Fast convergence method for precise point positioning and related apparatus

Abstract

The application discloses a rapid convergence method for precise point positioning and a related device, and the method comprises the following steps: obtaining original observation data and differential correction numbers of an observation epoch, wherein the original observation data comprises carrier observation values and pseudo-range observation values; correcting errors of the carrier observation values by using a first precise orbit clock difference estimated from the carrier observation values in the differential correction numbers, and correcting errors of the pseudo-range observation values by using a second precise orbit clock difference estimated from the pseudo-range observation values in the differential correction numbers; and performing parameter estimation on the carrier observation values and the pseudo-range observation values after the error correction, so as to obtain a positioning result of the precise point positioning at the observation epoch. The application can improve the technical problem that the convergence time of the precise point positioning is long due to too many parameters to be estimated in the related art.

Description

Technical Field

[0001] This application belongs to the field of satellite positioning technology, and in particular relates to a fast convergence method, device, GNSS positioning terminal and computer storage medium for precise single-point positioning. Background Technology

[0002] Precise point positioning (PPP) technology can achieve centimeter-level positioning accuracy within minutes by receiving observation data. Because this technology has no geographical limitations, it has wide applications in surveying and mapping, unmanned agriculture, navigation, aviation, and autonomous driving. However, in practical applications, the large number of parameters to be estimated results in a long convergence time for precise point positioning. Summary of the Invention

[0003] This application provides a fast convergence method, apparatus, GNSS positioning terminal, and computer storage medium for precise single-point positioning, which can improve the technical problem of long convergence time for precise single-point positioning caused by a large number of parameters to be estimated in related technologies.

[0004] Firstly, a fast convergence method for precise single-point positioning is provided, which may include:

[0005] Obtain the raw observation data and differential corrections for the observation epoch. The raw observation data includes carrier observations and pseudorange observations.

[0006] The carrier observations are corrected for errors using the first precise orbit clock error estimated from the carrier observations in the differential correction set, and the pseudorange observations are corrected for errors using the second precise orbit clock error estimated from the pseudorange observations in the differential correction set.

[0007] Parameter estimation is performed on the error-corrected carrier observations and pseudorange observations to obtain the positioning results of precise single-point positioning at the observation epoch.

[0008] Optionally, the carrier observations are corrected for errors using the first precise orbital clock error estimated from the carrier observations in the differential correction, including:

[0009] The following formula is used to correct the error in carrier observations;

[0010]

[0011] To observe the carrier observations at epoch t after error correction, (X r ,Y r Z r To obtain the location of receiver r for the raw observation data, (X) s,Φ,Y s,Φ Z s,Φ Let be the position of satellite s obtained from the first precise orbit, where the first precise orbit clock error includes the first precise orbit and the first precise clock error, and c is the speed of light. To estimate the receiver clock bias based on the carrier observation data, t s,Φ For the satellite clock bias obtained based on the first precision clock bias, T is the tropospheric mapping function. z The tropospheric wet delay is the differential correction data, where f is the receiver frequency. λ represents the ionospheric delay in the differentially corrected data. f Let f be the carrier wavelength. For carrier integer ambiguity, For phase winding correction in differential correction data, To compensate for the carrier hardware delay of satellite s in the differential correction data, B r,f The carrier hardware delay of receiver r in differentially corrected data, This represents the noise in the carrier observations.

[0012] Optionally, the pseudorange observations are corrected for errors using the second precise orbital clock error estimated from the pseudorange observations in the differential correction, including:

[0013] The following formula is used to correct the error in pseudorange observations;

[0014]

[0015] To observe the pseudorange observations at epoch t after error correction, (X) r ,Y r Z r To obtain the location of receiver r for the raw observation data, (X) s,Φ ,Y s,Φ Z s,Φ The position of satellite 's' is obtained based on the second precise orbit. The clock error of the second precise orbit includes the second precise orbit and the second precise clock error. 'c' is the speed of light. To estimate the receiver clock bias based on pseudorange observation data, t s,P For the satellite clock bias obtained based on the second precision clock bias, T is the tropospheric mapping function. z The tropospheric wet delay is the differential correction data, where f is the receiver frequency. To correct the ionospheric delay in the differential correction data, To account for the pseudorange hardware delay of satellite s in the differential correction data, b r,f To compensate for the pseudorange hardware delay of receiver r in the differentially corrected data, This represents noise in the pseudorange observations.

[0016] Optionally, parameter estimation is performed on the error-corrected carrier observations and pseudorange observations to obtain the positioning results of precise single-point positioning at the observation epoch, including:

[0017] Kalman filtering is used to estimate the parameters of the pseudorange and carrier observations after error correction, so as to obtain the positioning results of precise single-point positioning at the observation epoch.

[0018] Secondly, a rapid convergence device for precise single-point positioning is provided, which may include:

[0019] The acquisition module is used to acquire the raw observation data and differential corrections for the observation epoch. The raw observation data includes carrier observations and pseudorange observations.

[0020] The error correction module is used to correct the error of the carrier observations by using the first precise orbit clock error estimated from the carrier observations in the differential correction number, and to correct the error of the pseudorange observations by using the second precise orbit clock error estimated from the pseudorange observations in the differential correction number.

[0021] The parameter estimation module is used to estimate the parameters of the error-corrected carrier observations and pseudorange observations to obtain the positioning results of precise single-point positioning at the observation epoch.

[0022] Optionally, the error correction module includes:

[0023] The first error correction unit is used to correct the error of the carrier observation using the following formula;

[0024]

[0025] To observe the carrier observations at epoch t after error correction, (X r ,Y r Z r To obtain the location of receiver r for the raw observation data, (X) s,Φ ,Y s,Φ Z s,Φ Let be the position of satellite s obtained from the first precise orbit, where the first precise orbit clock error includes the first precise orbit and the first precise clock error, and c is the speed of light. To estimate the receiver clock bias based on the carrier observation data, t s,Φ For the satellite clock bias obtained based on the first precision clock bias, T is the tropospheric mapping function. z The tropospheric wet delay is the differential correction data, where f is the receiver frequency. λ represents the ionospheric delay in the differentially corrected data. f Let f be the carrier wavelength. For carrier integer ambiguity, For phase winding correction in differential correction data, To compensate for the carrier hardware delay of satellite s in the differential correction data, B r,f The carrier hardware delay of receiver r in differentially corrected data, This represents the noise in the carrier observations.

[0026] Optionally, the error correction module includes:

[0027] The second error correction unit is used to correct the errors of pseudorange observations using the following formula;

[0028]

[0029] To observe the pseudorange observations at epoch t after error correction, (X) r ,Y r Z r To obtain the location of receiver r for the raw observation data, (X) s,Φ ,Y s,Φ Z s,Φ The position of satellite 's' is obtained based on the second precise orbit. The clock error of the second precise orbit includes the second precise orbit and the second precise clock error. 'c' is the speed of light. To estimate the receiver clock bias based on pseudorange observation data, t s,P For the satellite clock bias obtained based on the second precision clock bias, T is the tropospheric mapping function. z The tropospheric wet delay is the differential correction data, where f is the receiver frequency. To correct the ionospheric delay in the differential correction data, To account for the pseudorange hardware delay of satellite s in the differential correction data, b r,f To compensate for the pseudorange hardware delay of receiver r in the differentially corrected data, This represents noise in the pseudorange observations.

[0030] Optionally, the parameter estimation module is specifically used to perform parameter estimation on the error-corrected pseudorange observations and carrier observations using Kalman filtering to obtain the positioning result of precise single-point positioning at the observation epoch.

[0031] Thirdly, a GNSS positioning terminal is provided, which includes a memory, a processor, and a fast convergence program for precise single-point positioning stored in the memory and running on the processor. The fast convergence program for precise single-point positioning implements the steps of the fast convergence method for precise single-point positioning as described in the first aspect.

[0032] Fourthly, a computer storage medium is provided, which, when executed by a processor, implements the steps of the fast convergence method for precise single-point localization as described in the first aspect.

[0033] Fifthly, a computer program product is provided, comprising a computer program that, when executed by a processor, implements the steps of the fast convergence method for precise single-point localization as described in the first aspect.

[0034] Compared with existing technologies, the fast convergence method, apparatus, GNSS positioning terminal, and computer storage medium for precise point positioning provided in this application perform error correction processing on pseudorange observations and carrier observations using different precise orbit clock errors. The second precise orbit clock error used for error correction of pseudorange observations is estimated from the pseudorange observations. Therefore, it can improve the accuracy of pseudorange compared with related technologies. Since pseudorange plays a crucial role in improving convergence time in precise point positioning, this solution can accelerate the convergence speed of precise point positioning and improve the technical problem that the convergence time required for precise point positioning is long due to the large number of parameters to be estimated. Attached Figure Description

[0035] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0036] Figure 1 This is a schematic flowchart of a fast convergence method for precise single-point positioning according to an embodiment of this application.

[0037] Figure 2 This is a schematic block diagram of a rapid convergence device for precise single-point positioning according to another embodiment of this application.

[0038] Figure 3 This is a schematic block diagram of a GNSS positioning terminal according to another embodiment of this application. Detailed Implementation

[0039] The features and exemplary embodiments of various aspects of this application will now be described in detail. Numerous specific details are set forth in the following detailed description in order to provide a comprehensive understanding of this application. However, it will be apparent to those skilled in the art that this application can be implemented without some of these specific details. The following description of embodiments is merely intended to provide a better understanding of this application by illustrating examples thereof.

[0040] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The embodiments will now be described in detail with reference to the accompanying drawings.

[0041] Precise point positioning technology can achieve centimeter-level positioning accuracy within minutes by receiving observation data. Because this technology has no regional limitations and provides uniform positioning accuracy globally, it has been widely used in many fields such as geodesy.

[0042] However, in practical applications, due to the large number of parameters to be estimated, precise single-point positioning suffers from a long convergence time, thus necessitating in-depth research.

[0043] In related technologies, research on methods for achieving rapid convergence of precise single-point positioning is mainly divided into two categories. One is to accelerate convergence through external factors such as the atmosphere, but this method requires the deployment of relatively dense monitoring stations on the ground to obtain high-precision atmospheric information and requires a large broadcast bandwidth. The other is to use stochastic models for optimization, but compared with the auxiliary optimization of external factors, the effect of improving through stochastic models is limited.

[0044] To address at least one of the aforementioned technical problems, the inventors of this application discovered during their research and development in this field that pseudorange observations play a crucial role in improving convergence time. Currently, the precise orbital clock error used to correct errors in pseudorange observations is mainly determined by carrier observations. Therefore, they considered using different orbits and clock errors to process pseudorange observations and carrier observations separately, so that the orbit and clock error applied to pseudorange calculations are more effective than those applied to pseudorange calculations using the orbit and clock error corresponding to carrier observations. This improves the accuracy of pseudorange and helps to accelerate the convergence speed of precise single-point positioning.

[0045] Based on this, embodiments of this application propose a fast convergence method, apparatus, GNSS positioning terminal, and computer storage medium for precise single-point positioning to solve the above problems.

[0046] The fast convergence method for precise single-point positioning in this application is first introduced below. See [link / reference] Figure 1 In one embodiment of the fast convergence method for precise single-point positioning in this application, the method includes:

[0047] S110, obtain the raw observation data and differential corrections for the observation epoch.

[0048] S120, the first precise orbit clock error estimated from the carrier observation in the differential correction number is used to correct the error of the carrier observation, and the second precise orbit clock error estimated from the pseudorange observation in the differential correction number is used to correct the error of the pseudorange observation.

[0049] S130, parameter estimation is performed on the error-corrected carrier observations and pseudorange observations to obtain the positioning results of precise single-point positioning at the observation epoch.

[0050] In this application, the pseudorange observations and carrier observations are respectively corrected for errors using different precise orbit clock errors. The second precise orbit clock error used for error correction of the pseudorange observations is estimated from the pseudorange observations. Therefore, compared with related technologies, the accuracy of pseudorange can be improved. Since pseudorange plays a crucial role in improving convergence time in precise point positioning, the improvement of pseudorange accuracy in this solution can accelerate the convergence speed of precise point positioning. Thus, it improves the technical problem that the convergence time required for precise point positioning is long due to the large number of parameters to be estimated.

[0051] In some optional examples of S110, the aforementioned raw observation data may include carrier observations and pseudorange observations, and the aforementioned differential correction may include carrier-orbit clock bias differential corrections. These carrier-orbit clock bias differential corrections may include a first precision orbit clock bias and a second precision orbit clock bias.

[0052] The first precise orbit clock error can be the precise orbit clock error estimated by solving the carrier observation values ​​in the original observation data, and the second precise orbit clock error can be the precise orbit clock error estimated by solving the pseudorange observation values ​​in the original observation data. The second precise orbit clock error has a better effect on pseudorange calculation than the first precise orbit clock error.

[0053] It should be noted that the first precise orbital clock error can be estimated by combining the first model with carrier observations, and the second precise orbital clock error can be estimated by combining the second model with pseudorange observations. The first model and the second model are different.

[0054] This scheme aims to estimate different precise orbital clock errors using different raw observation data, and to use different precise orbital clock errors for error correction and parameter estimation after error correction. As for the modeling process of the first model and the second model, as well as the process of obtaining the first precise orbital clock error and the second precise orbital clock error, those skilled in the art can refer to relevant technologies to perform them, and will not elaborate further here.

[0055] In some alternative examples, the differential corrections mentioned above may also include phase winding corrections, ionospheric delay corrections, tropospheric wet delay corrections, and carrier phase delay corrections, etc.

[0056] In some optional examples, the raw observation data and differential corrections can be obtained sequentially from different epochs, and error correction and parameter estimation can be performed each time the raw observation data and differential corrections are obtained.

[0057] In some optional examples, broadcast ephemeris can also be obtained when raw observation data and differential corrections are obtained sequentially from different epochs.

[0058] The error correction process in S120 above, based on the first precision orbit clock difference and the second precision orbit clock difference, can be performed synchronously, or sequentially or in reverse order.

[0059] It should be noted that in this example, the first precise orbital clock difference estimated from the carrier observation is used to correct the error of the carrier observation, and the second precise orbital clock difference estimated from the pseudorange observation is used to correct the error of the pseudorange observation. Thus, error correction is performed separately using different precise orbital clock differences. The effect of applying the second precise orbital clock difference to pseudorange is better than that of the first precise orbital clock difference used in related technologies to correct the error of pseudorange observation, thereby improving the accuracy of the pseudorange observation after error correction.

[0060] In some alternative examples of S120, the process of correcting the carrier observations using the first precise orbital clock error in the differential corrections may include:

[0061] The carrier observations are corrected for errors using the following formula (1);

[0062]

[0063] To observe the carrier observations at epoch t after error correction, (X r ,Y r Z r To obtain the location of receiver r for the raw observation data, (X) s,Φ ,Y s,Φ Z s,Φ Let be the position of satellite s obtained from the first precise orbit, where the first precise orbit clock error includes the first precise orbit and the first precise clock error, and c is the speed of light. To estimate the receiver clock bias based on the carrier observation data, t s,Φ For the satellite clock bias obtained based on the first precision clock bias, T is the tropospheric mapping function.z The tropospheric wet delay is the differential correction data, where f is the receiver frequency. λ represents the ionospheric delay in the differentially corrected data. f Let f be the carrier wavelength. For carrier integer ambiguity, For phase winding correction in differential correction data, To compensate for the carrier hardware delay of satellite s in the differential correction data, B r,f The carrier hardware delay of receiver r in differentially corrected data, This represents the noise in the carrier observations.

[0064] The process of correcting pseudorange observations using the second precise orbital clock error in the differential correction can include:

[0065] The pseudorange observations are corrected using the following formula (2);

[0066]

[0067] To observe the pseudorange observations at epoch t after error correction, (X) r ,Y r Z r To obtain the location of receiver r for the raw observation data, (X) s,Φ ,Y s,Φ Z s,Φ The position of satellite 's' is obtained based on the second precise orbit. The clock error of the second precise orbit includes the second precise orbit and the second precise clock error. 'c' is the speed of light. To estimate the receiver clock bias based on pseudorange observation data, t s,P For the satellite clock bias obtained based on the second precision clock bias, T is the tropospheric mapping function. z The tropospheric wet delay is the differential correction data, where f is the receiver frequency. To correct the ionospheric delay in the differential correction data, To account for the pseudorange hardware delay of satellite s in the differential correction data, b r,f To compensate for the pseudorange hardware delay of receiver r in the differentially corrected data, This represents noise in the pseudorange observations.

[0068] It should be noted that the biggest difference between the above formulas (1) and (2) and the related technologies when calculating the carrier observation value and pseudorange observation value after error correction at the corresponding observation epoch t is that the first precision orbit clock error and the second precision orbit clock error are applied respectively, so that the application of satellite clock error and satellite position data in formulas (1) and (2) is distinguished, thereby improving the accuracy of the pseudorange observation value after error correction.

[0069] These examples demonstrate the process of error correction using different precision orbit clock errors. This allows for subsequent parameter estimation using higher-precision pseudorange observations after error correction, combined with carrier observations after error correction. This helps accelerate the convergence speed of precise point positioning and thus improves the technical problem of long convergence time required for precise point positioning due to the large number of parameters to be estimated.

[0070] In addition, the accelerated convergence method, which uses a second precision orbital clock error to correct the pseudorange observations, requires only a few monitoring stations within the positioning area, thus reducing the overall hardware cost.

[0071] For example, only a few dozen monitoring stations need to be set up in China, such as about 20 monitoring stations.

[0072] In some alternative examples, the process of estimating the parameters of the error-corrected carrier observations and pseudorange observations to obtain the positioning result of precise single-point positioning at the observation epoch may include:

[0073] Kalman filtering is used to estimate the parameters of the pseudorange and carrier observations after error correction, so as to obtain the positioning results of precise single-point positioning at the observation epoch.

[0074] It should be noted that, since an additional second precision orbital clock bias was used when performing error correction, the coefficient matrix used in the Kalman filtering process also needs to include the receiver clock bias parameter estimated based on the pseudorange observation data.

[0075] For example, by combining formulas (1) and (2), the coefficient matrix shown in formula (3) can be obtained.

[0076]

[0077] In these examples, using Kalman filtering to estimate the parameters of the error-corrected pseudorange and carrier observations can reduce the convergence time of the parameters to be estimated, thereby indirectly speeding up the output of the positioning results.

[0078] The fast convergence method for precise single-point positioning according to the embodiments of this application has been described in detail above. The following will combine... Figure 2 This application describes in detail the rapid convergence device for precise single-point positioning according to embodiments of the present application.

[0079] The acquisition module 210 is used to acquire the raw observation data and differential corrections of the observation epoch. The raw observation data includes carrier observations and pseudorange observations.

[0080] The error correction module 220 is used to correct the error of the carrier observation by using the first precise orbit clock error estimated from the carrier observation in the differential correction number, and to correct the error of the pseudorange observation by using the second precise orbit clock error estimated from the pseudorange observation in the differential correction number.

[0081] The parameter estimation module 230 is used to perform parameter estimation on the error-corrected carrier observations and pseudorange observations to obtain the positioning results of precise single-point positioning at the observation epoch.

[0082] Optionally, the error correction module 220 may include:

[0083] The first error correction unit is used to correct the error of the carrier observation using the following formula;

[0084]

[0085] To observe the carrier observations at epoch t after error correction, (X r ,Y r Z r To obtain the location of receiver r for the raw observation data, To determine the position of satellite s based on the first precise orbit, the first precise orbit clock error includes the first precise orbit and the first precise clock error, where c is the speed of light. To estimate the receiver clock bias based on the carrier observation data, t s,Φ For the satellite clock bias obtained based on the first precision clock bias, T is the tropospheric mapping function. z The tropospheric wet delay is the differential correction data, where f is the receiver frequency. λ represents the ionospheric delay in the differentially corrected data. f Let f be the carrier wavelength. For carrier integer ambiguity, For phase winding correction in differential correction data, To compensate for the carrier hardware delay of satellite s in the differential correction data, B r,f The carrier hardware delay of receiver r in differentially corrected data, This represents the noise in the carrier observations.

[0086] Optionally, the error correction module 220 may include:

[0087] The second error correction unit is used to correct the errors of pseudorange observations using the following formula;

[0088]

[0089] To observe the pseudorange observations at epoch t after error correction, (X) r ,Y r Z r To obtain the location of receiver r for the raw observation data, (X) s,Φ ,Y s,Φ Z s,Φ The position of satellite 's' is obtained based on the second precise orbit. The clock error of the second precise orbit includes the second precise orbit and the second precise clock error. 'c' is the speed of light. To estimate the receiver clock bias based on pseudorange observation data, t s,P For the satellite clock bias obtained based on the second precision clock bias, T is the tropospheric mapping function. z The tropospheric wet delay is the differential correction data, where f is the receiver frequency. To correct the ionospheric delay in the differential correction data, To account for the pseudorange hardware delay of satellite s in the differential correction data, b r,f To compensate for the pseudorange hardware delay of receiver r in the differentially corrected data, This represents noise in the pseudorange observations.

[0090] Optionally, the parameter estimation module 230 is specifically used to perform parameter estimation on the error-corrected pseudorange observations and carrier observations using Kalman filtering to obtain the positioning result of precise single-point positioning at the observation epoch.

[0091] Figure 3 A schematic diagram of the hardware structure of the GNSS positioning terminal provided in an embodiment of this application is shown.

[0092] The GNSS positioning terminal may include a smart terminal or a GNSS receiver, and the GNSS positioning terminal may include a processor 301 and a memory 302 storing computer program instructions.

[0093] Specifically, the processor 301 may include a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the embodiments of this application.

[0094] Memory 302 may include mass storage for data or instructions. For example, and not limitingly, memory 302 may include a hard disk drive (HDD), floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or Universal Serial Bus (USB) drive, or a combination of two or more of these. Where appropriate, memory 302 may include removable or non-removable (or fixed) media. Where appropriate, memory 302 may be internal or external to the GNSS positioning terminal. In a particular embodiment, memory 302 is non-volatile solid-state memory.

[0095] Memory 302 may include read-only memory (ROM), flash memory device, random access memory (RAM), disk storage medium device, optical storage medium device, electrical, optical, or other physical / tangible memory storage device. Therefore, typically, memory 302 includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software that may include computer-executable instructions and, when executed (e.g., by one or more processors), is operable to perform the operations described with reference to the methods described above according to the foregoing aspects of this disclosure.

[0096] The processor 301 reads and executes computer program instructions stored in the memory 302 to implement any of the fast convergence methods for precise single-point localization in the above embodiments.

[0097] In one example, the GNSS positioning terminal may also include a communication interface 303 and a bus 310. For example, Figure 3 As shown, the processor 301, memory 302, and communication interface 303 are connected through bus 310 and complete communication with each other.

[0098] The communication interface 303 is mainly used to realize communication between various modules, systems, devices, units and / or equipment in the embodiments of this application.

[0099] Bus 310 includes hardware, software, or both, that couples components of a GNSS positioning terminal together. For example, and not limitingly, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an Infinite Bandwidth Interconnect, a Low Pin Count (LPC) bus, a memory bus, a Microchannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local (VLB) bus, or other suitable buses, or combinations of two or more of these. Where appropriate, bus 310 may include one or more buses. Although specific buses are described and illustrated in embodiments of this application, any suitable bus or interconnect is contemplated herein.

[0100] This GNSS positioning terminal can perform a fast convergence method for precise single-point positioning, thereby achieving a combination of... Figures 1 to 2 The method and apparatus for fast convergence of precise single-point localization are described.

[0101] In conjunction with the fast convergence method for precise single-point localization in the above embodiments, this application embodiment can provide a computer storage medium for implementation. The computer storage medium stores computer program instructions; when these computer program instructions are executed by a processor, they implement any of the fast convergence methods for precise single-point localization in the above embodiments.

[0102] Furthermore, in conjunction with the fast convergence method for precise single-point positioning in the above embodiments, this application embodiment can provide a computer program product for implementation. This computer program product stores computer program instructions; when these computer program instructions are executed by a processor, they implement any of the fast convergence methods for precise single-point positioning in the above embodiments.

[0103] Furthermore, the term "and / or" in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0104] It should be understood that in the embodiments of this application, "B corresponding to A" means that B is associated with A, and B can be determined based on A. However, it should also be understood that determining B based on A does not mean that B is determined solely based on A; B can also be determined based on A and / or other information.

[0105] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A fast convergence method for precise single-point positioning, characterized in that, include: Obtain raw observation data and differential correction data for the observation epoch, wherein the raw observation data includes carrier observations and pseudorange observations; The carrier observation is corrected by using a first precise orbital clock error estimated from the carrier observation in the differential correction data, and the pseudorange observation is corrected by using a second precise orbital clock error estimated from the pseudorange observation in the differential correction data. Parameter estimation is performed on the error-corrected carrier observations and pseudorange observations to obtain the positioning result of precise single-point positioning in the observation epoch.

2. The method according to claim 1, characterized in that, The step of using the first precise orbital clock error estimated from the carrier observations in the differential correction data to correct the error of the carrier observations includes: The carrier observations are corrected for errors using the following formula; To observe the carrier observations at epoch t after error correction, (X r ,Y r Z r To obtain the location of the receiver r for the original observation data, (X) s,Φ ,Y s,Φ Z s,Φ Let be the position of satellite s obtained based on the first precise orbit, where the first precise orbit clock error includes the first precise orbit and the first precise clock error, and c is the speed of light. t is the receiver clock bias that needs to be estimated based on the carrier observation data. s,Φ For the satellite clock bias obtained based on the first precision clock bias, T is the tropospheric mapping function. z The tropospheric wet delay in the differential correction data is given by f, where f is the receiver frequency. λ represents the ionospheric delay in the differentially corrected data. f Let f be the carrier wavelength. For carrier integer ambiguity, For the phase winding correction in the differential correction data, B represents the carrier hardware delay of satellite s in the differential correction data. r,f The carrier hardware delay of receiver r in the differential correction data. The noise of the carrier observation.

3. The method according to claim 1, characterized in that, The step of using the second precise orbital clock error, estimated from the pseudorange observations in the differential correction data, to correct the pseudorange observations includes: The pseudorange observations are corrected for errors using the following formula; To observe the pseudorange observations at epoch t after error correction, (X) r ,Y r Z r To obtain the location of the receiver r for the original observation data, (X) s,Φ ,Y s,Φ Z s,Φ The position of satellite s is obtained based on the second precise orbit, where the clock error of the second precise orbit includes both the second precise orbit and the second precise clock error, and c is the speed of light. To estimate the receiver clock bias based on pseudorange observation data, t s,P For the satellite clock bias obtained based on the second precision clock bias, T is the tropospheric mapping function. z The tropospheric wet delay in the differential correction data is given by f, where f is the receiver frequency. The ionospheric delay in the differentially corrected data, b is the pseudorange hardware delay of satellite s in the differential correction data. r,f The pseudorange hardware delay of receiver r in the differential correction data. The noise in the pseudorange observations.

4. The method according to any one of claims 1 to 3, characterized in that, The step of performing parameter estimation on the error-corrected carrier observations and pseudorange observations to obtain the precise single-point positioning result at the observation epoch includes: Kalman filtering is used to estimate the parameters of the pseudorange and carrier observations after error correction, so as to obtain the positioning result of precise single-point positioning in the observation epoch.

5. A rapid convergence device for precise single-point positioning, characterized in that, The device includes: The acquisition module is used to acquire the raw observation data and differential correction data of the observation epoch, wherein the raw observation data includes carrier observations and pseudorange observations; An error correction module is used to correct the error of the carrier observation by using a first precise orbital clock error estimated from the carrier observation in the differential correction data, and to correct the error of the pseudorange observation by using a second precise orbital clock error estimated from the pseudorange observation in the differential correction data. The parameter estimation module is used to perform parameter estimation on the error-corrected carrier observations and pseudorange observations to obtain the positioning result of precise single-point positioning in the observation epoch.

6. The apparatus according to claim 5, characterized in that, The error correction module includes: The first error correction unit is used to correct the error of the carrier observation value using the following formula; To observe the carrier observations at epoch t after error correction, (X r ,Y r Z r To obtain the location of the receiver r for the original observation data, (X) s,Φ ,Y s,Φ Z s,Φ Let be the position of satellite s obtained based on the first precise orbit, where the first precise orbit clock error includes the first precise orbit and the first precise clock error, and c is the speed of light. t is the receiver clock bias that needs to be estimated based on the carrier observation data. s,Φ For the satellite clock bias obtained based on the first precision clock bias, T is the tropospheric mapping function. z The tropospheric wet delay in the differential correction data is given by f, where f is the receiver frequency. λ represents the ionospheric delay in the differentially corrected data. f Let f be the carrier wavelength. For carrier integer ambiguity, For the phase winding correction in the differential correction data, B represents the carrier hardware delay of satellite s in the differential correction data. r,f The carrier hardware delay of receiver r in the differential correction data. The noise of the carrier observation.

7. The apparatus according to claim 5, characterized in that, The error correction module includes: The second error correction unit is used to correct the error of the pseudorange observation using the following formula; To observe the pseudorange observations at epoch t after error correction, (X) r ,Y r Z r To obtain the location of the receiver r for the original observation data, (X) s,Φ ,Y s,Φ Z s,Φ The position of satellite s is obtained based on the second precise orbit, where the clock error of the second precise orbit includes both the second precise orbit and the second precise clock error, and c is the speed of light. To estimate the receiver clock bias based on pseudorange observation data, t s,P For the satellite clock bias obtained based on the second precision clock bias, T is the tropospheric mapping function. z The tropospheric wet delay in the differential correction data is given by f, where f is the receiver frequency. The ionospheric delay in the differentially corrected data, b is the pseudorange hardware delay of satellite s in the differential correction data. r,f The pseudorange hardware delay of receiver r in the differential correction data. The noise in the pseudorange observations.

8. The apparatus according to any one of claims 5 to 7, characterized in that, The parameter estimation module is specifically used to perform parameter estimation on the pseudorange observations and carrier observations after error correction using Kalman filtering, so as to obtain the positioning result of precise single-point positioning in the observation epoch.

9. A GNSS positioning terminal, characterized in that, The GNSS positioning terminal includes a memory, a processor, and a fast convergence program for precise single-point positioning stored in the memory and running on the processor. The fast convergence program for precise single-point positioning executes the steps of the fast convergence method for precise single-point positioning as described in any one of claims 1 to 4.

10. A computer storage medium, characterized in that, When the computer storage medium is executed by the processor, it implements the steps of the fast convergence method for precise single-point positioning as described in any one of claims 1 to 4.

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