A precise space-time information processing and service system based on Beidou in petrochemical field

Abstract

The application discloses a petrochemical field precise space-time information processing and service system based on Beidou. The application is based on a petrochemical Beidou ground enhancement network of the Beidou navigation satellite system, relies on a petrochemical special network to collect satellite observation data, deploys a set of precise space-time information processing and service system of China Petrochemical in a petrochemical intelligent cloud, and provides independent controllable real-time centimeter-level positioning navigation and geographic information collection services in a plurality of high-precision positioning and navigation work scene applications such as long-distance pipeline inspection, dangerous chemical vehicle monitoring, industrial control system time service, oil and gas pipeline safety monitoring, geographic information data collection and geological disaster prevention monitoring.

Description

Technical Field

[0001] This invention relates to the field of electronic information technology, specifically a BeiDou-based precision spatiotemporal information processing and service system for the petrochemical industry. Background Technology

[0002] Currently, high-precision positioning in the petrochemical system primarily employs RTK technology, a combined system integrating positioning measurement and data transmission technologies. High-precision positioning technologies are mainly divided into conventional RTK and network RTK. Conventional RTK technology is a relative positioning technique that uses carrier phase observations for real-time positioning. It is based on the assumption of a strong correlation between errors between the rover and the reference station in relative positioning. Differential signals are transmitted via radio. In conventional RTK operation, there is only one reference station, the distance between the rover and the reference station cannot exceed 10-15 km, and there are no redundant reference stations. Network RTK is a technology built upon conventional RTK and differential positioning techniques. It consists of a reference station network, a data processing center, a data communication link, and rover stations. It utilizes networks such as GPRS or 4G for broadcasting. Network broadcasting is widely adopted due to its high coverage and portability. In areas with network coverage, it can fully meet the requirements of measurement and construction, guaranteeing the required accuracy within a 50 km range. Conventional RTK broadcasts via radio, which is limited by the line-of-sight propagation of electromagnetic signals, resulting in numerous inconveniences. Its 10-15km operating range severely restricts operational efficiency. Network RTK broadcasts via network signals, offering improvements in coverage and ease of use compared to conventional RTK. However, the petrochemical industry often involves sensitive information such as the location of oil and gas facilities and distribution maps related to national energy security. Network RTK relies on third-party data processing and service software, posing risks of data security breaches and leaks. Therefore, constructing a petrochemical BeiDou ground-based augmentation network based on the BeiDou Navigation Satellite System and deploying a Sinopec precision spatiotemporal information processing and service system to provide real-time centimeter-level positioning, navigation, and other geographic information collection services for various petroleum and petrochemical business applications has become an urgent priority. Summary of the Invention

[0003] The purpose of this invention is to address the shortcomings of existing technologies by providing a system based on the BeiDou Navigation Satellite System. This system leverages the petrochemical system's own infrastructure (sites, networks, etc.) to establish independently controllable, evenly distributed BeiDou ground-based augmentation stations. These stations receive and process BeiDou navigation satellite signals, and the data is aggregated via dedicated network lines within the petrochemical system. After processing and calculation by a precise spatiotemporal information processing and service system, the differential positioning data is broadcast to various application terminals. Ultimately, this aims to provide independently controllable, secure, and reliable real-time centimeter-level and post-processing millimeter-level positioning and navigation services for various sectors of the petroleum and petrochemical industry.

[0004] Technical solution:

[0005] The present invention includes a BeiDou ground-based augmentation station, which is constructed using petrochemical-owned properties distributed throughout the country and transmits data through the petrochemical internal private network;

[0006] (2) The Sinopec Precision Spatiotemporal Information Processing and Service System mainly consists of four subsystems: Beidou Data Resource Management Subsystem, Beidou Precision Spatiotemporal Information Processing Subsystem, Beidou Precision Spatiotemporal Integrated Information Management and Service Subsystem, and System Operation Control and Monitoring Subsystem.

[0007] (3) The Beidou high-precision services that can be provided to various business segments of Sinopec through the above technologies include pipeline inspection operations and seismic exploration operations in the refining and chemical segment, hazardous chemical vehicle monitoring in the sales segment, RTK measurement in ground engineering operations, and emergency management in various operational links.

[0008] (4) Communication between the four subsystems of the Sinopec Precision Spatiotemporal Information Processing and Service System is achieved through a message bus server. The specific process is as follows: satellite data received by the Beidou ground-based augmentation station passes through the Sinopec private network and the Sinopec firewall, and then enters the Beidou data resource management subsystem. The Beidou / GNSS data receiving and distribution software of this system sends the data to the message bus server and the integrated information management and service subsystem respectively. The data entering the message bus server is pushed to the database server and the Beidou Precision Spatiotemporal Information Processing subsystem according to the real-time data stream. The system performs precise orbit determination, precise clock error estimation, ionospheric modeling, tropospheric modeling, time delay estimation, real-time precise positioning, and post-precision positioning processing on the real-time data, and then returns the processing results to the message bus server. The AciveMQ software deployed on the message bus server sends the processing results to the database server and backup server for storage. At the same time, the processed service products are transmitted to the integrated information management and service subsystem through the Beidou data resource management subsystem. The corresponding service products are broadcast to legitimate users who send service requests and pass authentication, thus fulfilling the user's positioning, navigation, and other service needs. Throughout the entire workflow of data transmission, processing, and storage, the system operation control and monitoring subsystem controls and monitors its operational status.

[0009] (5) The reference station network status monitoring module in the system operation control and monitoring subsystem monitors and evaluates the operation status of Sinopec Beidou ground-based augmentation network base stations in real time; the system operation status monitoring module monitors the operation status of the message bus and database in real time, and monitors the real-time / post-event data stream in real time; the system service performance monitoring and evaluation module monitors and evaluates the service performance and operation status of the Beidou precise spatiotemporal information processing subsystem and the Beidou precise spatiotemporal integrated information management and service subsystem in real time.

[0010] (6) The data flow provided by the system specifically includes the following: observation data and satellite navigation messages collected by the BeiDou ground-based augmentation stations within the Sinopec BeiDou ground-based augmentation network in zip and Rinex formats are transmitted via the Sinopec dedicated network TCP / IP protocol to the real-time data acquisition module, time data acquisition module, data distribution module, and data preprocessing module of the BeiDou data resource management subsystem. After processing in each module, the resulting raw observation real-time stream and navigation message real-time stream enter the message bus and database, respectively. The real-time data stream enters the real-time high-precision spatiotemporal reference calculation module in the BeiDou precise spatiotemporal information processing subsystem through the message bus distribution function. It uses models such as real-time precise orbit, real-time precise clock error, real-time precise atmosphere, and signal delay estimation to perform real-time high-precision positioning calculations, generating real-time decimeter-level positioning results nationwide and real-time centimeter-level positioning results for key areas. The non-real-time data stream enters the post-event high-precision spatiotemporal reference software of the BeiDou precise spatiotemporal information processing subsystem station. It uses models such as post-event precise orbit, post-event precise clock error, post-event precise atmosphere, and signal delay estimation to perform post-event high-precision positioning calculations, generating post-event millimeter-level positioning results. The real-time and post-event positioning results generated above are entered into the BeiDou Precision Spatiotemporal Integrated Information Management and Service Subsystem. The real-time positioning results are entered into the high-precision product broadcasting module, while the post-event positioning results are entered into the integrated information web display module and other post-event high-precision positioning application modules, so that authorized real-time users and post-event users can access the relevant positioning products.

[0011] Beneficial effects of the present invention

[0012] This invention utilizes a system to solve two technical problems. First, it constructs a petrochemical BeiDou ground-based augmentation network, composed of several independently controllable, secure, and stable BeiDou ground-based augmentation stations, based on the petrochemical system's dedicated network. This network provides high-precision BeiDou positioning and navigation satellite data acquisition, completely eliminating the "bottleneck" problem of relying on US GPS technology and the risk of leaks of sensitive information such as the location of oil and gas facilities and oil and gas distribution maps, which are crucial to national energy security. Second, it integrates BeiDou geographic information acquisition terminals and mobile stations with the petrochemical intranet via intelligent mobile terminals. Utilizing the precise spatiotemporal information processing and service system provided by this utility model patent, it processes, calculates, and generates various real-time / post-processing high-precision service products, which are simultaneously broadcast through the petrochemical system's dedicated network and public network. This provides real-time centimeter-level and post-processing millimeter-level positioning and navigation services to terminals initiating BeiDou positioning differential service requests. Attached Figure Description

[0013] Figure 1 Overall architecture diagram of a BeiDou-based precision spatiotemporal information processing and service system for the petrochemical industry

[0014] Figure 2 Diagram illustrating data communication between the precise spatiotemporal information processing and service subsystems.

[0015] Figure 3 Data flow diagram of a BeiDou-based precision spatiotemporal information processing and service system for the petrochemical industry

[0016] Figure 4 Flowchart for providing services to petrochemical application terminals by the system

[0017] Figure 5 Screenshots of baseline calculation tests using this system.

[0018] Figure 6 Flowchart for generating BDS SSR correction information Detailed Implementation

[0019] The present invention will be further described below with reference to embodiments, but the scope of protection of the present invention is not limited thereto:

[0020] A precision spatiotemporal information processing and service system for the petrochemical industry based on BeiDou, combined with Figure 1-3 It includes:

[0021] The system comprises the BeiDou Data Resource Management Subsystem, the BeiDou Precision Spatiotemporal Information Processing Subsystem, the BeiDou Precision Spatiotemporal Integrated Information Management and Service Subsystem, and the System Operation Control and Monitoring Subsystem.

[0022] The four subsystems communicate with each other via a message bus server.

[0023] The BeiDou Precision Spatiotemporal Information Processing Subsystem performs precise satellite orbit determination, precise satellite clock error estimation, ionospheric modeling, tropospheric modeling, hardware delay deviation estimation, real-time precise positioning, and post-precision positioning processing on real-time data. The processing results are then returned to the message bus server. The message bus server sends the processing results to the database server and backup server for storage. Simultaneously, the processed service products are transmitted via the BeiDou Data Resource Management Subsystem to the BeiDou Integrated Information Management and Service Subsystem. The subsystem then broadcasts the corresponding service products to authorized users who have sent service requests and passed authentication, thus fulfilling the user's service needs.

[0024] Throughout the entire workflow of data transmission, processing, and storage, the system operation control and monitoring subsystem controls and monitors its operational status.

[0025] The BeiDou data resource management subsystem specifically includes: a real-time data acquisition module, a post-event data acquisition module, a data distribution module, and a data preprocessing module, wherein:

[0026] The real-time data acquisition module collects and stores the raw observation data transmitted in real time from the reference stations of Sinopec's Beidou ground-based augmentation network.

[0027] The post-event data acquisition module collects and stores observation files transmitted from the Sinopec Beidou ground-based augmentation network reference station or other service systems.

[0028] The data distribution module manages the distribution of observation data among the various subsystems within the Precision Spatiotemporal Information Processing and Service System.

[0029] The data preprocessing module preprocesses various types of data collected by the system, including data classification, quality analysis, and integrity detection.

[0030] The BeiDou precise spatiotemporal information processing subsystem specifically includes: a precise satellite orbit determination module, a precise satellite clock error estimation module, an ionospheric modeling module, a tropospheric modeling module, a hardware delay deviation estimation module, a real-time precise positioning module, and a post-event precise positioning module, wherein:

[0031] The precision satellite orbit determination module performs sliding window daily orbit determination calculations on post-event observation data from Sinopec's BeiDou ground-based augmentation network, simultaneously predicting 3-hour precision satellite orbit products. This enables the generation of real-time, post-event high-precision satellite orbit products. The implementation process is as follows:

[0032] The BeiDou navigation satellite constellation is a heterogeneous constellation composed of MEO satellites at altitudes of over 20,000 kilometers, GEO satellites at altitudes of over 30,000 kilometers, and IGSO satellites. The different operational cycles of this heterogeneous constellation, coupled with the lower orbit determination accuracy of GEO satellites, make it difficult to guarantee the accuracy of predicted orbits in a single day. Therefore, this invention adopts a short-term prediction mode, determining the real-time orbit based on a 72-hour observation arc. Specifically, it uses the observation arc from the previous 69 hours, merges the latest 3-hour observation arc into a 72-hour observation arc, and uses a one-step least-squares batch processing method for orbit calculation, predicting the 3-hour arc as the real-time orbit product, and then sequentially sliding it. The first step is the generation of satellite antenna phase center conversion and orbit correction information. The SSR real-time orbit correction information includes satellite position and velocity correction values ​​relative to the broadcast ephemeris. After receiving the real-time correction broadcast by NTRIP, the user can calculate a high-precision real-time orbit by combining it with the broadcast ephemeris orbit parameters at the corresponding time, enabling real-time positioning. The reference points for the broadcast correction values ​​are generally of two types: the antenna phase center (APC) and the satellite center of mass (COM). Based on SSR correction information and with a unified format, this invention provides real-time orbit correction calculation methods for BDS based on the satellite center of mass and phase center respectively, and defines a matching method suitable for BDS broadcast ephemeris IODEs. The SSR correction information generation process is as follows: Figure 6 As shown.

[0033] The three components of the satellite antenna phase center deviation are in the star-fixed coordinate system, while the broadcast orbit corrections are in the orbital coordinate system. A transformation between the star-fixed coordinate system, the geocentric ground-fixed coordinate system (GDS), the geocentric inertial frame (IFF), and the orbital coordinate system is required to correct the antenna phase center to the satellite's center of mass position. The center of mass coordinates of the BeiDou navigation satellite in the GDS are obtained through real-time orbit determination. The satellite's coordinates in the IFF are then obtained using the following formula:

[0034]

[0035] In the formula, (Xsat-I, Ysat-I, Zsat-I) are the coordinates of the satellite in the inertial frame corresponding to epoch J2000.0; (Xsat-T, Ysat-T, Zsat-T) are the coordinates of the satellite in the Earth-fixed coordinate system; P(t), N(t), S(t), and Pm(t) are the precession matrix, nutation matrix, Earth rotation matrix, and polar motion matrix at time t, respectively. The unit vector of the coordinate axes of the satellite-fixed coordinate system in the geocentric inertial frame can be expressed as:

[0036]

[0037] In the formula, r sat-I Let r be the inertial vector of the satellite relative to the Earth's center of mass (which can be calculated from the above formula); sun-I Let be the inertial vector of the Sun relative to the Earth's center of mass (calculated from the planetary catalog file). Then, the unit vector from the Sun to the satellite can be expressed as:

[0038] e D =(r sat-I -r sun-I ) / |r sat-I -r sun-I The phase center deviation of the satellite antenna in the inertial frame is...

[0039]

[0040] In the formula, (X P Y P Z P (X) represents the antenna phase center correction value in a star-solid system; P-I Y P-I Z P-I Let be the antenna phase center correction value in the inertial frame. The satellite position in the inertial frame after antenna phase center correction can be expressed as:

[0041]

[0042] In the formula, (X sat-P-I Y sat-P-I Z sat-P-ILet be the satellite position in the inertial frame after antenna phase center correction. The corrected satellite position in the Earth-fixed frame can be expressed as:

[0043]

[0044] According to the above formula, the real-time orbital correction value of the Earth-Fixed System satellite can be expressed as:

[0045]

[0046] In the formula, (X sat-P-I Y sat-P-I Z sat-P-I (ΔX, ΔY, ΔZ) represents the satellite position in the inertial frame after antenna phase center correction; (ΔX, ΔY, ΔZ) represents the satellite position correction value in the Earth-fixed frame based on the phase center; (X... b Y b Z b Let be the satellite position in the navigation ephemeris. Using the above formula to calculate the satellite's center of mass position in the Earth-fixed system, we obtain the satellite position correction value based on the center of mass in the Earth-fixed system. Therefore...

[0047]

[0048] In the formula, (Δr, Δa, Δc) are the satellite orbit correction values ​​in the orbital coordinate system, representing the satellite's radial, tangential, and normal directions, respectively; v b r is the velocity vector of the satellite in the Earth-fixed system. b Let be the satellite's position vector in the Earth-fixed system. Using Lagrange interpolation, the satellite velocity correction Δv can be obtained. r Δv a Δv c In GPS broadcast ephemeris, IODE represents the data age. For a single satellite, the IODE corresponding to the orbital parameters at different epochs is unique. Therefore, real-time users select the corresponding satellite orbital parameters based on the IODE in the SSR information. However, the IODE definitions differ between BDS and GPS broadcast ephemeris. For BDS, it is difficult to use it as a unique matching standard. Therefore, considering factors such as the epoch interval of BDS navigation ephemeris, the uniqueness of different epochs, and character length, this invention defines a custom IODE suitable for BDS based on the SSR protocol format, encodes it into the SSR correction information, and broadcasts it for user use. The calculation method is as follows:

[0049]

[0050] In the formula, IODE BDS ∈[1, 24].

[0051] Through the aforementioned real-time precision positioning module, the radial accuracy of precise orbit determination for BeiDou navigation system satellites is better than 10 cm, and the radial accuracy of IGSO and MEO satellites is better than 5 cm, providing real-time centimeter-level and post-event millimeter-level positioning services for users in the petrochemical industry.

[0052] The precise satellite clock bias estimation module adopts the BeiDou precise clock bias fusion solution model, which is implemented as follows: Ionospheric-free combined observations are used to eliminate the ionosphere. A unified time reference is selected, and the BeiDou / GPS ionospheric-free combined non-differenced observation equation is used to eliminate the signal delay δtg between the BeiDou system and the GPS system at the receiving terminal. The observation equation is as follows:

[0053]

[0054] In the formula, G and B represent GPS satellites and BeiDou satellites, respectively; j and k represent the j-th GPS satellite and the k-th BeiDou satellite at the same epoch, respectively; PC, LC, and N are the ionospherically unbound pseudorange, carrier phase observations, and integer ambiguity; ρ is the station-satellite distance; dt and dT are the clock differences between the receiver and satellite clocks relative to the same time reference; c is the speed of light; d trop ε represents tropospheric delay; ε represents observation noise, etc. To achieve real-time precise clock error fusion calculation for BeiDou / GPS, this invention adopts an inter-epoch single-difference method to eliminate ambiguity parameters and receiver signal delay in consecutive epochs. The inter-epoch single-difference ionospheric-free combination error observation equation is as follows:

[0055]

[0056]

[0057]

[0058]

[0059] In the formula, v(i, i+1) is the change in the observation residual of the tracking station at the current epoch relative to the previous epoch; Δρ(i, i+1) is the change in the distance between the station and the satellite over adjacent epochs, which can fix the precise coordinates of the station and the satellite during the estimation of clock bias; Δdt(i, i+1), ΔdT(i, i+1), Δd trop (i, i+1) represents the changes in receiver clock bias, satellite clock bias, and zenith tropospheric delay relative to the previous epoch; Δε, ΔPC, and ΔLC represent the changes in observation noise, pseudorange, and carrier observation value relative to the previous epoch. Therefore, the parameters to be solved for satellite clock bias in the precise real-time clock bias fusion solution model only include Δdt(i, i+1), ΔdT(i, i+1), and Δd trop (i, i+1). It is clear that what is actually being sought is the change in satellite clock bias, therefore an initial satellite clock bias needs to be introduced.

[0060]

[0061] As shown in the above equation, the clock error result dT(i) of the i-th epoch can be recovered by adding the initial clock error dT(i0) to the sum of the clock error corrections accumulated from epoch i0 to epoch i. The initial satellite clock error needs to be introduced externally, such as broadcast ephemeris clock error or ultra-fast clock error. In this paper, the predicted multi-GNSS clock error is used as the initial clock error. Using the error observation equation established above, the real-time satellite clock error is estimated by the root mean square information filtering algorithm. With fixed satellite orbit and station coordinates, integer ambiguity has been eliminated in the absence of cycle slips; the GPS satellite / receiver antenna phase center change adopts the latest absolute antenna phase center (IGS08) model, the BeiDou satellite antenna phase center deviation adopts the model provided by the European Space Agency (ESA) in 2014, and the BeiDou receiver PCO / PCV correction is the same as the GPS model (IGS08); the antenna receiver clock error parameters and satellite clock error parameters are treated as white noise. As can be seen from the error observation equations established above, the parameters to be estimated in the pseudorange and phase observation equations are exactly the same. By reasonably assigning weights to reduce the impact of pseudorange observation accuracy on clock error calculation accuracy, the BeiDou / GPS real-time precise clock error estimation strategy is as follows:

[0062]

[0063] Using real-time observation data from Sinopec's BeiDou ground-based augmentation network and high-precision satellite orbit products generated by the precision satellite orbit determination module, precision satellite clock bias is calculated according to the precision satellite clock bias fusion estimation strategy in the table above, thereby realizing the generation of real-time, post-event high-precision satellite clock bias products.

[0064] The ionospheric modeling module uses observation data from the Sinopec BeiDou ground-based augmentation network and employs a spherical harmonic function model to construct a real-time, post-hoc, high-precision ionospheric model, enabling real-time, post-hoc, high-precision ionospheric product calculation. The implementation method is as follows: the phase velocity of electromagnetic waves propagating in the ionosphere... Where c is the speed of light, n p The phase refractive index is np = 1 - K1Nef. -2 -K2Ne(H0cosθ)f -3 -K3Nef - 4

[0065] In the formula: The values ​​of the last two items are less than 10 -9 Negligible, H0 is the geomagnetic field strength, Ne is the electron density, m is the electron mass, e is the electron charge, ε0 is the vacuum dielectric constant, θ is the angle between the geomagnetic field direction and the electromagnetic wave signal propagation direction, and f is the frequency of the electromagnetic wave signal.

[0066] therefore,

[0067] Substituting the above equation, we get...

[0068]

[0069] Ionospheric delay is inversely proportional to the square of the frequency. If a satellite transmits two frequencies, it can be assumed that the electromagnetic waves of both frequencies propagate along the same path. If the time difference between the arrival times of these two frequency signals at the receiver is precisely determined, then the ionospheric delay experienced by each frequency can be deduced. Using dual-frequency satellite observation data from the regional BeiDou ground-based augmentation network independently constructed by Sinopec, combined with a spherical harmonic model (SH), the spatiotemporal distribution and variation of ionospheric delay within this region or within China are simulated. First, observations are conducted using a dual-frequency BeiDou satellite receiver, and the VTEC (vertical total electron content) is calculated using P-code:

[0070]

[0071] In the formula: the carrier frequencies of B1C and B2a used by Beidou satellites are: f1 = 1575.42MHz and f2 = 1176.45MHz; 1 / cos z′ is the projection function of the single-layer ionospheric model (SLM); z′ is the zenith distance between the satellite and the station-satellite connection line and the single-layer puncture point (IPP) of the SLM. These are the frequencies of carriers B1C and B2a, respectively, and DCB. j DCB i These are the hardware delay values ​​for the satellite receiver and the satellite, respectively.

[0072] The total electron content TEC is the result obtained by integrating the electron density Ne along the satellite signal propagation path s, i.e.

[0073] TEC=∫ s Neds

[0074] The unit is 1 TECU = 10 16 e / m 2 For the same ionosphere, the TEC values ​​from a given station to each satellite are different. The smaller the satellite's elevation angle h, the longer the satellite signal propagation path in the ionosphere, and the larger the TEC value. Among all the TEC values ​​at a station, there is a minimum value, namely the total electron content VTEC in the zenith direction (h = 90°), which is independent of both elevation and satellite elevation angle, and can reflect the overall characteristics of the ionosphere above the station. Using dual-frequency observations, not only can the ionospheric delay experienced by observations at different frequencies be determined and its influence eliminated, but the VTEC value at the puncture point (the intersection of the satellite signal propagation path and the central ionosphere) can also be measured. The spherical harmonic function model is:

[0075]

[0076] In the formula: For a normalized n-degree m-order associated Legendre polynomial; The latitude and longitude of the puncture point IPP; n max It is the maximum expansion degree of the spherical harmonic function; s is the diurnal longitude of the puncture point; a nm b m These are the coefficients of the spherical harmonic function model, i.e., the parameters required for modeling.

[0077] Solving the two equations together, we get...

[0078]

[0079] This involves determining the ionospheric delay using observations from a dual-frequency satellite receiver. The right-hand side of the equation represents the difference in pseudorange. However, pseudorange observations suffer from high noise and low accuracy; therefore, carrier phase observations are used to smooth the pseudorange and improve accuracy.

[0080] The tropospheric modeling module primarily addresses tropospheric delay, the signal delay caused by electromagnetic waves emitted by navigation satellites passing through the unionized neutral atmosphere below 50 km altitude. Tropospheric delay varies with the tropospheric refractive index, which depends on local temperature, pressure, and relative humidity. The path length difference caused by tropospheric delay is expressed using the refractive index as:

[0081] The integral in the above formula is along the path of signal propagation, where N is defined as the refractive index. Nd and Nw are defined as the dry and wet refractive indices at standard sea level, respectively. The dry component generally refers to nitrogen and dry air, while the wet component mainly refers to water vapor. The empirical formulas for the refractive indices of these two components are as follows: They have the following approximate relationship with atmospheric pressure, temperature, and humidity.

[0082]

[0083]

[0084] In the formula, P0 is the atmospheric pressure (mbar) of the dry component at standard sea level; Tk is the absolute temperature at standard sea level, Tk = Tc + 273.2 (K); e0 is the water vapor partial pressure (mbar) at standard sea level. This invention uses the Saastamoinen model to establish a tropospheric delayed correction model, specifically implemented as follows: The standard atmospheric model can be expressed as:

[0085] p = 1013.25 × (1 - 2.2557 × 10) -5 h) 5.2568

[0086] t = 15.0 - 6.5 × 10 -3 h+273.15

[0087]

[0088] Where h is the altitude, h rel Here, p is relative humidity, e is atmospheric pressure, e is atmospheric water vapor pressure, and T is atmospheric temperature. The tropospheric total zenith delay (ZTD) is divided into tropospheric hydrostatic delay (ZHD) and tropospheric wet delay (ZWD). According to the Saastamoinen model, the tropospheric delay Tr can be expressed as the sum of the hydrostatic delay Th and the wet delay Tw:

[0089]

[0090]

[0091] T r =T h +T w

[0092] in Zenith angle, This refers to the satellite's elevation angle.

[0093] The hardware delay bias module is mainly used to address the inconsistent propagation times of different signals due to hardware delays in satellites or receivers, resulting in DCB (Differential Code Bias). DCB includes satellite-end differential code bias and receiver-end differential code bias. The receiver-end DCB can be calculated together with the receiver clock bias and is absorbed by it; however, the satellite-end DCB must be compensated for in precise positioning. The specific solution of this invention is as follows: using pseudorange observations of different frequencies and combinations of observations (such as BDSB1C / B2a, GPS P1 / P2, and Galileo E1 / E5a), simultaneously calculating the total ionospheric electron quantity (TEC) and DCB. The TEC is modeled using methods such as regional polynomial models, regional trigonometric function models, global spherical harmonic function models, and four-dimensional assimilation models. Over a period of time, DCB is separated as a constant. The pseudorange observation equations for each frequency point of the BDS can be expressed as:

[0094] In the formula, s represents the satellite identifier, and r represents the station identifier. Let δt be the geometric distance from the receiver to the satellite. r δts These are the receiver clock bias and the satellite clock bias, respectively, d sTEC The propagation path is defined by the ionospheric electron content, c is the speed of light, and T is the propagation path electron content. S For tropospheric delay, For multipath error, To account for observation noise, the pseudorange observations at frequencies i and j are differencing to obtain geometrically null observations.

[0095] In the formula, These represent the differential code offsets between the satellite and receiver at frequencies i and j, respectively. Currently, the constraint for separating and resolving parameters at the BeiDou satellite and receiver ends is that the sum of all satellite DCB parameters is 0.

[0096] In the formula, n is the number of observed satellites. Let be the hardware delay of the s-th satellite. The differential code deviation between all satellites and the receiver can be solved using the least squares method.

[0097] The real-time precise positioning module is based on the Sinopec BeiDou ground-based augmentation network and uses Virtual Reference Station (VRS) technology to generate differential correction values, enabling users to achieve real-time precise positioning. The specific implementation steps are as follows: A continuous-operation precision station network of Sinopec BeiDou ground-based augmentation stations, distributed throughout the country, is formed. By comprehensively utilizing the observation information from each base station and establishing a precise error model to correct distance-related errors, a physically non-existent reference station is generated near the user station. This reference station, whose observation values ​​are simulated by the Sinopec BeiDou Control Center, is called a virtual reference station because it has never been actually erected. Mobile user receivers or terminals send their approximate coordinates (NMEA-0183 format) of their single-point positioning to the control center via a wireless network. The data processing center creates a virtual reference station (VRS) at that location and, combining the relative geometric relationships between the user, base station, and satellite, interpolates and calculates the error correction values ​​caused by various error gravitations along different paths from each BeiDou satellite to the VRS. Users can use the virtual reference station as a regular reference station and receive differential correction information from the control center for real-time positioning. The mathematical model used in this invention is a linear interpolation method based on comprehensive errors, with base stations forming a double-difference observation equation.

[0098]

[0099] In the formula, λ is the wavelength of the carrier wave; ρ is the geometric distance from the satellite to the receiver. It is a double-difference observation consisting of carrier phase observations from two reference stations; The double-difference geometric distance between the satellite and the receiver can be calculated based on the satellite's spatial position given by the satellite's history and the known coordinates of the reference station. This is the double-difference orbital error, which is the double difference value projected onto the satellite ephemeris error in the direction from the receiver to the satellite. For double differential high-level delay; This is a double-difference tropospheric delay; This refers to the multipath error in double-difference wave phase measurement; Measurement noise for double-difference wave phase observations.

[0100] Let the double-difference observations in the above formula Distance value with double difference The difference is:

[0101]

[0102]

[0103] From the above equation, it can be seen that μ is composed of... And residual orbital deviations that were not completely eliminated even after calculating the double difference. Residual electrical high-level delay and residual tropospheric delay The combined error is called the double-difference composite error.

[0104] and Regardless of the distance between stations, these two errors can be controlled to a very small range through proper site selection, the use of suitable antennas, and high-quality receivers. Therefore, the double-difference combined error can be simplified as follows:

[0105]

[0106] Regardless of the distance between stations, these three factors can be ignored when the distance is short. In long-distance dynamic positioning, reducing or eliminating these three errors can still achieve centimeter-level positioning accuracy. Assuming the rover or user is located within triangle ABC of the base station network and is closest to station A, then point A is selected as the master station. Points B and C, together with point A, form a double-difference observation equation:

[0107]

[0108]

[0109] By using the satellite's fixed position in space and the master station's coordinates, the double-difference distance value can be obtained. And determine the integer ambiguity We can obtain the following using the previous formula: and

[0110]

[0111]

[0112] Since A is the main site, Assume μ is the difference in planar coordinates (X... k -X A ), (Y k -Y A Under the condition of a linear function, interpolation is performed. For base stations B and C, we have:

[0113]

[0114]

[0115] Solve for a1 and a2 using the previous equation, then substitute them into the following equation to obtain the virtual reference station V. value:

[0116]

[0117] The data processing center will interpolate each μ AV The data is broadcast to dynamic users in real time, who can then use these values ​​to perform double-difference correction on the approximate location coordinates to obtain the precise location coordinates.

[0118] The post-processing precision positioning module mainly includes high-precision relative positioning calculation for medium- and long baselines, static baseline calculation for short baselines, and RTK calculation for short baselines. The former is a post-processing step, using the connection between known high-precision Sinopec BeiDou ground-based augmentation stations and unknown points to obtain the unknown high-precision coordinates. The latter can perform real-time and post-processing positioning calculations, quickly achieving high-precision position measurement of the mobile station carrier. Static baseline calculation involves double-difference combination of carrier waves (first single-difference between station r and station b, then double-difference based on satellites). At this point, the receiver clock error has been eliminated, and its double-difference observation equation is:

[0119]

[0120]

[0121] Among them: DD L and DD P These are, respectively, double-difference carrier (phase pseudorange measurement, unit: m) and code combination observations; DD ρ λ represents the double difference of pseudorange observations. i The wavelength at the corresponding frequency point; DD N It is a double-difference ambiguity; For ionospheric delay error; ΔT r，b For tropospheric delay error; DD ε and DDδ These are carrier and code residual errors (observation noise and unmodeled errors), respectively. Ionospheric delay and tropospheric delay are estimated and eliminated using the aforementioned mathematical model. Based on the above formulas, using long-term observation data, firstly, observation equations are established using wide-lane carrier double-difference data to solve for the wide-lane ambiguity; secondly, the wide-lane ambiguity is substituted into the ionospheric elimination combined observation equation to estimate the ambiguity floating-point solution and coordinates; thirdly, the ambiguity floating-point solution is rounded using a search method; finally, the ambiguity integer solution is substituted into the above equations to obtain the precise baseline coordinates. The duration of the observation data can be flexibly set to 2H, 4H, 6H, 12H, 24H, 48H, etc. The longer the time, the higher the accuracy of the coordinates calculated by the subsequent precise positioning module.

[0122] The BeiDou Precision Spatiotemporal Integrated Information Management and Service Subsystem specifically includes: a high-precision product broadcasting module, a post-positioning result product entry into the integrated information web display module, and other post-positioning high-precision positioning application modules, wherein:

[0123] The high-precision product broadcasting module processes and generates high-precision positioning products from the BeiDou Precision Spatiotemporal Information Processing Subsystem, and broadcasts them over the network in RTCM (Radio Technical Commission for Maritime services) standard protocol format. The main implementation path is as follows: This invention uses Internet message queue technology to disconnect the communication coupling between the user and the Sinopec BeiDou ground-based augmentation network data center, solving the problem of concurrent communication among massive industry users, enabling users to obtain RTCM differential correction information and perform high-precision positioning.

[0124] The post-positioning result product is entered into the comprehensive information web display module, which is mainly used to manage and display the high-precision positioning result data generated by the post-precision positioning module as described in claim 3. The BeiDou precise spatiotemporal comprehensive information web display module mainly includes four functional modules: high-precision product broadcasting and management, user management, location management, and comprehensive information display. High-precision product broadcasting and management utilizes the `public MessageDatalistOnlineUser(ModuleInfomoduleInfo)` function to read real-time updated online user information from the Redis cache at a frequency of 1 second. Output items include the total number of online users, a list of online user information, a list of online user location information, and online user status statistics. According to the service broadcasting configuration, gridded data is generated using base station observation data and a regional error correction model. Based on the user's uploaded location and authentication information, the optimal positioning product data is broadcast to authenticated users according to their location.

[0125] User management utilizes the public MessageDataaddRoverUser(RoverUserInforoverUserInfo) function to register users, validate the validity of user details fields, set default parameters, add user information to the database, and record logs.

[0126] Access control utilizes public MessageDatabatchEnableRoverUser(List <integer>ids,List <string>The userNames and Integer enable functions validate parameter validity, modify database information, and record logs, enabling the addition, deletion, and modification of mobile station user information, including username, password, authorized product, and authorization time.

[0127] Track playback utilizes public MessageDatabatchEnableRoverUser(List <integer>ids,List <string>The `userNames(Integer enable)` function queries user / location terminal trajectory information for a specific time period. It retrieves all trajectory points from the database, thins the trajectory, and so on. Based on the historical coordinate information returned by the terminal device, it enables the playback of the terminal's location changes on the Tianditu map according to the time range.

[0128] Electronic fences utilize the `public MessageBoxsaveOrUpdate(Fence fence)` method to add or modify electronic fences. Based on the coordinates returned by the terminal and the set electronic fence range, it determines whether the terminal has exceeded the allowed range of the electronic fence and issues an alarm for terminals that exceed the electronic fence range.

[0129] The comprehensive information display mainly includes the display of the base station's operating status. It uses the publicMessageDatastationInfo(ModuleInfomoduleInfo) function to obtain the base station's status information, which mainly includes the number of stations, the number of stopped stations, the number of normal stations, the number of abnormal stations, and a list of detailed station information. It has the functions of retrieving the information list of the corresponding station from Redis, statistically analyzing the station status, and paginating and sorting the station information.

[0130] The system operation control and monitoring subsystem is responsible for monitoring and managing the operational status of the entire system's hardware and software support platform, including network devices, server devices, database software, and application software.

[0131] Network device operation status monitoring utilizes the public MessageBoxselectNetworkDrawData function to query historical plotting data of network devices, including the name and IP address of the network device, and data from the last few days. It also has functions such as checking the validity of validation parameters, retrieving corresponding information from the database based on the parameters, proportionally diluting the data, and returning the final plotting data.

[0132] Server device operation status monitoring includes information such as server device CPU usage ratio, server device disk usage ratio, server device memory usage ratio, Swap partition usage, and network I / O usage.

[0133] Database software runtime status monitoring monitors database service availability, including whether the database process or port exists and is available, whether a network connection to the database is established, and whether the database can provide services externally; it monitors database performance, including QPS and TPS, the number of concurrent threads, and monitoring for InnoDB blocking and deadlocks; it monitors master-slave replication, including monitoring the master-slave replication link status, master-slave replication latency, and periodically confirming whether the master-slave replication data is consistent.

[0134] Application software runtime status monitoring utilizes the public MessageBoxselectNetworkDrawData function to query historical plotting data of runtime status in the database, check the horizontal axis time label of the plot, and obtain information such as the CPU usage ratio, disk usage ratio, and memory usage ratio of the server device.

[0135] System operation control and monitoring subsystem

[0136] The base station network status monitoring module provides real-time monitoring and evaluation of the operational status of Sinopec's BeiDou ground-based augmentation network base stations.

[0137] This includes base station OMC estimation, base station data quality analysis, and base station stability monitoring. The base station OMC estimation method is as follows: Using satellite UPD information and known coordinates of the reference stations, the unequal ambiguity can be fixed for each reference station, obtaining a consistent unequal ambiguity fixed solution across different reference stations. Assuming the unequal ambiguity of the reference station is given, the observation residuals caused by atmospheric delay, satellite hardware delay, etc., at the reference time can be calculated inversely, constructing the following equation:

[0138]

[0139]

[0140]

[0141]

[0142] Where: L is the carrier phase observation value at the station, λ is the wavelength of the phase observation value, P1 is the P1 / CA pseudorange observation value at the station, ρ is the geometric distance between the station and the satellite, c is the speed of light in vacuum, t is the receiver and satellite clock error, and M is the correction calculated using the existing model. The single-station OMC estimate is solved and broadcast in the form of error corrections. The observation residuals... It can then be broadcast to users as PPP-RTK error correction information.

[0143] Base station data quality analysis refers to the process of analyzing the pre-processed and parsed observation data and coordinates of the base station receiver to obtain the proportion of intact observations, satellite sky imagery, multipath effect, signal-to-noise ratio (SNR), and cycle slip ratio. For a given base station, the quality of the observation data is evaluated from these aspects. The data quality of all base stations is assessed daily, including data duration, data availability, multipath effect, and cycle slip ratio. A preliminary analysis of the base station data quality is performed, and based on this analysis, the status of the base stations is determined, and a data quality summary report for all base stations is output for each year-end.

[0144] Base station stability monitoring refers to analyzing whether the coordinates of the reference station are stable and valid. The method is to analyze the observation data of the reference station receiver after preprocessing and parsing. According to the DELAUNAY triangle network, each reference station performs epoch cumulative baseline calculation with its related network reference stations to obtain accurate reference station coordinates. The results in the N, E, and U directions are analyzed separately. The results are compared with the current coordinate results to obtain the stability monitoring results of each reference station.

[0145] The data flow provided by the system specifically includes the following: BeiDou observation data and satellite navigation message data collected by BeiDou ground-based augmentation stations within the Sinopec BeiDou ground-based augmentation network are transmitted via the Sinopec private network TCP / IP protocol to the real-time data acquisition module, post-data acquisition module, data distribution module, and data preprocessing module of the BeiDou data resource management subsystem. After processing in each module, the resulting raw observation real-time data stream and navigation message real-time data stream enter the message bus and database, respectively.

[0146] The real-time data stream enters the real-time high-precision spatiotemporal reference calculation module in the BeiDou Precision Spatiotemporal Information Processing Subsystem through the message bus distribution function. It uses the differential corrections generated by real-time precise satellite orbit, real-time precise satellite clock bias, real-time ionospheric modeling, real-time tropospheric modeling, and hardware delay deviation unit calculation to perform real-time high-precision positioning calculations, generating real-time decimeter-level positioning results nationwide and centimeter-level positioning results for key areas. The observation data file enters the post-event high-precision spatiotemporal reference software in the BeiDou Precision Spatiotemporal Information Processing Subsystem, and uses post-event precise satellite orbit, post-event precise satellite clock bias, post-event precise atmospheric, and signal delay estimation models to perform post-event high-precision positioning calculations, generating post-event millimeter-level positioning results.

[0147] The real-time and post-event positioning results generated above are entered into the BeiDou Precision Spatiotemporal Integrated Information Management and Service Subsystem. The real-time positioning results are entered into the high-precision product broadcasting module, while the post-event positioning results are entered into the integrated information web display module and other post-event high-precision positioning application modules, so that authorized real-time users and post-event users can access the relevant positioning products.

[0148] The specific embodiments provided in this application are as follows:

[0149] like Figure 4 As shown, a BeiDou-based precision spatiotemporal information processing and service system for the petrochemical field comprises 8 BeiDou ground-based augmentation stations, 7-1 BeiDou data resource management subsystem, 7-2 BeiDou precision spatiotemporal information processing subsystem, 7-3 comprehensive information management and service subsystem, 7-4 system operation control and monitoring subsystem, as well as 2 intelligent mobile terminals, 5 petrochemical smart cloud VPC2Vsw-Dmz front-end server, 3 petrochemical private network access point, 4 network firewall, 6 data security logical isolation device, and 1 BeiDou geographic information acquisition terminal.

[0150] Among them, 8 BeiDou ground-based augmentation stations and 1 BeiDou geographic information acquisition terminal receive information from 9 BeiDou navigation satellites. The 1 BeiDou geographic information acquisition terminal is wirelessly connected to 2 smart mobile terminals. The 2 smart mobile terminals are connected to 3 petrochemical dedicated network access points via a dedicated line within the petrochemical intranet. The 3 petrochemical dedicated network access points are directly connected to 4 network firewalls via petrochemical fiber optic cables. The 4 network firewalls are connected to 5 petrochemical intelligent cloud VPC2 Vsw-DMZ front-end servers. The 5 petrochemical intelligent cloud VPC2 Vsw-DMZ front-end servers are connected to 6 data security logical isolation devices. The 6 data security logical isolation devices are connected to 7-1 BeiDou data resource management subsystems. 7-1 BeiDou data resource management subsystems are connected to several 8 BeiDou ground-based augmentation stations via the petrochemical dedicated network. Communication between the subsystems is achieved through real-time message bus transmission.

[0151] like Figure 4 As shown, the system provides services to application terminals in the petrochemical field through the following steps: 1. The Beidou geographic information acquisition terminal sends a location service request through 2. The intelligent mobile terminal sends the service request through 3. the petrochemical private network access point, 4. the network firewall, and 5. the petrochemical smart cloud VPC2 Vsw-Dmz front-end server to 7-1 the Beidou data resource management subsystem. 7-1 sends the satellite signals received by 8. the Beidou ground-based augmentation station from 9. the Beidou navigation satellite to 7-2 the Beidou precise spatiotemporal information processing subsystem for processing and calculation, forming differential service data that is then transmitted back to 2. The intelligent mobile terminal sends the received response information to 1. The Beidou geographic information acquisition terminal wirelessly. 1. The Beidou geographic information acquisition terminal simultaneously receives the Beidou navigation satellite signal from 9. and the response information from 2. The built-in RTK calculation function calculates the current location coordinates with centimeter-level accuracy in real time, serving geographic information acquisition and high-precision positioning and navigation services in the petroleum and petrochemical field.

[0152] like Figure 5 As shown, using the method described in this invention, short baseline calculation and post-processing accuracy tests were conducted in a certain refining plant area using a BeiDou ground-based augmentation station ZHLH with known accurate coordinates and two GNSS monitoring stations (ZH01 and ZH02). The straight-line distance between ZHLH and ZH01 is 3531 meters, and the straight-line distance between ZHLH and ZH02 is 3505 meters. Data acquisition time was from 00:00 on June 30, 2022 to 00:00 on July 1, 2022, with the satellite elevation angle set to 10°, the sampling interval 10 seconds, and the synchronization epoch number 1434. The calculated data... With a duration of 24 hours, the system completed the monitoring data reading, baseline calculation, and network adjustment processes step by step. The baseline calculation pass rate was 100%. The maximum standard deviation between the calculated coordinates of ZH01 and ZH02 and the base station coordinates was 2.1 mm for the ZHLH-ZH01 baseline (StdY) and 0.6 mm for the ZHLH-ZH02 baseline (StdZ). The processing results met the accuracy requirements of ±2.5 mm + 0.5 ppm in the horizontal direction and ±5 mm + 0.5 ppm in the vertical direction as specified in the relevant standards for post-processing data calculation. This demonstrates that the invention patent technology described in this paper is reasonable and feasible, and can meet the needs of high-precision positioning applications.

[0153] The specific embodiments described herein are merely illustrative of the spirit of the invention. Those skilled in the art to which this invention pertains may make various modifications or additions to the described specific embodiments or use similar methods to substitute them, without departing from the spirit of the invention or exceeding the scope defined by the appended claims.< / string> < / integer> < / string> < / integer>

Claims

1. A BeiDou-based precision spatiotemporal information processing and service system for the petrochemical field, characterized in that... It includes: The system comprises the BeiDou Data Resource Management Subsystem, the BeiDou Precision Spatiotemporal Information Processing Subsystem, the BeiDou Precision Spatiotemporal Integrated Information Management and Service Subsystem, and the System Operation Control and Monitoring Subsystem. The four subsystems communicate with each other via a message bus server. The BeiDou Precision Spatiotemporal Information Processing Subsystem performs precise satellite orbit determination, precise satellite clock error estimation, ionospheric modeling, tropospheric modeling, hardware delay deviation estimation, real-time precise positioning, and post-precision positioning processing on real-time data, and then returns the processing results to the message bus server. The message bus server sends the processing results to the database server and backup server for storage. Simultaneously, the processed service products are transmitted via the BeiDou data resource management subsystem to the BeiDou integrated information management and service subsystem. The corresponding service products are then broadcast to authorized users who have sent service requests and passed authentication, fulfilling the user's service needs. Precise satellite clock bias estimation employs the BeiDou precise clock bias fusion solution model, implemented as follows: Ionospheric-free combined observations are used to eliminate the ionosphere. A unified time reference is selected, and the BeiDou / GPS ionospheric-free combined non-difference observation equation is used to eliminate the signal delay δtg between the receiving terminal's BeiDou system and the GPS system. The observation equation is: In the formula, G and B represent GPS satellites and BeiDou satellites, respectively; j and k represent the j-th GPS satellite and the k-th BeiDou satellite at the same epoch, respectively; PC, LC, and N are the ionospherically unbound pseudorange, carrier phase observations, and integer ambiguity; ρ is the station-satellite distance; dt and dT are the clock differences between the receiver and satellite clocks relative to the same time reference; c is the speed of light; d trop ε represents tropospheric delay; ε is observation noise; the inter-epoch single-difference method is used to eliminate ambiguity parameters and receiver signal delay in consecutive epochs. The inter-epoch single-difference ionospheric combined error observation equation is: In the formula, v(i,i+1) is the change in the observation residual of the tracking station at the current epoch relative to the previous epoch; Δρ(i,i+1) represents the change in distance between the station and the satellite over adjacent epochs, which can fix the precise coordinates of the station and the satellite during the estimation of clock bias; Δdt(i,i+1), ΔdT(i,i+1), Δd trop (i, i+1) represents the changes in receiver clock bias, satellite clock bias, and zenith tropospheric delay relative to the previous epoch; Δε, ΔPC, and ΔLC represent the changes in observation noise, pseudorange, and carrier observation relative to the previous epoch; the clock bias result dT(i) at epoch i is obtained by the following formula: In the formula, ΔdT represents the clock error correction value at each epoch, and dT(i0) represents the initial satellite clock error; Throughout the entire workflow of data transmission, processing, and storage, the system operation control and monitoring subsystem controls and monitors its operational status.

2. The system according to claim 1, characterized in that... The BeiDou data resource management subsystem specifically includes: a real-time data acquisition module, a post-event data acquisition module, a data distribution module, and a data preprocessing module, wherein: The real-time data acquisition module collects and stores the raw observation data transmitted in real time from the reference stations of Sinopec's Beidou ground-based augmentation network. The post-event data acquisition module collects and stores observation files transmitted from the Sinopec Beidou ground-based augmentation network reference station or other service systems. The data distribution module manages the distribution of observation data among the various subsystems within the Precision Spatiotemporal Information Processing and Service System. The data preprocessing module preprocesses various types of data collected by the system, including data classification, quality analysis, and integrity detection.

3. The system according to claim 1, characterized in that... The BeiDou precise spatiotemporal information processing subsystem specifically includes: a precise satellite orbit determination module, a precise satellite clock error estimation module, an ionospheric modeling module, a tropospheric modeling module, a hardware delay deviation estimation module, a real-time precise positioning module, and a post-event precise positioning module, wherein: The precision satellite orbit determination module performs sliding window single-day orbit determination calculations on post-event observation data from Sinopec's BeiDou ground-based augmentation network, and simultaneously forecasts 3-hour precision satellite orbit products, enabling the generation of real-time, post-event high-precision satellite orbit products. The precision satellite clock error estimation module uses real-time and post-event observation data from Sinopec's BeiDou ground-based augmentation network and high-precision satellite orbit products generated by the precision satellite orbit determination module to perform precision satellite clock error calculation, thereby achieving real-time and post-event high-precision satellite clock error product generation. The ionospheric modeling module uses observation data from Sinopec's BeiDou ground-based augmentation network and employs a spherical harmonic function model to construct a real-time, post-event high-precision ionospheric model, thereby achieving real-time, post-event high-precision ionospheric product solution. The tropospheric modeling module uses observation data from Sinopec's BeiDou ground-based augmentation network, as well as high-precision satellite orbit and clock error products generated by the precision satellite orbit determination module and the precision satellite clock error estimation module. It also takes into account tropospheric elevation normalization and uses a grid model to construct a real-time, post-hoc high-precision tropospheric model, thereby realizing real-time, post-hoc high-precision tropospheric product solution. The hardware delay deviation module uses observation data from Sinopec's BeiDou ground-based augmentation network and high-precision satellite orbit and satellite clock error products generated by the precision satellite orbit determination module and the precision satellite clock error estimation module to achieve real-time and post-event hardware delay deviation product calculation. The real-time precision positioning module uses real-time differential products generated by precision satellite orbit determination, precision satellite clock error estimation, ionospheric modeling module, tropospheric modeling module, and hardware time delay deviation module to perform real-time precision positioning calculations for users in the petrochemical industry, thereby achieving real-time decimeter-level and centimeter-level positioning. The post-event precision positioning module uses precision satellite orbit determination, precision satellite clock error estimation, ionospheric modeling module, tropospheric modeling module, and hardware time delay deviation module to generate high-precision post-event products, which are used to perform post-event precision positioning calculations for users in the petrochemical industry, thereby achieving post-event centimeter-level and millimeter-level positioning.

4. The system according to claim 1, characterized in that... The BeiDou Precision Spatiotemporal Integrated Information Management and Service Subsystem specifically includes: a high-precision product broadcasting module, a post-positioning result product entry into the integrated information web display module, and other post-positioning high-precision positioning application modules, wherein: The high-precision product broadcasting module broadcasts the high-precision differential correction data generated by the BeiDou Precision Spatiotemporal Information Processing Subsystem to provide data services for high-precision positioning terminal users; and it displays the high-precision positioning results after post-processing.

5. The system according to claim 1, characterized in that... The system operation control and monitoring subsystem specifically includes: a base station network status monitoring module, a system operation status monitoring module, and a system service performance monitoring and evaluation module, wherein: The base station network status monitoring module provides real-time monitoring and evaluation of the operational status of Sinopec's BeiDou ground-based augmentation network base stations. The system operation status monitoring module monitors the operation status of the message bus and database in real time, and monitors the real-time / post-event data stream in real time. The system service performance monitoring and evaluation module monitors and evaluates the service performance and operational status of the BeiDou Precision Spatiotemporal Information Processing Subsystem and the BeiDou Precision Spatiotemporal Integrated Information Management and Service Subsystem in real time.

6. The system according to claim 3, characterized in that... The data flow provided by the system specifically includes the following: BeiDou observation data and satellite navigation message data collected by BeiDou ground-based augmentation stations within the Sinopec BeiDou ground-based augmentation network are transmitted via the Sinopec private network TCP / IP protocol to the real-time data acquisition module, post-data acquisition module, data distribution module, and data preprocessing module of the BeiDou data resource management subsystem. After processing in each module, the resulting raw observation real-time data stream and navigation message real-time data stream enter the message bus and database, respectively. The real-time data stream enters the real-time high-precision spatiotemporal reference calculation module in the BeiDou Precision Spatiotemporal Information Processing Subsystem through the message bus distribution function. It uses the differential corrections generated by real-time precise satellite orbit, real-time precise satellite clock bias, real-time ionospheric modeling, real-time tropospheric modeling, and hardware delay deviation unit calculation to perform real-time high-precision positioning calculations, generating real-time decimeter-level positioning results nationwide and centimeter-level positioning results for key areas. The observation data file enters the post-event high-precision spatiotemporal reference software in the BeiDou Precision Spatiotemporal Information Processing Subsystem, and uses post-event precise satellite orbit, post-event precise satellite clock bias, post-event precise atmospheric, and signal delay estimation models to perform post-event high-precision positioning calculations, generating post-event millimeter-level positioning results. The real-time and post-event positioning results generated above are entered into the BeiDou Precision Spatiotemporal Integrated Information Management and Service Subsystem. The real-time positioning results are entered into the high-precision product broadcasting module, while the post-event positioning results are entered into the integrated information web display module and other post-event high-precision positioning application modules, so that authorized real-time users and post-event users can access the relevant positioning products.

7. The system according to claim 4, characterized in that... Satellite navigation observation data and satellite navigation messages are in RINEX format.

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