver clock bias included in the pseudorange and carrier observations of the virtual base station O calculated based on the service subnet; This represents the receiver clock bias contained in the pseudorange and carrier observations of the virtual base station O calculated based on the verification subnet; Indicates the clock bias of satellite i; This represents the tropospheric error contained in the pseudorange and carrier observations of the virtual base station O calculated based on the service subnet; This represents the tropospheric error contained in the pseudorange and carrier observations of the virtual base station O calculated based on the verification subnet; This represents the ionospheric error contained in the pseudorange and carrier observations of the virtual base station O calculated based on the service subnet; This represents the ionospheric error contained in the pseudorange and carrier observations of the virtual base station O calculated based on the verification subnet; This represents the square of the frequency of the first frequency point; This represents the square of the frequency at the k-th frequency point; The carrier wavelength represents the frequency point k; This represents the integer ambiguity contained in the carrier observation value of the virtual base station O calculated based on the service subnet; This represents the integer ambiguity contained in the carrier observation value of the virtual base station O calculated based on the verification subnet; This represents the pseudorange observation noise of the virtual base station O calculated based on the service subnet; This shows the pseudorange observation noise of the virtual base station O calculated based on the verification subnet; This represents the carrier observation noise of the virtual base station O calculated based on the service subnet; This represents the carrier observation noise of the virtual base station O calculated based on the verification subnet.