A GNSS positioning method, device, electronic equipment and storage medium

Abstract

Embodiments of the present application provide a GNSS positioning method, device, electronic equipment and storage medium, the method comprising: acquiring first geodetic height data of the sea surface where the ship is located, calculating the first height difference from the satellite antenna of the ship to the sea surface, acquiring a plurality of second geodetic height data of the sea surface where the ship is located within a preset time period, fitting the plurality of second geodetic height data to obtain swell changes, constructing a tidal constraint equation based on the first geodetic height data, the first height difference and the swell changes, receiving GNSS data and constructing a GNSS observation equation based on the GNSS data, constraining the to-be-measured parameters of the GNSS observation equation based on the tidal constraint equation, and obtaining the positioning result of the ship, wherein the to-be-measured parameters represent the positioning result. In the application of marine exploration and surveying, the swell changes are determined, thereby additional constraints are added to the GNSS offshore positioning, thereby the GNSS positioning accuracy is improved.

Description

Technical Field

[0001] This application relates to the field of positioning technology, and more specifically, to a GNSS positioning method, device, electronic device, and storage medium. Background Technology

[0002] Marine exploration and surveying, as one of the most important links in developing the blue economy, has received widespread attention and made significant progress in recent years. GNSS (Global Navigation Satellite System) technology is an all-weather, global, high-precision radio navigation technology that can obtain absolute position coordinates at any time and any location, and is one of the most important technologies in marine exploration and surveying.

[0003] In existing technologies, marine GNSS positioning technology considers only one positioning parameter, resulting in poor positioning accuracy. Summary of the Invention

[0004] The purpose of this application is to provide a GNSS positioning method, device, electronic device and storage medium that can improve the accuracy of marine GNSS positioning.

[0005] To achieve the above objectives, the technical solutions adopted in the embodiments of this application are as follows:

[0006] In a first aspect, embodiments of this application provide a GNSS positioning method, the method comprising:

[0007] Obtain the first geodetic height data of the sea surface where the ship is located;

[0008] Calculate the first elevation difference between the ship's satellite antenna and the sea surface;

[0009] Obtain multiple second geodetic height data of the sea surface where the ship is located within a preset time period;

[0010] By fitting multiple second-greatest elevation data, the changes in surge waves can be obtained;

[0011] Based on the first geodetic height data, the first elevation difference, and the swell variation, a tidal constraint equation is constructed.

[0012] Receive GNSS data and construct GNSS observation equations based on the GNSS data;

[0013] The GNSS observation equation is constrained based on the tide constraint equation to obtain the positioning result of the ship, wherein the measured parameter represents the positioning result.

[0014] In an optional implementation, the step of obtaining the first geodetic height data of the sea surface where the ship is located includes:

[0015] The first geodetic height data of the sea surface where the ship is located is obtained by using the tide gauge method or the global tide model method.

[0016] In an optional implementation, the step of obtaining the first geodetic height data of the sea surface where the ship is located using the global tide model method includes:

[0017] Acquire the GNSS data of the vessel;

[0018] Determine the latitude, longitude, and time information in the GNSS data;

[0019] Based on the latitude and longitude information and the time information, the first geodetic height data of the sea surface where the ship is located is obtained from the global tide model.

[0020] In an optional implementation, the step of calculating the first elevation difference between the ship's satellite antenna and the sea surface includes:

[0021] When the ship is in a state of no tilt, obtain the second elevation difference between the satellite antenna and the bottom of the ship;

[0022] Determine the third elevation difference between the ship's hull and the sea surface.

[0023] Determine the ship's angle of inclination;

[0024] Based on the second elevation difference, the third elevation difference, and the tilt angle, the first elevation difference between the ship's satellite antenna and the sea surface is calculated.

[0025] In an optional implementation, the first elevation difference satisfies the following formula:

[0026] H ant =cosθ·H a -H b ;

[0027] Among them, H ant The first elevation difference is θ, the inclination angle is H. a H is the second elevation difference. b This is the third elevation difference.

[0028] In an optional implementation, the step of fitting multiple sets of second geodetic height data to obtain the surge variation includes:

[0029] Determine the fitting function;

[0030] Based on the fitting function and each of the second geodetic height data, the surge variation at the target time is predicted.

[0031] In an optional implementation, the fitting function satisfies the following formula:

[0032] H = a·sin(wt+b)

[0033] Where t is time, H is the second geodetic height data, a is the amplitude of the surge, w is the frequency of the second surge, and b is the initial phase of the surge.

[0034] In an optional implementation, the step of predicting the surge change at the target time based on the fitting function and each of the second geodetic height data includes:

[0035] Based on the fitting function and each of the second geodetic height data, the amplitude, frequency, and initial phase of the surge are calculated.

[0036] Determine the target time;

[0037] Based on the amplitude, frequency, initial phase, and target time of the surge, the second maximum ground height data at the target time is calculated as the surge variation.

[0038] In an optional implementation, the step of fitting multiple geodetic height data to obtain the surge variation includes:

[0039] The second geodetic height data are sequentially processed through wavelet transform and fast Fourier transform to predict the surge changes at the target time.

[0040] In an optional implementation, the tidal constraint equation satisfies the following formula:

[0041] H ant +H w -H g =A t x+∈;

[0042] Among them, H ant H is the first elevation difference. w For the changes in swell, H g Let A be the initial point near the positioning result, x be the coordinate parameter of the ship in the geocentric rectangular coordinate system, and A be the initial point near the positioning result. t Let be the projection vector of the coordinate parameters in the elevation direction, and ∈ be the error of the tidal constraint equation.

[0043] In an optional implementation, the step of receiving GNSS data and constructing GNSS observation equations based on the GNSS data includes:

[0044] Receive GNSS data from the vessel;

[0045] The GNSS data is preprocessed to obtain GNSS observation data;

[0046] Based on the GNSS observation data, a GNSS observation equation is constructed.

[0047] In an optional implementation, the step of preprocessing the GNSS data to obtain GNSS observation data includes:

[0048] Perform single-point positioning on the GNSS data;

[0049] Based on the GNSS data, calculate the satellite elevation angle and satellite azimuth angle;

[0050] The GNSS data after single-point positioning, the satellite elevation angle, and the satellite azimuth angle are used as GNSS observation data.

[0051] In an optional implementation, the GNSS observation equation satisfies the following formula:

[0052] P = A e x+M P +;

[0053] φ=A e x+λN+M φ +;

[0054] Where P represents the GNSS pseudorange observations after deducting the satellite-receiver distance, and φ represents the GNSS phase observations after deducting the satellite-receiver distance. e Let M be the satellite-receiver unit vector, x be the coordinate parameters of the ship in the geocentric rectangular coordinate system, and M be the satellite-receiver unit vector. P M represents the error in pseudorange / phase observations caused by the influence of the satellite end, receiver end, and propagation path. φ ε and ξ represent the errors caused by the influence of the satellite end, receiver end, and propagation path in the pseudorange / phase observations, respectively, and the observation noise of the pseudorange / phase observations.

[0055] Secondly, embodiments of this application provide a GNSS positioning device, the device comprising:

[0056] The first acquisition module is used to acquire the first geodetic height data of the sea surface where the ship is located.

[0057] The calculation module is used to calculate the first elevation difference between the ship's satellite antenna and the sea surface;

[0058] The second acquisition module is used to acquire multiple second geodetic height data of the sea surface where the ship is located within a preset time period;

[0059] The fitting module is used to fit multiple second geodetic height data to obtain the surge variation;

[0060] The first construction module is used to construct tidal constraint equations based on the first geodetic height data, the first elevation difference, and swell changes.

[0061] The second construction module is used to receive GNSS data and construct GNSS observation equations based on the GNSS data;

[0062] The constraint module is used to constrain the parameters to be measured in the GNSS observation equation based on the tide constraint equation to obtain the positioning result of the ship, wherein the parameters to be measured represent the positioning result.

[0063] Thirdly, embodiments of this application provide an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the GNSS method.

[0064] Fourthly, embodiments of this application provide a storage medium storing a computer program thereon, which, when executed by a processor, implements the steps of the GNSS positioning method.

[0065] This application has the following beneficial effects:

[0066] This application obtains the first geodetic height data of the sea surface where the ship is located, calculates the first elevation difference between the ship's satellite antenna and the sea surface, acquires multiple second geodetic height data of the sea surface where the ship is located within a preset time period, fits the multiple second geodetic height data to obtain the swell variation, constructs a tidal constraint equation based on the first geodetic height data, the first elevation difference, and the swell variation, receives GNSS data, and constructs a GNSS observation equation based on the GNSS data. The tidal constraint equation is used to constrain the parameters to be measured in the GNSS observation equation to obtain the ship's positioning result, where the parameters to be measured characterize the positioning result. In marine exploration and surveying applications, determining swell variation adds constraints to GNSS marine positioning, thereby improving GNSS positioning accuracy. Attached Figure Description

[0067] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0068] Figure 1 A block diagram illustrating an electronic device provided in an embodiment of this application;

[0069] Figure 2 One of the flowcharts of a GNSS positioning method provided in this application embodiment;

[0070] Figure 3 A second schematic flowchart illustrating a GNSS positioning method provided in an embodiment of this application;

[0071] Figure 4 A schematic diagram illustrating the first elevation difference between a ship's satellite antenna and the sea surface, provided as an embodiment of this application;

[0072] Figure 5 The third schematic flowchart of a GNSS positioning method provided in this application embodiment;

[0073] Figure 6 The fourth flowchart illustrates a GNSS positioning method provided in this application embodiment;

[0074] Figure 7 This is a structural block diagram of a GNSS positioning device provided in an embodiment of this application. Detailed Implementation

[0075] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0076] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0077] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0078] In the description of this application, it should be noted that if terms such as "upper," "lower," "inner," or "outer" are used to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of the invention is usually placed during use, they are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0079] Furthermore, the terms "first" and "second" are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0080] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "set up," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0081] Extensive research has revealed that marine exploration and mapping, as one of the most crucial links in developing the blue economy, has received widespread attention and experienced significant growth in recent years. GNSS (Global Navigation Satellite System) technology is an all-weather, global, high-precision radio navigation technology that can obtain absolute position coordinates at any time and any location, making it one of the most important technologies in marine exploration and mapping.

[0082] In existing technologies, marine GNSS positioning technology considers only one positioning parameter, resulting in poor positioning accuracy.

[0083] In view of the above-mentioned problems, this embodiment provides a GNSS positioning method, device, electronic device, and storage medium. It can acquire the first geodetic height data of the sea surface where the ship is located, calculate the first elevation difference between the ship's satellite antenna and the sea surface, acquire multiple second geodetic height data of the sea surface where the ship is located within a preset time period, fit the multiple second geodetic height data to obtain the swell variation, construct a tidal constraint equation based on the first geodetic height data, the first elevation difference, and the swell variation, receive GNSS data, construct a GNSS observation equation based on the GNSS data, and constrain the parameters to be measured in the GNSS observation equation based on the tidal constraint equation to obtain the ship's positioning result. The parameters to be measured characterize the positioning result. In marine exploration and surveying applications, determining swell variation adds constraints to GNSS maritime positioning, thereby improving GNSS positioning accuracy. The solution provided in this embodiment is described in detail below.

[0084] This embodiment provides an electronic device capable of GNSS positioning. In one possible implementation, the electronic device can be a user terminal, such as, but not limited to, a server, smartphone, personal computer (PC), tablet computer, personal digital assistant (PDA), mobile internet device (MID), etc.

[0085] Please refer to Figure 1 , Figure 1 This is a schematic diagram of the structure of the electronic device 100 provided in the embodiments of this application. The electronic device 100 may further include... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown. Figure 1 The components shown can be implemented using hardware, software, or a combination thereof.

[0086] The electronic device 100 includes a GNSS positioning device 110, a memory 120, and a processor 130.

[0087] The components of the memory 120 and processor 130 are electrically connected directly or indirectly to achieve data transmission or interaction. For example, these components can be electrically connected to each other through one or more communication buses or signal lines. The GNSS positioning device 110 includes at least one software function module that can be stored in the memory 120 in the form of software or firmware or embedded in the operating system (OS) of the electronic device 100. The processor 130 is used to execute the executable modules stored in the memory 120, such as the software function modules and computer programs included in the GNSS positioning device 110.

[0088] The memory 120 may be, but is not limited to, Random Access Memory (RAM), Read Only Memory (ROM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), etc. The memory 120 is used to store programs, and the processor 130 executes the programs after receiving execution instructions.

[0089] Please refer to Figure 2 , Figure 2 For application Figure 1 The flowchart of a GNSS positioning method for an electronic device 100 is shown below, and the method includes a detailed description of each step.

[0090] Step 201: Obtain the first geodetic height data of the sea surface where the ship is located.

[0091] Step 202: Calculate the first elevation difference between the ship's satellite antenna and the sea surface.

[0092] Step 203: Obtain multiple second geodetic height data of the sea surface where the ship is located within a preset time period.

[0093] Step 204: Fit multiple second geodetic height data to obtain the surge variation.

[0094] Step 205: Construct tidal constraint equations based on the first geodetic height data, the first elevation difference, and swell changes.

[0095] Step 206: Receive GNSS data and construct GNSS observation equations based on the GNSS data.

[0096] Step 207: Constrain the parameters to be measured in the GNSS observation equation based on the tide constraint equation to obtain the positioning results of the ship.

[0097] Among them, the parameters to be measured represent the positioning results.

[0098] There are several ways to obtain the first geodetic height data of a ship's location at sea level. One method is to use either the tide gauge method or the global tide model method. For the global tide model, high-precision tide information can be obtained by selecting models such as CSR, NAO, DTU, FES, TPXO, and Utide, or by calculating the corresponding tide model based on the ship's location, thus obtaining high-precision first geodetic height data.

[0099] The first geodetic height data of the sea surface where the ship is located can be obtained by using the global tide model method.

[0100] Acquire GNSS data of the ship, determine the latitude, longitude and time information in the GNSS data, and based on the latitude, longitude and time information, obtain the first geodetic height data of the sea surface where the ship is located from the global tide model.

[0101] In another example, information from shore-based or floating tide gauges near the ship, along with time, latitude, and longitude information, is used to fit the sea surface elevation of the target area onto a plane or quadratic surface.

[0102] Specifically, marine environmental elements are constantly changing, requiring specific monitoring systems to collect information on relevant elements. The CZY1 marine monitoring station's automatic monitoring system can be used to monitor hydrometeorological elements such as surface moisture and salinity, tides, wave height, wave period, wave direction, wind speed, wind direction, air temperature, relative humidity, air pressure, precipitation, and visibility. Within the control area of ​​the tide gauge station, the first geodetic height data can be calculated based on the following formula:

[0103] H sshh =H MSL +h wl +v;

[0104] Among them, H sshh For the first largest geodetic height data, H MSL h represents the distance between the local mean drawing plane and the reference ellipsoid WGS-84. wl The value represents the water level height relative to the local average sea level, and 'v' represents the combined vertical error caused by other phonemes, such as wind and waves.

[0105] The method for determining the first elevation difference can be based on the ship that needs to be positioned, by determining the ship type data, the installation position of the satellite antenna installed on the ship, the installation rod data, and the phase center offset of the satellite antenna, etc., to determine the first elevation difference between the ship's satellite antenna and the sea surface.

[0106] By combining multiple second geodetic height data of the sea surface where the ship is located within a preset time period, the swell change is fitted. Using additional information such as first geodetic height data, first elevation difference, and swell change, the GNSS observation equation is constrained, thereby eliminating the influence of swell, improving the accuracy of additional constraints, and thus improving the final accuracy of GNSS positioning.

[0107] It should be noted that the second geodetic height data can be obtained from the solution of the GNSS observation equation, and the solution result is subtracted from the first elevation difference.

[0108] The second geodetic height data is data without tidal constraints. The calculated elevation results may have poor absolute accuracy, but they are more accurate for short-term changes, which can reduce the difficulty of calculation and achieve fitting of elevation changes over a short period of time.

[0109] There are multiple ways to calculate the first elevation difference between a ship's satellite antenna and the sea surface. In one such method, such as... Figure 3 As shown, it includes the following steps:

[0110] Step 202-1: When the ship is not tilted, obtain the second elevation difference between the satellite antenna and the bottom of the ship.

[0111] Step 202-2: Determine the third elevation difference between the bottom of the ship and the sea surface.

[0112] Step 202-3: Determine the ship's inclination angle.

[0113] Step 202-4: Based on the second elevation difference, the third elevation difference, and the tilt angle, calculate the first elevation difference between the ship's satellite antenna and the sea surface.

[0114] Reference Figure 4 This diagram illustrates the first elevation difference between the ship's satellite antenna and the sea surface. When installing the antenna on a ship, based on the ship's hull data, the satellite antenna's installation location, mounting rod data, and the satellite antenna's phase center offset, the second elevation difference H between the satellite antenna and the ship is determined under no-roll conditions. a By using the ship's hull data and the position of the waterline, the third elevation difference H between the ship's bottom and the sea surface is determined. b The ship's tilt angle is determined using an inertial measurement unit or other attitude measurement equipment, such as... Figure 4 The figure shows the ship's tilt angle as θ. Finally, based on the second elevation difference H... a Third elevation difference H b And the tilt angle θ is used to calculate the first elevation difference between the satellite antenna and the sea surface.

[0115] Specifically, the first elevation difference satisfies the following formula:

[0116] Hant =cosθ·H a -H b ;

[0117] Among them, H ant The first elevation difference is θ, the inclination angle is H. a H is the second elevation difference. b This is the third elevation difference.

[0118] By fitting multiple sets of second-largest ground height data, various methods can be used to obtain the changes in surge waves. One such method is... Figure 5 As shown, it includes the following steps:

[0119] Step 204-1: Determine the fitting function.

[0120] Step 204-2: Based on the fitting function and the second geodetic height data, predict the surge changes at the target time.

[0121] It should be noted that the fitting function satisfies the following formula:

[0122] H = a·sin(wt+b);

[0123] Where t is time, H is the second geodetic height, a is the amplitude of the surge, w is the frequency of the surge, and b is the initial phase of the surge. w is 2π divided by the repetition period of the surge.

[0124] Based on the fitting function and the second geodetic height data, the method for predicting the surge variation at the target time can be as follows:

[0125] Based on the fitting function and the second geodetic height data, the amplitude, frequency, and initial phase of the surge are calculated to determine the target time. Based on the amplitude, frequency, initial phase, and target time of the surge, the second geodetic height data of the target time is calculated as the surge variation.

[0126] For example, multiple second geodetic height data points within a preset time period are acquired, such as H1, H2, and H3 within 3 seconds. Each second geodetic height data point corresponds to time information t. H1, H2, and H3 are substituted into the fitting function H = a·sin(wt+b) to calculate the surge amplitude (parameter a), the surge frequency (parameter w), and the initial phase of the surge (parameter b). After determining the specific values ​​of each parameter in the fitting function, the surge change at a target time 3 seconds later can be predicted; for example, the surge change at the 4th second can be predicted.

[0127] Based on fitting multiple second geodetic height data, another way to realize the change of surge waves is obtained, which can be: sequentially passing each second geodetic height data through wavelet transform and fast Fourier transform to predict the change of surge waves at the target time.

[0128] Based on the calculated first geodetic height data, first elevation difference, and swell variations, a tidal constraint equation is constructed, which satisfies the following formula:

[0129] H ant +H w -H g =A t x+∈;

[0130] Among them, H ant H is the first elevation difference. w For the changes in swell, H g Let A be the initial point near the positioning result, x be the coordinate parameter of the ship in the geocentric rectangular coordinate system, and A be the initial point near the positioning result. t Let be the projection vector of the coordinate parameters in the elevation direction, and ∈ be the error of the tidal constraint equation.

[0131] There are multiple ways to construct GNSS observation equations. In one such method, such as... Figure 6 As shown, it includes the following steps:

[0132] Step 206-1: Receive GNSS data from the ship.

[0133] Step 206-2: Preprocess the GNSS data to obtain GNSS observation data.

[0134] Step 206-3: Construct GNSS observation equations based on GNSS observation data.

[0135] GNSS data can be received in real time. The received GNSS data is then decoded and preprocessed. It should be noted that the methods for preprocessing GNSS data include, but are not limited to, point positioning, satellite elevation angle calculation, satellite azimuth angle calculation, satellite cutoff elevation angle setting, signal cutoff signal-to-noise ratio setting, data cutoff signal-to-noise ratio setting, reference satellite selection strategy setting, timescale correction, atmospheric delay model correction, and monitoring and removal of phase anomaly data.

[0136] Among them, the monitoring and removal of phase anomaly data includes, but is not limited to, Doppler detection of gross errors, signal-to-noise ratio detection of multipath effects, and Tuboedit detection of cycle slips.

[0137] Based on the preprocessed GNSS observation data, an observation equation is constructed, which satisfies the following formula:

[0138] P = a e x+M P +ε;

[0139] φ=A e x+λN+M φ+ξ;

[0140] Where P is the GNSS pseudorange observation after deducting the satellite-receiver distance, φ is the GNSS phase observation value after deducting the satellite-receiver distance, and A... e Let M be the satellite-receiver unit vector, x be the coordinate parameters of the ship in the geocentric rectangular coordinate system, and M be the satellite-receiver unit vector. P M represents the error in pseudorange / phase observations caused by the influence of the satellite end, receiver end, and propagation path. φ ε and ξ represent the errors caused by the influence of the satellite end, receiver end, and propagation path in the pseudorange / phase observations, respectively, and the observation noise of the pseudorange / phase observations.

[0141] Please refer to Figure 7 This application embodiment also provides an application for Figure 1 The electronic device 100 includes a GNSS positioning device 110, the GNSS positioning device 110 comprising:

[0142] The first acquisition module 111 is used to acquire the first geodetic height data of the sea surface where the ship is located.

[0143] Calculation module 112 is used to calculate the first elevation difference between the ship's satellite antenna and the bottom of the ship;

[0144] The second acquisition module 113 is used to acquire multiple second geodetic height data of the sea surface where the ship is located within a preset time period;

[0145] The fitting module 114 is used to fit multiple second geodetic height data to obtain the surge change;

[0146] The first construction module 115 is used to construct tidal constraint equations based on the first geodetic height data, the first elevation difference, and swell changes.

[0147] The second construction module 116 is used to receive GNSS data and construct GNSS observation equations based on the GNSS data;

[0148] The constraint module 117 is used to constrain the parameters to be measured in the GNSS observation equation based on the tide constraint equation to obtain the positioning result of the ship, wherein the parameters to be measured represent the positioning result.

[0149] This application also provides an electronic device 100, which includes a processor 130 and a memory 120. The memory 120 stores computer-executable instructions, which, when executed by the processor 130, implement the GNSS positioning method.

[0150] This application embodiment also provides a computer-readable storage medium storing a computer program, which, when executed by a processor 130, implements the GNSS positioning method.

[0151] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0152] Furthermore, the functional modules in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part. If the function is implemented as a software functional module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes: USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, optical disks, and other media capable of storing program code.

[0153] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0154] The above descriptions are merely various embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included 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 GNSS positioning method, characterized in that, The method includes: Obtain the first geodetic height data of the sea surface where the ship is located, wherein the first geodetic height data is obtained by tide gauge method or global tide model method; Calculate the first elevation difference between the ship's satellite antenna and the sea surface; Receive GNSS data and construct GNSS observation equations based on the GNSS data; Acquire multiple second geodetic height data of the sea surface where the ship is located within a preset time period, wherein the second geodetic height data comes from the solution results of the GNSS observation equation, and the solution results are subtracted from the first elevation difference; By fitting multiple second-greatest elevation data, the changes in surge waves can be obtained; Based on the first geodetic height data, the first elevation difference, and the swell variation, a tidal constraint equation is constructed. The GNSS observation equation is constrained based on the tide constraint equation to obtain the positioning result of the ship, wherein the parameters to be measured represent the positioning result. The step of calculating the first elevation difference between the ship's satellite antenna and the sea surface includes: When the ship is in a state of no tilt, obtain the second elevation difference between the satellite antenna and the bottom of the ship; Determine the third elevation difference between the ship's hull and the sea surface. Determine the ship's angle of inclination; Based on the second elevation difference, the third elevation difference, and the tilt angle, the first elevation difference between the ship's satellite antenna and the sea surface is calculated; The first elevation difference satisfies the following formula: ； in, This is the first elevation difference. The angle of inclination. This is the second elevation difference. This is the third elevation difference; The tidal constraint equation satisfies the following formula: ； in, This is the first elevation difference. For the changes in swell, As the initial point near the location result, These are the coordinate parameters of the ship in a geocentric rectangular coordinate system. Let be the projection vector of the coordinate parameters in the elevation direction. This represents the error in the tidal constraint equation.

2. The method according to claim 1, characterized in that, The step of obtaining the first geodetic height data of the sea surface where the ship is located using the global tide model method includes: Acquire the GNSS data of the vessel; Determine the latitude, longitude, and time information in the GNSS data; Based on the latitude and longitude information and the time information, the first geodetic height data of the sea surface where the ship is located is obtained from the global tide model.

3. The method according to claim 1, characterized in that, The step of fitting multiple second geodetic height data to obtain the surge change includes: Determine the fitting function; Based on the fitting function and each of the second geodetic height data, the surge variation at the target time is predicted.

4. The method according to claim 3, characterized in that, The fitting function satisfies the following formula: ； in, For time, This is the second largest geodetic height data. The amplitude of the swell. For the frequency of the swell, This represents the initial phase of the surge.

5. The method according to claim 4, characterized in that, The step of predicting the surge change at the target time based on the fitting function and each of the second geodetic height data includes: Based on the fitting function and each of the second geodetic height data, the amplitude, frequency, and initial phase of the surge are calculated. Determine the target time; Based on the amplitude, frequency, initial phase, and target time of the surge, the second maximum ground height data at the target time is calculated as the surge variation.

6. The method according to claim 1, characterized in that, The step of fitting multiple second geodetic height data to obtain the surge change includes: The second geodetic height data are sequentially processed through wavelet transform and fast Fourier transform to predict the surge changes at the target time.

7. The method according to claim 1, characterized in that, The steps of receiving GNSS data and constructing GNSS observation equations based on the GNSS data include: Receive GNSS data from the vessel; The GNSS data is preprocessed to obtain GNSS observation data; Based on the GNSS observation data, a GNSS observation equation is constructed.

8. The method according to claim 7, characterized in that, The step of preprocessing the GNSS data to obtain GNSS observation data includes: Perform single-point positioning on the GNSS data; Based on the GNSS data, calculate the satellite elevation angle and satellite azimuth angle; The GNSS data after single-point positioning, the satellite elevation angle, and the satellite azimuth angle are used as GNSS observation data.

9. The method according to claim 7, characterized in that, The GNSS observation equations satisfy the following formula: ； ； in, For GNSS pseudorange observations that have already deducted the satellite-receiver distance, These are GNSS phase observations that have already had the satellite-receiver distance deducted. The satellite-receiver unit vector. These are the coordinate parameters of the ship in a geocentric rectangular coordinate system. This refers to the errors in pseudorange / phase observations caused by the influence of the satellite end, receiver end, and propagation path. Errors arising from the influence of satellite, receiver, and propagation path on pseudorange / phase observations. This refers to the observation noise of pseudorange / phase observations.

10. A GNSS positioning device, characterized in that, The device includes: The first acquisition module is used to acquire the first geodetic height data of the sea surface where the ship is located. The first geodetic height data is obtained by the tide gauge method or the global tide model method. The calculation module is used to calculate the first elevation difference between the ship's satellite antenna and the sea surface; The second construction module is used to receive GNSS data and construct GNSS observation equations based on the GNSS data; The second acquisition module is used to acquire multiple second geodetic height data of the sea surface where the ship is located within a preset time period. The second geodetic height data comes from the solution results of the GNSS observation equation, and the solution results are subtracted from the first elevation difference. The fitting module is used to fit multiple second geodetic height data to obtain the surge variation; The first construction module is used to construct tidal constraint equations based on the first geodetic height data, the first elevation difference, and swell changes. The constraint module is used to constrain the parameters to be measured in the GNSS observation equation based on the tide constraint equation to obtain the positioning result of the ship, wherein the parameters to be measured represent the positioning result. The calculation module is specifically used for: When the ship is in a state of no tilt, obtain the second elevation difference between the satellite antenna and the bottom of the ship; Determine the third elevation difference between the ship's hull and the sea surface. Determine the ship's angle of inclination; Based on the second elevation difference, the third elevation difference, and the tilt angle, the first elevation difference between the ship's satellite antenna and the sea surface is calculated; The first elevation difference satisfies the following formula: ； in, This is the first elevation difference. The angle of inclination. This is the second elevation difference. This is the third elevation difference; The tidal constraint equation satisfies the following formula: ； in, This is the first elevation difference. For the changes in swell, As the initial point near the location result, These are the coordinate parameters of the ship in a geocentric rectangular coordinate system. Let be the projection vector of the coordinate parameters in the elevation direction. This represents the error in the tidal constraint equation.

11. An electronic device, characterized in that, It includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the steps of the method according to any one of claims 1-9.

12. A storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the computer program implements the steps of the method according to any one of claims 1-9.

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