Positioning method and system thereof

Abstract

The application discloses a positioning method and a system thereof. The method comprises the following steps: acquiring satellite observation values, broadcast ephemeris, differential correction data and filtering parameters of a previous epoch of a current epoch; processing the satellite observation values, the broadcast ephemeris, the differential correction data and the filtering parameters of the previous epoch to obtain a residual set of the current epoch; performing gross error detection on the residual set to obtain a gross error detection index set; when it is determined according to the gross error detection index set that a satellite has a gross error in the current epoch, determining whether the satellite has a gross error in the previous epoch; if not, performing weight reduction processing on the satellite observation values; if yes, determining whether the residual of the satellite is greater than a predetermined threshold according to the residual set; if yes, marking the satellite observation values as a cycle slip and resetting the ambiguity of the satellite; if no, adjusting the random noise of the filtering parameters of the satellite in the current epoch; and performing filtering calculation to obtain a positioning result.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of satellite navigation technology, in particular to a positioning method and system thereof. BACKGROUND

[0002] PPP((Precise Point Positioning, precise point positioning) can achieve real-time centimeter-level positioning accuracy after convergence of about 20 minutes by receiving the orbit, clock bias correction number and other correction numbers broadcast by the server. This technology has no regional restrictions and has uniform positioning accuracy worldwide, so it has been widely used in many fields such as geodetic surveying. However, in actual application, due to the influence of factors such as low accuracy of service broadcast differential correction number or rough error (cycle slip / half cycle slip) of carrier observation value, it will cause deviation of positioning result. In precise point positioning, the weight of carrier observation value is much larger than that of pseudorange observation value, so it is necessary to control the data quality of carrier observation value. Formula (1) shows the observation equation of pseudorange observation value and carrier observation value in precise point positioning, wherein and respectively represent the pseudorange observation value and the carrier observation value at epoch t, represents the geometric distance from the satellite position to the receiver, t r，sys represents the receiver clock error, c represents the speed of light, t s represents the satellite clock error, represents the troposphere mapping function, T z represents the troposphere wet delay, represents the ionosphere delay, f represents the frequency, b r,f and respectively represent the pseudorange hardware delay of the satellite and the receiver, B r,f and respectively represent the carrier hardware delay of the satellite and the receiver, represents the carrier integer ambiguity, represents the phase wrapping correction, and respectively represent the noise of the pseudorange and the carrier.

[0003]

[0004]

[0005] In the existing carrier observation value quality control method, the cycle slip is detected based on the pseudo-range observation value and the carrier observation value, and if the cycle slip is detected, the corresponding ambiguity is reset. These methods are based on the observation value to control the quality of the carrier observation value, without considering the problem of the rough error of the carrier observation value caused by the low precision of the service broadcast correction number, and without considering that different rough error detection results should adopt different data processing methods. SUMMARY

[0006] The purpose of the present application is to provide a positioning method and system, which solves the technical problem of the deviation of positioning caused by the low precision of the service broadcast differential correction data or the rough error of the carrier observation value.

[0007] In one embodiment of the present application, a positioning method is provided, comprising:

[0008] obtaining satellite observation values, broadcast ephemeris, differential correction data of a current epoch, and filter parameters of a previous epoch;

[0009] processing the satellite observation values, the broadcast ephemeris, and the differential correction data of the current epoch, and the filter parameters of the previous epoch to obtain a residual set of the current epoch, and performing rough error detection on the residual set to obtain a rough error detection index set;

[0010] when it is determined according to the rough error detection index set that a certain satellite has a rough error in the current epoch, determining whether the satellite has a rough error in the previous epoch, if not, performing down-weighting processing on the satellite observation values, and if yes, determining whether the residual of the satellite is greater than a predetermined threshold according to the residual set, if yes, marking the satellite observation values as cycle slip and resetting the ambiguity of the satellite, and if no, adjusting the random noise of the filter parameters of the satellite in the current epoch; and

[0011] performing filter solution to obtain a positioning result.

[0012] In a preferred embodiment, the step of processing the satellite observation values, the broadcast ephemeris, and the differential correction data of the current epoch, and the filter parameters of the previous epoch to obtain a residual set of the current epoch, and performing rough error detection on the residual set to obtain a rough error detection index set, further comprises:

[0013] forming an observation equation according to the filter parameters of the previous epoch and the satellite observation values, the broadcast ephemeris, and the differential correction data of the current epoch;

[0014] performing least squares processing on the observation equation to obtain a residual set; and

[0015] The residual set is subjected to gross error detection, if no gross error is detected, the gross error detection iteration is terminated, and the gross error detection index set is marked as empty, if a gross error is detected, the satellite with the detected gross error is marked and deleted, and then the gross error detection iteration is performed again until no gross error is detected or the maximum iteration number is reached, and a gross error detection index set is obtained by all the marked gross error satellites.

[0016] In a preferred example, the observation equation is v = HX - L, where X = [x y z c·t r,sys ], x, y, z, t r,sys respectively represent three position parameters and clock error parameters of the receiver to be estimated, c represents the speed of light, v represents observation noise, H represents the coefficients corresponding to the parameters to be estimated, and the calculation formula of the matrix L is

[0017]

[0018]

[0019]

[0020] where f1 is the frequency of the first carrier, f2 is the frequency of the second carrier, t represents the current epoch, t-1 represents the previous epoch, represents the first frequency carrier observation value, represents the second frequency carrier observation value, represents the geometric distance from the satellite position to the receiver, t s represents the satellite clock error, represents the troposphere mapping function, T z represents the troposphere wet delay, represents the ionosphere delay, represents the first frequency carrier integer ambiguity, represents the second frequency carrier integer ambiguity, represents the phase winding correction, B r,f1 and respectively represent the first frequency carrier hardware delay at the satellite and receiver ends, B r,f2 and respectively represent the second frequency carrier hardware delay at the satellite and receiver ends.

[0021] In a preferred example, the median or 3sigma method is used for gross error detection.

[0022] In a preferred example, the maximum iteration number is greater than or equal to 5.

[0023] In a preferred embodiment, before the step of performing cycle slip detection on the satellite observation values, broadcast ephemeris and differential correction data using an epoch difference model, and updating the history information of the epoch difference model, the method further comprises:

[0024] performing cycle slip detection on the satellite observation values, broadcast ephemeris and differential correction data using an epoch difference model; and

[0025] determining the number of epochs in which cycle slips occur consecutively, if the number of epochs in which cycle slips occur consecutively reaches a set threshold, marking the observation values as cycle slips and resetting ambiguities, and updating the history information of the epoch difference model, if the number of epochs in which cycle slips occur consecutively does not reach the set threshold, marking the satellite observation values of the current epoch as cycle slips and not updating the history information of the epoch difference model.

[0026] In a preferred embodiment, when the epoch difference model fails to perform cycle slip detection, the method further comprises: performing cycle slip detection using a GF model and a MW model in combination, if the number of epochs in which cycle slips occur consecutively reaches a set threshold, marking the satellite observation values as cycle slips and resetting ambiguities, and updating the history information of the GF model, the MW model and the epoch difference model, if the number of epochs in which cycle slips occur consecutively does not reach the set threshold, marking the satellite observation values as cycle slips and performing down-weighting processing on the satellite observation values in the filtering process, and not updating the history information of the GF model, the MW model and the epoch difference model.

[0027] In a preferred embodiment, the step of adjusting the random noise of the filtering parameters of the satellite further comprises: amplifying the random noise of the filtering ambiguities of the satellite.

[0028] In an embodiment of the present application, a positioning system is provided, comprising:

[0029] a data acquisition module configured to acquire satellite observation values of a current epoch, broadcast ephemeris and differential correction data and filtering parameters of a previous epoch;

[0030] a cycle slip detection module configured to perform processing on the satellite observation values of the current epoch, the broadcast ephemeris and the differential correction data and the filtering parameters of the previous epoch to obtain a residual set of the current epoch, and perform cycle slip detection on the residual set to obtain a cycle slip detection index set;

[0031] a non-difference carrier quality control module, configured to, when judging that a satellite has a gross error at a current epoch according to the gross error detection index set, judge whether the satellite has a gross error at a previous epoch, if not, perform down-weighting processing on the satellite observation value, if yes, judge whether the satellite residual is greater than a predetermined threshold according to the residual set, if yes, mark the satellite observation value as a cycle slip and reset the satellite ambiguity, and if no, adjust the random noise of the satellite filtering parameter at the current epoch; and

[0032] a filtering module, configured to perform filtering calculation to obtain a positioning result.

[0033] An embodiment of the present application further discloses a computer readable storage medium, which stores computer executable instructions, and the computer executable instructions are executed by a processor to implement the steps in the method described above.

[0034] Compared with the prior art, the positioning method and system have at least the following beneficial effects:

[0035] In the carrier quality control in the embodiment of the present application, the carrier observation value and the service broadcast correction number and other factors are comprehensively evaluated by means of establishing an observation equation. Moreover, different carrier processing methods are adopted according to different gross error detection results.

[0036] A large number of technical features are described in the specification of the present application and distributed in various technical solutions. If all possible combinations of technical features (i.e. technical solutions) of the present application are listed, the specification will be too long. In order to avoid this problem, each technical feature disclosed in the above summary of the present application, each technical feature disclosed in the following embodiments and examples, and each technical feature disclosed in the drawings can be freely combined to form various new technical solutions (these technical solutions are all considered to have been described in the specification), unless such combination of technical features is technically infeasible. For example, features A+B+C are disclosed in one example, features A+B+D+E are disclosed in another example, features C and D are equivalent technical means that play the same role, and only one of them can be used technically, and feature E can be combined with feature C technically. Therefore, the scheme of A+B+C+D should not be considered to have been described because it is technically infeasible, and the scheme of A+B+C+E should be considered to have been described. BRIEF DESCRIPTION OF DRAWINGS

[0037] Figure 1 is a flowchart of the positioning method in an embodiment of the present application.

[0038] Figure 2is a flowchart of the positioning method according to an embodiment of the present application.

[0039] Figure 3 is a flowchart of the cycle slip detection method according to an embodiment of the present application.

[0040] Figure 4 is a flowchart of the non-difference carrier phase quality control method according to an embodiment of the present application.

[0041] Figure 5 is a block diagram of the positioning system according to an embodiment of the present application. DETAILED DESCRIPTION

[0042] In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, it will be apparent to one of ordinary skill in the art that the present application can be practiced without these specific details and with variations and modifications.

[0043] In order to make the objects, technical solutions and advantages of the present application clearer, the embodiments of the present application will be further described in detail below with reference to the drawings.

[0044] An embodiment of the present application provides a positioning method, Figure 1 is a flowchart of the positioning method according to an embodiment of the present application.

[0045] In step 101, satellite observation values of a current epoch, broadcast ephemeris, differential correction data and filtering parameters of a previous epoch are obtained.

[0046] In an embodiment, cycle slip detection is performed according to the satellite observation values, broadcast ephemeris and differential correction data by using an epoch difference model, the number of epochs in which cycle slips occur continuously is determined, if the number of epochs in which cycle slips occur continuously reaches a set threshold, the observation values are marked as cycle slips and ambiguities are reset, and the history information of the epoch difference model is updated, if the number of epochs in which cycle slips occur continuously does not reach the set threshold, the satellite whose observation values of the current epoch are determined as cycle slips is marked as an outlier, and the history information of the epoch difference model is not updated.

[0047] In one embodiment, when the epoch difference model fails in cycle slip detection, the GF model and the MW model are combined to detect cycle slip, if the number of epochs of continuous cycle slip reaches a set threshold, the satellite observation value is marked as cycle slip and the ambiguity is reset, and the history information of the GF model, the MW model and the epoch difference model is updated, if the number of epochs of continuous cycle slip does not reach the set threshold, the satellite observation value is marked as an error and the satellite observation value is down-weighted in filtering processing, and the history information of the GF model, the MW model and the epoch difference model is not updated.

[0048] In step 102, a residual set of the current epoch is obtained according to the satellite observation value of the current epoch, the broadcast ephemeris and the differential correction data and the filtering parameter of the previous epoch, and the residual set is subjected to error detection to obtain an error detection index set.

[0049] In one embodiment, the step of obtaining the residual set of the current epoch according to the satellite observation value of the current epoch, the broadcast ephemeris and the differential correction data and the filtering parameter of the previous epoch, and the step of subjecting the residual set to error detection to obtain an error detection index set, further comprises the following steps:

[0050] In step 1021, an observation equation is established according to the filtering parameter of the previous epoch and the satellite observation value, the broadcast ephemeris and the differential correction data of the current epoch.

[0051] In one embodiment, the observation equation is v=HX-L, where X=[x y z c·t r,sys ], x, y, z, t r,sys respectively represent three position parameters and clock difference parameters of the receiver to be estimated, c represents the speed of light, v represents observation noise, H represents the coefficient corresponding to the parameter to be estimated, and the calculation formula of the matrix L is

[0052]

[0053]

[0054]

[0055] where f1 is the frequency of the first carrier, f2 is the frequency of the second carrier, t represents the current epoch, t-1 represents the previous epoch, represents the first frequency point carrier observation value, represents the second frequency point carrier observation value, represents the geometric distance from the satellite position to the receiver, t s represents the satellite clock difference, represents the troposphere mapping function, T z represents the troposphere wet delay, denotes ionospheric delay, denotes integer ambiguity of the first frequency carrier, denotes integer ambiguity of the second frequency carrier, denotes phase-wrapping correction, B r,f1 and denotes first frequency carrier hardware delay at satellite and receiver end, respectively, B r,f2 and denotes second frequency carrier hardware delay at satellite and receiver end, respectively.

[0056] Step 1022, performing least square processing on the observation equation to obtain a residual set.

[0057] In one embodiment, a median or 3 sigma method is used for outlier detection.

[0058] Step 1023, performing outlier detection on the residual set, if no outlier is detected, terminating the iteration of outlier detection, marking the outlier detection indicator set as empty, if an outlier is detected, marking the satellite with the detected outlier and deleting it, then performing iteration of outlier detection again until no outlier is detected or the maximum iteration number is reached, and obtaining a set of all marked outliers as the outlier detection indicator set.

[0059] In one embodiment, the maximum iteration number is greater than or equal to 5. It should be understood that in other embodiments, the maximum iteration number is not limited to 5, but can also be set to 10 or the like.

[0060] Step 103, when a satellite is determined to have an outlier at the current epoch according to the outlier detection indicator set, determining whether the satellite has an outlier at the previous epoch, if no outlier, performing down-weighting processing on the satellite observation value, if an outlier, determining whether the satellite residual is greater than a predetermined threshold according to the residual set, if greater than the predetermined threshold, marking the satellite observation value as a cycle slip and resetting the ambiguity of the satellite, if less than or equal to the predetermined threshold, adjusting the random noise of the satellite filter parameter at the current epoch.

[0061] In one embodiment, the step of adjusting the random noise of the satellite filter parameter further comprises amplifying the random noise of the satellite filter ambiguity.

[0062] Step 104, performing filter solution to obtain a positioning result. In one embodiment, Kalman filter is used for positioning solution to obtain a positioning result.

[0063] In order to better understand the technical solutions of the present specification, a specific example is described below, and the details listed in the example are mainly for easy understanding and do not limit the protection scope of the present application.

[0064] Figure 2 The overall flow chart of implementing carrier observation quality control in the positioning method of one embodiment of the application is described, including the following steps:

[0065] (1) Loop data processing in different epochs.

[0066] (2) Input observation values, broadcast ephemeris and differential correction data of the observation epoch.

[0067] (3) Carrier cycle slip detection and data processing.

[0068] (4) Non-difference carrier quality control and data processing.

[0069] (5) Filter solution to obtain positioning results.

[0070] Figure 3 The specific flow chart of carrier cycle slip detection and data processing shown in Figure 2 is described, including the following steps:

[0071] (1) Loop data processing in different epochs.

[0072] (2) Input observation values, broadcast ephemeris and differential correction data of the observation epoch.

[0073] (3) Cycle slip detection using the GF model.

[0074] (4) Cycle slip detection using the MW model.

[0075] (5) Cycle slip detection using the epoch difference model.

[0076] (6) Determine whether cycle slip occurs continuously for multiple times.

[0077] In one embodiment, the judgment logic of cycle slip occurrence is: first, determine according to the epoch difference model, if the satellite is determined to have cycle slip by the epoch difference model, it is considered to have cycle slip. If the epoch difference model cycle slip detection method fails (for example, the conditions of satellite number and proportion are not met), the GF model + MW model is used for cycle slip detection. If cycle slip occurs continuously for multiple times, the carrier observation value of the satellite is marked as cycle slip, is reset at ambiguity initialization, and the historical information of the GF / MW model and the epoch difference model cycle slip detection is updated. Otherwise, only the satellite carrier observation is marked as gross error, is down-weighted in filter processing, and the historical information of the GF / MW and epoch difference model cycle slip detection is not updated.

[0078] Figure 4 The specific flow chart of carrier cycle slip detection and data processing shown in Figure 2The specific flowchart of non-difference carrier phase quality control and data processing is shown in the figure, and includes the following steps:

[0079] (I) Non-difference carrier phase data quality control detects gross errors and outputs gross error detection index set index and residual set res_abs, and the specific process is as follows:

[0080] (1) Iterative (iter) data quality control is performed, and the maximum iteration number is set to 10 times.

[0081] (2) According to the filter parameter information (such as ambiguity, troposphere, ionosphere parameter, etc.) of the last epoch and the current epoch observation data, the observation equation is established, and the specific formula is as follows:

[0082] ν=HX-L (2)

[0083] Wherein, X=[x y z c·t r,sys ], x, y, z, t r,sys respectively represent three position parameters and clock difference parameters of the receiver to be estimated, c represents the speed of light, v represents the observation noise, H represents the coefficient corresponding to the estimated parameter, and the calculation formula of matrix L is as follows (t represents the current epoch, and t-1 represents the last epoch):

[0084]

[0085] (3) The robust least squares processing is performed on the observation equation in step (2).

[0086] (4) The gross error detection is performed on the robust least squares residual in step (3). The gross error detection method can adopt the median, 3 times sigma, etc.

[0087] (5) If no gross error is detected in step (4), the iteration is interrupted, otherwise, the iteration is continued until no gross error is detected or the iteration number exceeds a certain limit value.

[0088] (II) According to the data quality control result in step (2), the carrier observation value or the filter ambiguity noise is processed, and the specific process is as follows:

[0089] (1) Loop in all satellites.

[0090] (2) If no gross error is found for the satellite i, return to step (1), otherwise continue to the next step.

[0091] (3) Determine whether a gross error occurs for the satellite i in the previous epoch, if no gross error is found, the carrier observation value of the satellite i is down-weighted, and returns to step (1), otherwise continue to the next step.

[0092] (4) judging whether the satellite i anti-difference least square residual error is greater than a set threshold value, if greater than the set threshold value, marking the satellite as cycle slip and resetting its ambiguity, and returning to step (1), otherwise, increasing the satellite filtering ambiguity parameter noise, and returning to step (1), until all satellites are processed.

[0093] In one embodiment of the present application, a positioning system is provided, comprising a data acquisition module, a gross error detection module, a non-difference carrier quality control module and a filtering module. The data acquisition module is configured to acquire satellite observation values, broadcast ephemeris and differential correction data of a current epoch, and filtering parameters of a previous epoch. The gross error detection module is configured to acquire a residual error set of the current epoch by processing the satellite observation values, the broadcast ephemeris and the differential correction data of the current epoch, and the filtering parameters of the previous epoch, and to perform gross error detection on the residual error set to acquire a gross error detection index set. The non-difference carrier quality control module is configured to, when judging that a satellite has a gross error in the current epoch according to the gross error detection index set, judge whether the satellite has a gross error in the previous epoch, if not, performing down-weighting processing on the satellite observation values, if yes, judging whether a residual error of the satellite is greater than a predetermined threshold value according to the residual error set, if greater than the predetermined threshold value, marking the satellite observation values as cycle slip and resetting the ambiguity of the satellite, and if less than or equal to the predetermined threshold value, adjusting random noise of a filtering parameter of the satellite in the current epoch. The filtering module is configured to perform filtering calculation to acquire a positioning result.

[0094] The first embodiment is a method embodiment corresponding to the present embodiment, and the technical details in the first embodiment can be applied to the present embodiment, and the technical details in the present embodiment can also be applied to the first embodiment.

[0095] It should be noted that the implementation functions of the modules shown in the above embodiments of the positioning system can be understood with reference to the foregoing descriptions of the positioning methods. The functions of the modules shown in the above embodiments of the positioning system can be implemented by programs (executable instructions) running on a processor, or by specific logic circuits. The above positioning system of the embodiments of the present application, if implemented in the form of software functional modules and sold or used as independent products, can also be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the embodiments of the present application can be embodied in the form of a software product, and the computer software product is stored in a storage medium, and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the methods described in the embodiments of the present application. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a magnetic disk or an optical disk, and various media that can store program codes. Thus, the embodiments of the present application are not limited to any specific hardware and software combination.

[0096] Accordingly, the embodiments of the present application also provide a computer readable storage medium, which stores computer executable instructions. The computer executable instructions are executed by a processor to implement the method embodiments of the present application. The computer readable storage medium includes permanent and non-permanent, removable and non-removable media, which can be implemented by any method or technology to store information. The information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only memory (ROM), electrically erasable programmable read only memory (EEPROM), flash memory or other memory technologies, compact disc read only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible by a computing device. According to the definition herein, computer readable storage media does not include transitory media, such as modulated data signals and carriers.

[0097] It has to be noted that, in the present patent application, the terms first and second etc. are used only to distinguish one entity or operation from another entity or operation, without necessarily requiring or implying any actual relationship or order between such entities or operations. Moreover, the terms "comprises / comprising" or "includes / including" when used in this patent application are used to specify the presence of stated features, integers, steps or components but do not preclude the presence or addition of one or more other features, integers, steps, components or groups thereof. Furthermore, the term "figure" as used in this patent application is used to specify a figure in the drawings. The term "consisting of" is used in this patent application to specify the presence of stated features, integers, steps or components and does not permit the presence of one or more additional features, integers, steps, components or groups thereof. The term "comprising of" is used in this patent application to specify the presence of stated features, integers, steps or components and does not exclude the presence of one or more additional features, integers, steps, components or groups thereof. The term "including of" is used in this patent application to specify the presence of stated features, integers, steps or components and does not exclude the presence of one or more additional features, integers, steps, components or groups thereof. The term "one" is used in this patent application to specify the presence of one or more than one of the stated feature, integer, step or component. The term "another" is used in this patent application to specify the presence of one or more than one of the stated feature, integer, step or component. The term "plurality" is used in this patent application to specify the presence of two, two or more than two of the stated feature, integer, step or component. The term "performing" is used in this patent application to specify the performance of the stated action by at least the stated feature, integer, step or component. The term "performing" is used in this patent application to specify the performance of the stated action by at least the stated feature, integer, step or component. The term "performing" is used in this patent application to specify the performance of the stated action by at least the stated feature, integer, step or component.

[0098] All documents mentioned in this application are hereby incorporated in their entirety by reference in the disclosure of this application to the same extent as if each individual document was specifically and individually indicated to be incorporated by reference. Moreover, it is to be understood that the embodiments of the application can be modified or varied and still be within the scope of the application as set forth in the following claims.

Claims

1. A positioning method, characterized by, The method comprises: acquiring satellite observation values, broadcast ephemeris and differential correction data of a current epoch, and filter parameters of a previous epoch; processing the satellite observation values, the broadcast ephemeris and the differential correction data of the current epoch, and the filter parameters of the previous epoch to acquire a residual set of the current epoch, and performing rough error detection on the residual set to acquire a rough error detection index set; when it is determined according to the rough error detection index set that a satellite has a rough error in the current epoch, determining whether the satellite has a rough error in the previous epoch, if not, performing down-weighting processing on the satellite observation values, if yes, determining whether the residual of the satellite is greater than a predetermined threshold according to the residual set, if yes, marking the satellite observation values as a cycle slip and resetting the ambiguity of the satellite, and if no, adjusting the random noise of the filter parameters of the satellite in the current epoch; and performing filter calculation to acquire a positioning result.

2. The positioning method according to claim 1, characterized in that, The step of processing the satellite observation values, the broadcast ephemeris and the differential correction data of the current epoch, and the filter parameters of the previous epoch to acquire a residual set of the current epoch, and performing rough error detection on the residual set to acquire a rough error detection index set further comprises: forming an observation equation according to the filter parameters of the previous epoch and the satellite observation values, the broadcast ephemeris and the differential correction data of the current epoch; performing least square processing on the observation equation to acquire a residual set; and performing rough error detection on the residual set, if no rough error is detected, terminating the rough error detection iteration, and marking the rough error detection index set as empty, if a rough error is detected, marking the satellite that has detected the rough error and deleting it, and then performing rough error detection iteration again until no rough error is detected or the maximum iteration number is reached, and acquiring all the satellites that have been marked as rough error to form the rough error detection index set.

3. The positioning method according to claim 2, characterized in that, The observation equation is v = HX - L, where X = [x y z c-t] r,sys ], x, y, z, t r,sys respectively represent three position parameters and clock difference parameters of the receiver to be estimated, c represents the speed of light, v represents observation noise, H represents coefficients corresponding to the parameters to be estimated, and the calculation formula of the matrix L is where f1 is the frequency of the first carrier, f2 is the frequency of the second carrier, t represents the current epoch, t-1 represents the last epoch, represents the first frequency carrier observation value, represents the second frequency carrier observation value, represents the geometric distance from the satellite position to the receiver, t s represents the satellite clock error, represents the tropospheric mapping function, T z represents the tropospheric wet delay, represents the ionospheric delay, represents the first frequency carrier integer ambiguity, represents the second frequency carrier integer ambiguity, represents the phase-wrapping correction, B r,f1 and respectively represent the first frequency carrier hardware delay at the satellite and receiver ends, B r,f2 and respectively represent the second frequency carrier hardware delay at the satellite and receiver ends.

4. The positioning method of claim 2, wherein, The rough error detection is performed by using a median or 3sigma method.

5. The positioning method of claim 2, wherein, The maximum iteration number is greater than or equal to 5.

6. The positioning method of claim 1, wherein, Before the step of processing the satellite observation values, the broadcast ephemeris and the differential correction data of the current epoch, and the filter parameters of the previous epoch to acquire a residual set of the current epoch, and performing rough error detection on the residual set to acquire a rough error detection index set, the method further comprises: performing cycle slip detection by using an epoch difference model according to the satellite observation values, the broadcast ephemeris and the differential correction data; and determining the number of epochs in which cycle slips occur continuously, if the number of epochs in which cycle slips occur continuously reaches a set threshold, marking the observation values as cycle slips and resetting the ambiguity, and updating the historical information of the epoch difference model, if the number of epochs in which cycle slips occur continuously does not reach the set threshold, marking the satellite whose satellite observation values of the current epoch are determined as cycle slips as a rough error, and not updating the historical information of the epoch difference model.

7. The positioning method according to claim 6, characterized in that, The method further comprises: When the epoch difference model fails to detect cycle slip, the GF model and the MW model are combined to detect cycle slip, if the number of epochs of continuous cycle slip reaches a set threshold, the satellite observation value is marked as cycle slip and the ambiguity is reset, and the history information of the GF model, the MW model and the epoch difference model is updated, if the number of epochs of continuous cycle slip does not reach the set threshold, the satellite observation value is marked as a gross error and the satellite observation value is down-weighted in the filtering process, and the history information of the GF model, the MW model and the epoch difference model is not updated.

8. The positioning method of claim 1, wherein, The step of adjusting the random noise of the filtering parameter of the satellite further comprises amplifying the random noise of the filtering ambiguity of the satellite.

9. A positioning system, characterized by The method comprises: a data acquisition module configured to acquire satellite observation values of a current epoch, broadcast ephemeris, differential correction data and filtering parameters of a previous epoch; a gross error detection module configured to acquire a residual set of the current epoch by processing the satellite observation values of the current epoch, the broadcast ephemeris, the differential correction data and the filtering parameters of the previous epoch, and to acquire a gross error detection index set by performing gross error detection on the residual set; a non-difference carrier quality control module configured to, when it is determined according to the gross error detection index set that a satellite has a gross error in the current epoch, determine whether the satellite has a gross error in the previous epoch, if not, to down-weight the satellite observation values, and if yes, to determine whether the residual of the satellite is greater than a predetermined threshold according to the residual set, if yes, to mark the satellite observation values as cycle slip and reset the ambiguity of the satellite, and if no, to adjust the random noise of the filtering parameter of the satellite in the current epoch; and a filtering module configured to perform filtering calculation to acquire a positioning result.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer executable instructions, and the computer executable instructions are executed by the processor to implement the steps in the method of any one of claims 1 to 8. The computer readable storage medium stores computer executable instructions, and the computer executable instructions are executed by the processor to implement the steps in the method of any one of claims 1 to 8.

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