A dynamic precise point positioning method, system, electronic device and medium

Abstract

The application discloses a dynamic precise point positioning method and system, electronic equipment and medium, and relates to the field of dynamic precise point positioning. The method records fixed ambiguities after fixing ambiguities in a good ionospheric delay state, and estimates accurate ionospheric delay by using the recorded ambiguities when ionospheric delay is abnormal, so that more accurate ionospheric delay is used to correct real-time observation values at a positioning service user end, and high-precision position solutions are obtained by attempting to fix ambiguities. The application improves positioning accuracy.

Description

Technical Field

[0001] This invention relates to the field of dynamic precision single-point positioning, and in particular to a dynamic precision single-point positioning method, system, electronic device, and medium. Background Technology

[0002] For users within a dynamic network receiving PPP-RTK services, ambiguity can generally be continuously fixed, consistently providing high-precision centimeter-level location solutions. The high-precision, ultra-fast dynamic precise point positioning technology can provide high-precision location solutions within several or tens of epochs, provided the rover can receive precise ionospheric corrections from the reference station network in a timely manner. When atmospheric conditions fluctuate (e.g., ionospheric disturbances) or the rover's service location is less than ideal (e.g., sparse surrounding reference stations or leaving the reference station's coverage area), the accuracy of the ionospheric corrections will significantly decrease, negatively impacting the positioning calculations for PPP-RTK users. This impact manifests in two ways: firstly, in ambiguity fixation, the ambiguity parameters will be forced to absorb residual ionospheric delay errors not corrected by the ionospheric corrections, leading to ambiguity fixation failure or errors. On the other hand, this is reflected in the position parameter constraints. That is, when the ambiguity is successfully and correctly fixed, and the ambiguity is used as a known parameter to substitute back into the observation equation to constrain the position parameters, the residual ionospheric error that has not been properly processed will be partially absorbed by the position parameters, affecting the accuracy of the position parameters obtained by fixing the ambiguity. Summary of the Invention

[0003] The purpose of this invention is to provide a dynamic precision single-point positioning method, system, electronic device, and medium that can improve the accuracy of dynamic single-point positioning.

[0004] To achieve the above objectives, the present invention provides the following solution:

[0005] A dynamic precise single-point positioning method, comprising:

[0006] Obtain the fixed inter-satellite single-difference ambiguity of the previous epoch and the inter-satellite difference of the observation value of the current epoch; the fixed inter-satellite single-difference ambiguity is the inter-satellite single-difference ambiguity fixed under normal ionospheric delay conditions;

[0007] Based on the fixed inter-satellite single-difference ambiguity and the observed inter-satellite difference, the solution ionospheric delay for the current epoch is obtained by inversion.

[0008] The difference between the interpolated inter-satellite single-difference ionospheric delay and the calculated ionospheric delay at the current epoch is determined to be within a set threshold range, and the determination result is obtained; the interpolated inter-satellite single-difference ionospheric delay is calculated based on the ionospheric delay of the surrounding reference stations sent by the server.

[0009] If the judgment result is yes, then the inter-satellite difference of the observation value is corrected by using the interpolated rover user single-difference ionospheric delay to obtain the first corrected non-difference observation value; the interpolated rover user single-difference ionospheric delay is calculated by interpolation based on the ionospheric delay of the surrounding reference stations sent by the server.

[0010] Ambiguity is fixed based on the first corrected non-differential observation. If ambiguity fixing fails, the corrected non-differential ionospheric delay for the rover user is determined based on the solved ionospheric delay of the current epoch and the set ionospheric delay of the reference satellite. If ambiguity fixing is successful, positioning calculation is performed to obtain the positioning settlement result for the rover user.

[0011] If the judgment result is negative, then the non-differential ionospheric delay corrected by the rover user is determined based on the calculated ionospheric delay of the current epoch and the set ionospheric delay of the reference satellite.

[0012] The inter-satellite difference of the observations is corrected by using the non-differential ionospheric delay corrected by the rover user, resulting in a second corrected non-differential observation.

[0013] Based on the second corrected non-difference observation, ambiguity fixing and positioning calculation are performed to obtain the positioning settlement result of the mobile station user.

[0014] Optionally, based on the fixed inter-satellite single-difference ambiguity and the observed inter-satellite difference, the calculated ionospheric delay for the current epoch is obtained by inversion, specifically including:

[0015] Using formula Determine the solution ionospheric delay for the current epoch; where, The inter-satellite difference is the observed value. The fixed inter-satellite single-difference ambiguity at the first frequency; f1 is the fixed inter-satellite single-difference ambiguity at the second frequency; f2 is the first frequency; f1 is the second frequency; λ1 is the wavelength of the first frequency; λ2 is the wavelength of the second frequency.

[0016] Optionally, the inter-satellite difference of the observations is corrected using the interpolated rover user single-difference ionospheric delay to obtain the first corrected undifferenced observations, specifically including:

[0017] Using formula Determine the first corrected undifferentiated observation; where, For the rover user, the first corrected undifferentiated observation at the first frequency; For the rover user, the first corrected undifferentiated observation at the second frequency; These are the non-differential observations of the rover user at the first frequency; For interpolated rover user single-difference ionospheric delay; f1 represents the non-differential observations of the rover user at the second frequency; f2 represents the first frequency; and f3 represents the second frequency.

[0018] Optionally, based on the solved ionospheric delay at the current epoch and the set ionospheric delay of the reference satellite, the rover-corrected non-differential ionospheric delay is determined, specifically including:

[0019] Using formula Determine the user-corrected non-differential ionospheric delay at the rover station; where, Corrected non-differential ionospheric delay for rover users; The ionospheric delay is set for reference satellites; This represents the solution ionospheric delay for the current epoch.

[0020] Optionally, the inter-satellite difference of the observations is corrected using the non-differential ionospheric delay corrected by the rover user to obtain a second corrected non-differential observation, specifically including:

[0021] Using formula Determine the second corrected undifferentiated observations; where, The second corrected undifferentiated observation value of the rover user at the first frequency; The second corrected undifferentiated observation value of the rover user at the second frequency; These are the non-differential observations of the rover user at the first frequency; Corrected non-differential ionospheric delay for rover users; f1 represents the non-differential observations of the rover user at the second frequency; f2 represents the first frequency; and f3 represents the second frequency.

[0022] A dynamic precision single-point positioning system, comprising:

[0023] The data acquisition module is used to acquire the fixed inter-satellite single-difference ambiguity of the previous epoch and the inter-satellite difference of the observation value of the current epoch; the fixed inter-satellite single-difference ambiguity is the inter-satellite single-difference ambiguity fixed under the normal state of ionospheric delay;

[0024] The inversion module is used to invert the solution ionospheric delay for the current epoch based on the fixed inter-satellite single-difference ambiguity and the observed inter-satellite difference.

[0025] The judgment module is used to determine whether the difference between the interpolated inter-satellite single-difference ionospheric delay and the calculated ionospheric delay at the current epoch is within a set threshold range, and obtain the judgment result; the interpolated inter-satellite single-difference ionospheric delay is calculated based on the ionospheric delay of the surrounding reference stations sent by the server.

[0026] The first correction module is used to correct the inter-satellite difference of the observation value by using the interpolated rover user single-difference ionospheric delay if the judgment result is yes, so as to obtain the first corrected non-difference observation value; the interpolated rover user single-difference ionospheric delay is calculated by interpolation based on the ionospheric delay of the surrounding reference stations sent by the server.

[0027] The first fuzzy fixation module is used to fix the fuzziness based on the first corrected non-differential observation value. If the fuzziness fixation fails, the corrected non-differential ionospheric delay for the rover user is determined based on the calculated ionospheric delay of the current epoch and the set ionospheric delay of the reference satellite. If the fuzziness fixation is successful, the positioning calculation is performed to obtain the positioning settlement result for the rover user.

[0028] The second correction module is used to determine the non-differential ionospheric delay corrected by the rover user based on the calculated ionospheric delay of the current epoch and the set ionospheric delay of the reference satellite if the judgment result is negative.

[0029] The third correction module is used to correct the inter-satellite difference of the observation value using the non-differential ionospheric delay corrected by the rover user, so as to obtain the second corrected non-differential observation value.

[0030] The second fuzzy fixing module is used to perform fuzziness fixing and positioning calculation based on the second corrected non-difference observation value to obtain the positioning settlement result of the mobile station user.

[0031] An electronic device includes a memory and a processor, wherein the memory stores a computer program, and the processor runs the computer program to enable the electronic device to perform the dynamic precise single-point positioning method described above.

[0032] A computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described dynamic precise single-point positioning method.

[0033] According to specific embodiments provided by the present invention, the present invention discloses the following technical effects:

[0034] The dynamic precise single-point positioning method, system, electronic device, and medium of the present invention record the fixed ambiguity after fixing the ambiguity under good ionospheric delay conditions, and estimate the accurate ionospheric delay using the recorded ambiguity when the ionospheric delay is abnormal. This allows for more accurate correction of real-time observations at the positioning service user end using more accurate ionospheric delay, and attempts to obtain a high-precision position solution by fixing the ambiguity. Attached Figure Description

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

[0036] Figure 1 The flowchart of the dynamic precise single-point positioning method provided by the present invention is shown below.

[0037] Figure 2 The flowchart shows the dynamic precise single-point positioning method provided by the present invention in a specific application. Detailed Implementation

[0038] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0039] The purpose of this invention is to provide a dynamic precision single-point positioning method, system, electronic device, and medium that can improve the accuracy of dynamic single-point positioning.

[0040] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0041] Example 1

[0042] Ambiguity is generally treated as a constant parameter. When no signal loss occurs between epochs, it can serve as a known value and act as an information medium between epochs. This is used to correct time-varying parameters such as ionospheric corrections during disturbances, providing relatively high-precision ionospheric corrections even when the reference station broadcasts inaccurate ionospheric corrections for short periods. This invention utilizes this approach to improve the reliability of ionospheric corrections, thereby enhancing the performance of dynamic precise point positioning. This invention provides a strategy for resolving and correcting the ionospheric correction of the current epoch using ambiguity fixed in the preceding epoch. This can provide relatively high-precision ionospheric corrections even when the reference station broadcasts inaccurate ionospheric corrections (ionospheric delay) for short periods, thus providing users with continuous and highly accurate position solutions as much as possible.

[0043] like Figure 1 and Figure 2 As shown, the dynamic precise single-point positioning method provided by the present invention includes:

[0044] Step 101: Obtain the fixed inter-satellite single-difference ambiguity of the previous epoch and the inter-satellite difference of the observation value of the current epoch; the fixed inter-satellite single-difference ambiguity is the inter-satellite single-difference ambiguity fixed under normal ionospheric delay conditions. After obtaining the fixed inter-satellite single-difference ambiguity stored in the previous epoch, the point localization calculation of the current epoch begins.

[0045] In practical applications, when the ionospheric correction error of the previous epoch is normal, the point positioning calculation process can proceed smoothly, and the ambiguity can generally be continuously fixed. At this time, the fixed inter-satellite single-difference ambiguity is continuously updated, and this information is transmitted between epochs. Since the ambiguity parameter is constant when no cycle slip occurs, the fixed ambiguity of the previous epoch can be used as known information to estimate the ionospheric delay of the current epoch.

[0046] The ionospheric delay at the current epoch is estimated by using GF combination inversion. When the ionospheric correction received at the current epoch is abnormal, the estimated ionospheric delay is used to replace the ionospheric correction transmitted by the reference station network, thereby obtaining more accurate corrected observation data.

[0047] Step 102: Based on the fixed inter-satellite single-difference ambiguity and the observed inter-satellite difference, the solution ionospheric delay for the current epoch is obtained by inversion.

[0048] As an optional implementation, step 102 specifically includes:

[0049] Using formula Determine the solution ionospheric delay for the current epoch; where, The inter-satellite difference is the observed value. The fixed inter-satellite single-difference ambiguity at the first frequency; f1 is the fixed inter-satellite single-difference ambiguity at the second frequency; f2 is the first frequency; f1 is the second frequency; λ1 is the wavelength of the first frequency; λ2 is the wavelength of the second frequency.

[0050] In practical applications, geometrically free (GF) phase observations are constructed. If it is verified that no cycle slip occurs in the current epoch, geometrically free (GF) observations can be constructed using the original observations of the current epoch. The GF combination observations of inter-satellite single differences are calculated, and the ambiguity of the preceding epoch in step 101 is fixed using UPD products. Restore to and And substitute it into the GF combined observation equation.

[0051]

[0052] In the formula, and This is a fixed inter-satellite single-difference ambiguity that includes the receiver-satellite delay bias. Let the two satellites be i and j, with i as the reference satellite, f1 as the first frequency, f2 as the second frequency, ι1 as the ionospheric delay at the first frequency, λ1 representing the wavelength at frequency f1 (first frequency), and λ2 representing the wavelength at frequency f2 (second frequency). The inter-satellite difference of the GF observations between the two satellites is:

[0053]

[0054] This represents the non-differenced phase observation value at frequency f1 of satellite j; This represents the non-differenced phase observation value at frequency f2 of satellite j; This represents the non-differenced phase observation value at frequency f1 of satellite i; This represents the non-differenced phase observation value at frequency f2 of satellite i; This represents the solution ionospheric delay for the current epoch.

[0055] in,

[0056] In the formula, and The single-difference integer ambiguity for each frequency is fixed in the previous epoch and passed on to the current epoch; and is the floating-point ambiguity after restoring the uncalibrated phase delay deviation (UPD). d is the UPD product. Since the receiver UPD has been eliminated in the single-difference process, only the satellite UPD is present in the formula. It can be converted from the wide and narrow lane UPD transmitted by the reference station as follows.

[0057]

[0058] Where d1 represents the UPD correction for frequency f1; d2 represents the UPD correction for frequency f2; d NL Indicates the narrow alleyway UPD correction; d WL This represents the UPD correction value for the wide lane.

[0059] Step 103: Determine whether the difference between the interpolated inter-satellite single-difference ionospheric delay and the calculated ionospheric delay at the current epoch is within a set threshold range, and obtain the determination result; the interpolated inter-satellite single-difference ionospheric delay is calculated based on the ionospheric delay of the surrounding reference stations sent by the server.

[0060] In practical applications, when the difference between the ionospheric delay estimate (the calculated ionospheric delay at the current epoch) and the interpolated inter-satellite single-difference ionospheric delay exceeds the threshold or the ambiguity fixation fails, it is considered that the accuracy of the ionospheric correction is abnormal, and the following correction process is executed.

[0061] First, calculate the difference between the single-difference ionospheric correction for each satellite (the interpolated inter-satellite single-difference ionospheric delay) and the retrieved single-difference ionospheric delay (the solved ionospheric delay at the current epoch). The calculation formula is as follows:

[0062]

[0063] in, This is the difference between the interpolated inter-satellite single-difference ionospheric delay and the solved ionospheric delay at the current epoch. This is the inter-satellite single-difference ionospheric delay for interpolation.

[0064] Then, determine whether the difference between the interpolated inter-satellite single-difference ionospheric delay and the calculated ionospheric delay of the current epoch is within a user-defined threshold range. If it is within the range, proceed to step 104; otherwise, proceed directly to step 106.

[0065] Step 104: If the judgment result is yes, then the inter-satellite difference of the observation value is corrected by using the interpolated rover user single-difference ionospheric delay to obtain the first corrected non-difference observation value; the interpolated rover user single-difference ionospheric delay is calculated by interpolation based on the ionospheric delay of the surrounding reference stations sent by the server.

[0066] In practical applications, after correcting the observed values ​​using interpolated ionospheric delay corrections, parameter calculations and ambiguity fixation are performed, as shown in the following formula. If ambiguity fixation fails, step 106 is executed.

[0067] in, For the rover user, the first corrected undifferentiated observation at the first frequency; For the rover user, the first corrected undifferentiated observation at the second frequency; These are the non-differential observations of the rover user at the first frequency; For interpolated rover user single-difference ionospheric delay; These are the non-differential observations of the rover user at the second frequency.

[0068] Step 105: Fix the ambiguity based on the first corrected non-differential observation. If the ambiguity fixing fails, determine the corrected non-differential ionospheric delay for the rover user based on the calculated ionospheric delay of the current epoch and the set ionospheric delay of the reference satellite. If the ambiguity fixing is successful, perform positioning calculation to obtain the positioning settlement result for the rover user.

[0069] Step 106: If the judgment result is negative, then determine the non-differential ionospheric delay corrected by the rover user based on the calculated ionospheric delay of the current epoch and the set ionospheric delay of the reference satellite.

[0070] In practical applications, the corrected non-differential ionospheric delay correction (the non-differential ionospheric delay corrected by the rover user) is calculated. Let the L1 ionospheric correction (the set ionospheric delay of the reference satellite) for the reference satellite i transmitted by the server at the current epoch be... Then the non-differential ionospheric correction for any satellite j is:

[0071]

[0072] because The ionospheric correction reference error included is consistent for all satellites, therefore it will not affect the solution results.

[0073] Step 107: Use the non-differential ionospheric delay corrected by the rover user to correct the inter-satellite difference of the observation value, and obtain the second corrected non-differential observation value.

[0074] As an optional implementation, step 107 specifically includes:

[0075] Using formula Determine the second corrected undifferentiated observations; where, The second corrected undifferentiated observation value of the rover user at the first frequency; This represents the second corrected undifferentiated observation value of the rover user at the second frequency.

[0076] Step 108: Based on the second corrected non-difference observation, perform ambiguity fixing and positioning calculation to obtain the positioning settlement result of the mobile station user.

[0077] and These are the corrected dual-frequency observations. Using the corrected ionospheric corrections to correct the observations is expected to achieve higher ambiguity fixing efficiency and better solution results.

[0078] Finally, try fixing the ambiguity again and output the positioning solution result (the fixed coordinates of the ambiguity solution). If the ambiguity fixing is successful, output the positioning result of the fixed solution and return to step 101 to enter the next epoch; if fixing fails, output the positioning result of the floating-point solution.

[0079] Compared with the prior art, the present invention has the following advantages:

[0080] First, the method provided by this invention improves the availability and reliability of ionospheric correction numbers under short-term anomalous conditions, increases the possibility for users to obtain continuous high-precision dynamic position solutions, and enhances the adaptability of traditional dynamic precision single-point positioning systems to the observation environment.

[0081] Second, this invention supplements and enhances existing technologies and is fully compatible with them. For real-time positioning software, this invention can be embedded as an additional enhancement module.

[0082] Example 2

[0083] In order to implement the method corresponding to Embodiment 1 above and achieve the corresponding functions and technical effects, a dynamic precision single-point positioning system is provided below, including:

[0084] The data acquisition module is used to acquire the fixed inter-satellite single-difference ambiguity of the previous epoch and the inter-satellite difference of the observation value of the current epoch; the fixed inter-satellite single-difference ambiguity is the inter-satellite single-difference ambiguity fixed under the normal state of ionospheric delay.

[0085] The inversion module is used to invert the calculated ionospheric delay for the current epoch based on the fixed inter-satellite single-difference ambiguity and the observed inter-satellite difference.

[0086] The judgment module is used to determine whether the difference between the interpolated inter-satellite single-difference ionospheric delay and the calculated ionospheric delay at the current epoch is within a set threshold range, and obtain the judgment result; the interpolated inter-satellite single-difference ionospheric delay is calculated based on the ionospheric delay of the surrounding reference stations sent by the server.

[0087] The first correction module is used to correct the inter-satellite difference of the observation value by using the interpolated rover user single-difference ionospheric delay if the judgment result is yes, so as to obtain the first corrected non-difference observation value; the interpolated rover user single-difference ionospheric delay is calculated by interpolation based on the ionospheric delay of the surrounding reference stations sent by the server.

[0088] The first fuzzy fixation module is used to fix the fuzziness based on the first corrected non-differential observation. If the fuzziness fixation fails, the corrected non-differential ionospheric delay for the rover user is determined based on the calculated ionospheric delay of the current epoch and the set ionospheric delay of the reference satellite. If the fuzziness fixation is successful, the positioning calculation is performed to obtain the positioning settlement result for the rover user.

[0089] The second correction module is used to determine the non-differential ionospheric delay corrected by the rover user based on the calculated ionospheric delay of the current epoch and the set ionospheric delay of the reference satellite if the judgment result is negative.

[0090] The third correction module is used to correct the inter-satellite difference of the observation value using the non-differential ionospheric delay corrected by the rover user, so as to obtain the second corrected non-differential observation value.

[0091] The second fuzzy fixing module is used to perform fuzziness fixing and positioning calculation based on the second corrected non-difference observation value to obtain the positioning settlement result of the mobile station user.

[0092] Example 3

[0093] The present invention provides an electronic device, including: a memory and a processor, wherein the memory is used to store a computer program, and the processor runs the computer program to enable the electronic device to perform the dynamic precise single-point positioning method of Embodiment 1.

[0094] Example 4

[0095] The present invention provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the dynamic precise single-point positioning method of Embodiment 1.

[0096] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the systems disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple; relevant parts can be referred to the method section.

[0097] This document uses specific examples to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. Furthermore, those skilled in the art will recognize that, based on the ideas of the present invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A dynamic precise single-point positioning method, characterized in that, include: Obtain the fixed inter-satellite single-difference ambiguity of the previous epoch and the inter-satellite difference of the observation value of the current epoch; The fixed inter-satellite single-difference ambiguity is the inter-satellite single-difference ambiguity fixed under normal ionospheric delay conditions; Based on the fixed inter-satellite single-difference ambiguity and the observed inter-satellite difference, the solution ionospheric delay for the current epoch is obtained by inversion. Based on the fixed inter-satellite single-difference ambiguity and the observed inter-satellite difference, the calculated ionospheric delay for the current epoch is obtained by inversion, specifically including: Using formula Determine the solution ionospheric delay for the current epoch; where, The inter-satellite difference is the observed value. The fixed inter-satellite single-difference ambiguity at the first frequency; The fixed inter-satellite single-difference ambiguity at the second frequency; The first frequency; The second frequency; The wavelength of the first frequency; The wavelength is the second frequency; The difference between the interpolated inter-satellite single-difference ionospheric delay and the calculated ionospheric delay at the current epoch is determined to be within a set threshold range, and the determination result is obtained; the interpolated inter-satellite single-difference ionospheric delay is calculated based on the ionospheric delay of the surrounding reference stations sent by the server. If the judgment result is yes, then the inter-satellite difference of the observation value is corrected by using the interpolated rover user single-difference ionospheric delay to obtain the first corrected non-difference observation value; the interpolated rover user single-difference ionospheric delay is calculated by interpolation based on the ionospheric delay of the surrounding reference stations sent by the server. Ambiguity is fixed based on the first corrected non-differential observation. If ambiguity fixing fails, the corrected non-differential ionospheric delay for the rover user is determined based on the solved ionospheric delay of the current epoch and the set ionospheric delay of the reference satellite. If ambiguity fixing is successful, positioning calculation is performed to obtain the positioning settlement result for the rover user. If the judgment result is negative, then the non-differential ionospheric delay corrected by the rover user is determined based on the calculated ionospheric delay of the current epoch and the set ionospheric delay of the reference satellite. The inter-satellite difference of the observations is corrected by using the non-differential ionospheric delay corrected by the rover user, resulting in a second corrected non-differential observation. Based on the second corrected non-differenced observation, ambiguity fixing and positioning calculation are performed to obtain the positioning settlement result of the mobile station user.

2. The dynamic precise single-point positioning method according to claim 1, characterized in that, The inter-satellite difference of the observations is corrected using the interpolated rover user single-difference ionospheric delay to obtain the first corrected undifferenced observations, specifically including: Using formula Determine the first corrected undifferentiated observation; where, For the rover user, the first corrected undifferentiated observation at the first frequency; For the rover user, the first corrected undifferentiated observation at the second frequency; These are the non-differential observations of the rover user at the first frequency; For interpolated ionospheric delay; These are the non-differential observations of the rover user at the second frequency; The first frequency; This is the second frequency.

3. The dynamic precise single-point positioning method according to claim 1, characterized in that, Based on the calculated ionospheric delay at the current epoch and the set ionospheric delay of the reference satellite, the rover-corrected non-differential ionospheric delay is determined, specifically including: Using formula Determine the non-differential ionospheric delay corrected for the rover user; among which, Corrected non-differential ionospheric delay for rover users; The ionospheric delay is set for reference satellites; This represents the solution ionospheric delay for the current epoch.

4. The dynamic precise single-point positioning method according to claim 1, characterized in that, The inter-satellite difference of the observations is corrected using the non-differential ionospheric delay corrected by the rover user to obtain a second corrected non-differential observation, specifically including: Using formula Determine the second corrected undifferentiated observation; where, The second corrected undifferentiated observation value of the rover user at the first frequency; The second corrected undifferentiated observation value of the rover user at the second frequency; The inter-satellite difference is the observation value of the rover user at the first frequency; Corrected non-differential ionospheric delay for rover users; These are the non-differential observations of the rover user at the second frequency; The first frequency; This is the second frequency.

5. A dynamic precision single-point positioning system, characterized in that, include: The data acquisition module is used to acquire the fixed inter-satellite single-difference ambiguity of the previous epoch and the inter-satellite difference of the observation value of the current epoch. The fixed inter-satellite single-difference ambiguity is the inter-satellite single-difference ambiguity fixed under normal ionospheric delay conditions; The inversion module is used to invert the solution ionospheric delay for the current epoch based on the fixed inter-satellite single-difference ambiguity and the observed inter-satellite difference. Based on the fixed inter-satellite single-difference ambiguity and the observed inter-satellite difference, the calculated ionospheric delay for the current epoch is obtained by inversion, specifically including: Using formula Determine the solution ionospheric delay for the current epoch; where, The inter-satellite difference is the observed value. The fixed inter-satellite single-difference ambiguity at the first frequency; The fixed inter-satellite single-difference ambiguity at the second frequency; The first frequency; The second frequency; The wavelength of the first frequency; The wavelength is the second frequency; The judgment module is used to determine whether the difference between the interpolated inter-satellite single-difference ionospheric delay and the calculated ionospheric delay at the current epoch is within a set threshold range, and obtain the judgment result; the interpolated inter-satellite single-difference ionospheric delay is calculated based on the ionospheric delay of the surrounding reference stations sent by the server. The first correction module is used to correct the inter-satellite difference of the observation value by using the interpolated rover user single-difference ionospheric delay if the judgment result is yes, so as to obtain the first corrected non-difference observation value; the interpolated rover user single-difference ionospheric delay is calculated by interpolation based on the ionospheric delay of the surrounding reference stations sent by the server. The first fuzzy fixation module is used to fix the fuzziness based on the first corrected non-differential observation value. If the fuzziness fixation fails, the corrected non-differential ionospheric delay for the rover user is determined based on the calculated ionospheric delay of the current epoch and the set ionospheric delay of the reference satellite. If the fuzziness fixation is successful, the positioning calculation is performed to obtain the positioning settlement result for the rover user. The second correction module is used to determine the non-differential ionospheric delay corrected by the rover user based on the calculated ionospheric delay of the current epoch and the set ionospheric delay of the reference satellite if the judgment result is negative. The third correction module is used to correct the inter-satellite difference of the observation value using the non-differential ionospheric delay corrected by the rover user, so as to obtain the second corrected non-differential observation value. The second fuzzy fixing module is used to perform fuzziness fixing and positioning calculation based on the second corrected non-difference observation value to obtain the positioning settlement result of the mobile station user.

6. An electronic device, characterized in that, include: A memory and a processor, wherein the memory is used to store a computer program, and the processor runs the computer program to cause the electronic device to perform the dynamic precise single-point positioning method according to any one of claims 1-4.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the dynamic precise single-point positioning method according to any one of claims 1-4.

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