A deformation solution method, device, equipment and medium based on a virtual reference station

Abstract

The present invention provides a deformation solution method, device, equipment and medium based on a virtual reference station, which relates to the technical field of engineering deformation monitoring. The method includes obtaining the observation values of the virtual reference station and the monitoring station in the current epoch; determining whether the position of the virtual reference station has changed; when it is determined that the position of the virtual reference station has changed, obtaining the observation values of the virtual reference station in the previous epoch; calculating the relative displacement value of the virtual reference station based on the historical virtual pseudorange observation values and the target virtual pseudorange observation values; establishing a positioning double-difference observation equation; and solving the positioning double-difference observation equation based on Kalman filtering to obtain the actual coordinates of the monitoring station in the current epoch. By comparing the position coordinates of the virtual reference station in two adjacent epochs, the present invention performs the conversion of relative displacement on the original double-difference observation equation after determining that the position of the virtual reference station has changed, so as to obtain a more accurate position of the monitoring station and meet the accuracy requirements for deformation monitoring by the virtual reference station.

Description

Technical Field

[0001] The present invention relates to the technical field of engineering deformation monitoring, and more particularly, to a deformation solution method, device, equipment, and medium based on a virtual reference station. Background Art

[0002] Deformation monitoring of the global navigation satellite system usually adopts a relative positioning mode, and it is necessary to set up a reference station near the monitoring point. In order to reduce the cost of setting up physical reference stations, a virtual reference station can be used based on network real-time differential positioning technology. However, due to the problem of reference station switching when using a virtual reference station, large jumps will occur in the monitoring results, and the virtual reference station cannot be directly used as a physical reference station. Summary of the Invention

[0003] The purpose of the present invention is to provide a deformation solution method, device, equipment, and medium based on a virtual reference station to improve the above problems. To achieve the above purpose, the technical solutions adopted by the present invention are as follows:

[0004] In a first aspect, the present application provides a deformation solution method based on a virtual reference station, including:

[0005] Obtain the target coordinates, target virtual pseudorange observations, target virtual phase observations, and target wavelength of the virtual reference station in the current epoch, and obtain the target monitoring pseudorange observations and target monitoring phase observations of the monitoring station;

[0006] Compare the target coordinates with the coordinates of the virtual reference station in the previous epoch to determine whether the position of the virtual reference station has changed;

[0007] When it is determined that the position of the virtual reference station has changed, obtain the historical coordinates and historical virtual pseudorange observations of the virtual reference station in the previous epoch, and obtain the historical monitoring pseudorange observations of the monitoring station;

[0008] Calculate the relative displacement value of the virtual reference station based on the historical virtual pseudorange observations and the target virtual pseudorange observations;

[0009] Based on the target virtual pseudorange observations, the target virtual phase observations, the target monitoring pseudorange observations, the target monitoring phase observations, the historical monitoring pseudorange observations, the historical virtual pseudorange observations, and the relative displacement value, establish a positioning double-difference observation equation;

[0010] Solve the positioning double-difference observation equation based on Kalman filtering to obtain the actual coordinates of the monitoring station in the current epoch.

[0011] In a second aspect, the present application also provides a deformation solution device based on a virtual reference station, including:

[0012] A first acquisition unit, configured to acquire the target coordinates, target virtual pseudorange observations, target virtual phase observations, and target wavelength of the virtual reference station in the current epoch, and acquire the target monitoring pseudorange observations and target monitoring phase observations of the monitoring station;

[0013] A comparison unit, configured to compare the target coordinates with the coordinates of the virtual reference station in the previous epoch, and determine whether the position of the virtual reference station has changed;

[0014] A second acquisition unit, configured to, when it is determined that the position of the virtual reference station has changed, acquire the historical coordinates and historical virtual pseudorange observations of the virtual reference station in the previous epoch, and acquire the historical monitoring pseudorange observations of the monitoring station;

[0015] A first calculation unit, configured to calculate the relative displacement value of the virtual reference station based on the historical virtual pseudorange observations and the target virtual pseudorange observations;

[0016] A first establishment unit, configured to establish a positioning double-difference observation equation based on the target virtual pseudorange observations, the target virtual phase observations, the target monitoring pseudorange observations, the target monitoring phase observations, the historical monitoring pseudorange observations, the historical virtual pseudorange observations, and the relative displacement value;

[0017] An obtaining unit, configured to solve the positioning double-difference observation equation based on Kalman filtering, and obtain the actual coordinates of the monitoring station in the current epoch.

[0018] In a third aspect, the present application further provides a deformation solution device based on a virtual reference station, including:

[0019] A memory, configured to store a computer program;

[0020] A processor, configured to implement the steps of the deformation solution method based on the virtual reference station when executing the computer program.

[0021] In a fourth aspect, the present application further provides a readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the above deformation solution method based on the virtual reference station are implemented.

[0022] The beneficial effects of the present invention are as follows:

[0023] By comparing the position coordinates of the virtual reference station in two adjacent epochs, the present invention performs a relative displacement conversion on the original double-difference observation equation after determining that the position of the virtual reference station has changed, so as to obtain a more accurate position of the monitoring station, meeting the accuracy requirements for deformation monitoring of the virtual reference station.

[0024] Other features and advantages of the present invention will be described in the subsequent specification, and in part, will be obvious from the specification, or can be understood by implementing the embodiments of the present invention. The objectives and other advantages of the present invention can be realized and obtained by the structures specifically pointed out in the written specification, claims, and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention, and thus should not be regarded as a limitation on the scope. For those of ordinary skill in the art, without creative efforts, other relevant drawings can also be obtained based on these drawings.

[0026] Figure 1 It is a schematic flowchart of the deformation resolution method based on a virtual reference station described in the embodiments of the present invention;

[0027] Figure 2 It is a schematic structural diagram of the deformation resolution device based on a virtual reference station described in the embodiments of the present invention;

[0028] Figure 3 It is a schematic structural diagram of the deformation resolution device based on a virtual reference station described in the embodiments of the present invention.

[0029] Reference numerals in the drawings:

[0030] 1000, First acquisition unit; 2000, Comparison unit; 3000, Second acquisition unit; 4000, First calculation unit; 5000, First establishment unit; 6000, Acquisition unit; 4100, Second calculation unit; 4200, Third calculation unit; 4300, Fourth calculation unit; 5100, First determination unit; 5200, Second determination unit; 5300, Third determination unit; 5400, Second establishment unit; 5500, Third establishment unit; 5600, Composition unit; 5301, Eighth calculation unit; 5302, Ninth calculation unit; 5303, Tenth calculation unit; 5304, Eleventh calculation unit; 5305, Twelfth calculation unit; 5306, Thirteenth calculation unit; 5307, Fourteenth calculation unit; 5308, Fifteenth calculation unit; 5309, Sixteenth calculation unit; 5310, Seventeenth calculation unit; 5311, Eighteenth calculation unit; 5401, Fifth calculation unit; 5402, Sixth calculation unit; 5403, Seventh calculation unit; 5404, Fourth establishment unit; 5501, Nineteenth calculation unit; 5502, Fifth establishment unit;

[0031] 800. Deformation solution device based on virtual reference station; 801. Processor; 802. Memory; 803. Multimedia component; 804. I / O interface; 805. Communication component. Detailed implementation mode

[0032] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some but not all of the embodiments of the present invention. Components of the embodiments of the present invention usually described and illustrated in the accompanying drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0033] It should be noted that: similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of the present invention, the terms "first", "second", etc. are only used for descriptive distinction and cannot be understood as indicating or implying relative importance.

[0034] Embodiment 1:

[0035] This embodiment provides a deformation solution method based on a virtual reference station.

[0036] See Figure 1 , the figure shows that this method includes step S1000, step S2000, step S3000, step S4000, step S5000 and step S6000.

[0037] Step S1000. Obtain the target coordinates, target virtual pseudorange observation values, target virtual phase observation values and target wavelengths of the virtual reference station in the current epoch, and obtain the target monitoring pseudorange observation values and target monitoring phase observation values of the monitoring station;

[0038] Specifically, the monitoring station sends an Ntrip (Networked Transport of RTCM via Internet Protocol) request to the CORS (Cross-Origin Resource Sharing) service center. This request includes requests for the monitoring station's location, data type, and time range, etc. After receiving the monitoring station's request, the CORS service center processes the request and generates a corresponding response, and transmits the corresponding response data back to the monitoring station.

[0039] Step S2000. Compare the target coordinates with the coordinates of the virtual reference station in the previous epoch to determine whether the position of the virtual reference station has changed.

[0040] Specifically, since the virtual reference station provided by the network RTK (Real-time kinematic) technology may have position switching, when receiving the virtual reference station observations in each epoch, first check the position coordinates of the virtual reference station to determine whether the virtual reference station in this epoch has switched compared with the previous epoch. If the coordinates of the virtual reference station in the previous and current epochs are different, it means that the position of the virtual reference station has changed.

[0041] Step S3000. When it is determined that the position of the virtual reference station has changed, obtain the historical coordinates and historical virtual pseudorange observations of the virtual reference station in the previous epoch, and obtain the historical monitoring pseudorange observations of the monitoring station.

[0042] Specifically, after determining that there is a position change of the virtual reference station between the previous and current epochs, it is necessary to obtain some observations in the previous epoch to establish an equation for solving the position of the monitoring station in the current epoch.

[0043] Step S4000. Calculate the relative displacement value of the virtual reference station based on the historical virtual pseudorange observations and the target virtual pseudorange observations.

[0044] Specifically, step S4000 specifically includes:

[0045] Step S4100. Calculate the difference between the first historical distance and the first target distance as the first difference.

[0046] Step S4200. Calculate the difference between the second historical distance and the second target distance as the second difference.

[0047] Step S4300. Calculate the difference between the first difference and the second difference as the relative displacement value.

[0048] Specifically, the historical virtual pseudorange observations include the first historical distance and the second historical distance between the virtual reference station and the first satellite and the second satellite respectively, and the target virtual pseudorange observations include the first target distance and the second target distance between the virtual reference station and the first satellite and the second satellite respectively. The relative displacement value calculation equation is as follows:

[0049]

[0050] wherein, is the distance between the virtual reference station and the first satellite in the previous epoch; is the distance between the virtual reference station and the first satellite in the current epoch; is the distance between the virtual reference station and the second satellite in the previous epoch; is the distance between the virtual reference station and the second satellite in the current epoch; is the relative displacement value; k and l respectively represent the first satellite and the second satellite.

[0051] Step S5000. Based on the target virtual pseudorange observations, target virtual phase observations, target monitoring pseudorange observations, target monitoring phase observations, historical monitoring pseudorange observations, historical virtual pseudorange observations and relative displacement value, establish a positioning double-difference observation equation;

[0052] Specifically, step S5000 specifically includes:

[0053] Step S5100. Based on the target virtual pseudorange observations and target monitoring pseudorange observations, determine the target pseudorange error;

[0054] Step S5200. Based on the target virtual phase observations and target monitoring phase observations, determine the target phase error;

[0055] Step S5300. Based on the target virtual pseudorange observations, target virtual phase observations, target monitoring pseudorange observations, target monitoring phase observations and target wavelength, determine the target ambiguity;

[0056] Specifically, step S5300.

[0057] Step S5301. Calculate the ratio of the first target distance to the target wavelength as the first ratio;

[0058] Step S5302. Calculate the difference between the first target phase difference and the first ratio as the fifth difference;

[0059] Step S5303. Calculate the ratio of the second target distance to the target wavelength as the second ratio;

[0060] Step S5304. Calculate the difference between the second target phase difference and the second ratio as the sixth difference;

[0061] Step S5305. Calculate the ratio of the third target distance to the target wavelength as the third ratio;

[0062] Step S5306. Calculate the difference between the third target phase difference and the third ratio as the seventh difference;

[0063] Step S5307. Calculate the ratio of the fourth target distance to the target wavelength as the fourth ratio;

[0064] Step S5308. Calculate the difference between the fourth target phase difference and the fourth ratio as the eighth difference;

[0065] Step S5309. Calculate the difference between the fifth difference and the seventh difference as the first result;

[0066] Step S5310. Calculate the difference between the sixth difference and the eighth difference as the second result;

[0067] Step S5311. Calculate the difference between the first result and the second result as the target ambiguity;

[0068] Specifically, the target virtual phase observation values include the first target phase difference and the second target phase difference between the virtual reference station and the first satellite carrier signal and the second satellite carrier signal respectively, and the target monitoring phase observation values include the third target phase difference and the fourth target phase difference between the monitoring station and the first satellite carrier signal and the second satellite carrier signal respectively. In the CORS service, the dual-frequency carrier phase integer ambiguity needs to be determined first. After the integer ambiguity is determined, the relevant error terms related to the phase can be accurately calculated. The formula for the ambiguity is:

[0069]

[0070] where N is the ambiguity; is the phase difference between the virtual reference station and the satellite carrier signal; ρ is the distance between the virtual reference station and the satellite; λ is the wavelength of the carrier signal;

[0071] Based on the above formula, all the ambiguities in the current epoch can be calculated, and the target ambiguity can be calculated. The formula for the target ambiguity is:

[0072]

[0073] where is the integer ambiguity between the virtual reference station and the first satellite in the current epoch; is the integer ambiguity between the virtual reference station and the first satellite in the previous epoch; is the integer ambiguity between the virtual reference station and the second satellite in the current epoch; is the integer ambiguity between the virtual reference station and the second satellite in the current epoch; is the target ambiguity; k and l represent the first satellite and the second satellite respectively.

[0074] Step S5400. Based on the historical virtual pseudorange observations, historical monitoring pseudorange observations, target virtual pseudorange observations, target monitoring pseudorange observations, relative displacement values, and target pseudorange errors, establish the first observation equation;

[0075] Specifically, step S5400 specifically includes:

[0076] Step S5401. Calculate the difference between the first historical distance and the third historical distance as the third difference;

[0077] Step S5402. Calculate the difference between the second historical distance and the fourth historical distance as the fourth difference;

[0078] Step S5403. Calculate the difference between the third difference and the fourth difference as the double-difference distance;

[0079] Step S5404. Based on the double-difference distance, relative displacement value, and target relative error, establish the first observation equation.

[0080] Specifically, the historical monitoring pseudorange observations include the third historical distance and the fourth historical distance between the monitoring station and the first satellite and the second satellite respectively. The formula for calculating the double-difference distance is:

[0081]

[0082] where, is the distance between the virtual reference station and the first satellite in the previous epoch; is the distance between the monitoring station and the first satellite in the previous epoch; is the distance between the virtual reference station and the second satellite in the previous epoch; is the distance between the monitoring station and the second satellite in the previous epoch; k and l represent the first satellite and the second satellite respectively;

[0083] The formula for calculating the first observation equation is:

[0084]

[0085] where, is the double-difference pseudorange distance in the current epoch; is the double-difference distance in the previous epoch; is the relative displacement value; is the pseudorange error in the current epoch; k and l represent the first satellite and the second satellite respectively.

[0086] Step S5500. Establish a second observation equation based on historical virtual pseudorange observations, historical monitoring pseudorange observations, target virtual pseudorange observations, target monitoring pseudorange observations, target virtual phase observations, target monitoring phase observations, relative displacement values, target phase errors, and target wavelengths;

[0087] Specifically, step S5500 specifically includes:

[0088] Step S5501. Establish a second observation equation based on historical virtual pseudorange observations, historical monitoring pseudorange observations, target virtual pseudorange observations, target monitoring pseudorange observations, target virtual phase observations, target monitoring phase observations, relative displacement values, target phase errors, and target wavelengths, including:

[0089] Step S5502. Calculate the product of the target wavelength and the target ambiguity as the target product;

[0090] Step S5503. Establish a second observation equation based on the target product, double-difference distance, relative displacement value, and target phase error;

[0091] Specifically, the calculation formula for the second observation equation is:

[0092]

[0093] where, is the double-difference phase observation value in the current epoch; is the double-difference distance in the previous epoch; is the relative displacement value; λ is the wavelength of the carrier signal in the current epoch; is the target ambiguity in the current epoch; is the phase error in the current epoch; k and l respectively represent the first satellite and the second satellite.

[0094] Step S5600. Construct a positioning double-difference observation equation based on the first observation equation and the second observation equation;

[0095] Specifically, the first observation equation and the second observation equation together form the double-difference observation equation.

[0096] Step S6000. Solve the positioning double-difference observation equation based on the Kalman filter to obtain the actual coordinates of the monitoring station in the current epoch;

[0097] Specifically, the observation equation after relative displacement conversion can be solved by following the Kalman filter state of the previous epoch without re-initializing the coordinate parameters, thereby obtaining a more accurate position coordinate of the monitoring station.

[0098] Example 2:

[0099] AsFigure 2 As shown in Figure 2 , this embodiment provides a deformation resolution device based on a virtual reference station, and the device includes:

[0100] A first acquisition unit 1000, configured to acquire the target coordinates, target virtual pseudorange observations, target virtual phase observations, and target wavelength of the virtual reference station in the current epoch, and acquire the target monitored pseudorange observations and target monitored phase observations of the monitoring station;

[0101] A comparison unit 2000, configured to compare the target coordinates with the coordinates of the virtual reference station in the previous epoch to determine whether the position of the virtual reference station has changed;

[0102] A second acquisition unit 3000, configured to acquire the historical coordinates and historical virtual pseudorange observations of the virtual reference station in the previous epoch and acquire the historical monitored pseudorange observations of the monitoring station when it is determined that the position of the virtual reference station has changed;

[0103] A first calculation unit 4000, configured to calculate the relative displacement value of the virtual reference station based on the historical virtual pseudorange observations and the target virtual pseudorange observations;

[0104] A first establishment unit 5000, configured to establish a positioning double-difference observation equation based on the target virtual pseudorange observations, target virtual phase observations, target monitored pseudorange observations, target monitored phase observations, historical monitored pseudorange observations, historical virtual pseudorange observations, and relative displacement value;

[0105] An acquisition unit 6000, configured to solve the positioning double-difference observation equation based on Kalman filtering to obtain the actual coordinates of the monitoring station in the current epoch.

[0106] In a specific implementation manner disclosed in this application, the first establishment unit 5000 includes:

[0107] A first determination unit 5100, configured to determine a target pseudorange error based on the target virtual pseudorange observations and the target monitored pseudorange observations;

[0108] A second determination unit 5200, configured to determine a target phase error based on the target virtual phase observations and the target monitored phase observations;

[0109] A third determination unit 5300, configured to determine a target ambiguity based on the target virtual pseudorange observations, target virtual phase observations, target monitored pseudorange observations, target monitored phase observations, and target wavelength;

[0110] A second establishment unit 5400, configured to establish a first observation equation based on the historical virtual pseudorange observations, historical monitored pseudorange observations, target virtual pseudorange observations, target monitored pseudorange observations, relative displacement value, and target pseudorange error;

[0111] A third establishing unit 5500, configured to establish a second observation equation based on historical virtual pseudo-range observations, historical monitoring pseudo-range observations, target virtual pseudo-range observations, target monitoring pseudo-range observations, target virtual phase observations, target monitoring phase observations, relative displacement values, target phase errors, and target wavelengths;

[0112] A composing unit 5600, configured to compose a positioning double-difference observation equation based on the first observation equation and the second observation equation.

[0113] In a specific implementation manner disclosed in the present application, the first calculation unit 4000 includes:

[0114] A second calculation unit 4100, configured to calculate a difference between a first historical distance and a first target distance as a first difference;

[0115] A third calculation unit 4200, configured to calculate a difference between a second historical distance and a second target distance as a second difference;

[0116] A fourth calculation unit 4300, configured to calculate a difference between the first difference and the second difference as a relative displacement value.

[0117] In a specific implementation manner disclosed in the present application, the second establishing unit 5400 includes:

[0118] A fifth calculation unit 5401, configured to calculate a difference between a first historical distance and a third historical distance as a third difference;

[0119] A sixth calculation unit 5402, configured to calculate a difference between a second historical distance and a fourth historical distance as a fourth difference;

[0120] A seventh calculation unit 5403, configured to calculate a difference between the third difference and the fourth difference as a double-difference distance;

[0121] A fourth establishing unit 5404, configured to establish a first observation equation based on the double-difference distance, the relative displacement value, and the target relative error.

[0122] In a specific implementation manner disclosed in the present application, the third determining unit 5300 includes:

[0123] An eighth calculation unit 5301, configured to calculate a ratio of a first target distance to a target wavelength as a first ratio;

[0124] A ninth calculation unit 5302, configured to calculate a difference between a first target phase difference and the first ratio as a fifth difference;

[0125] A tenth calculation unit 5303, configured to calculate a ratio of a second target distance to a target wavelength as a second ratio;

[0126] The eleventh calculation unit 5304 is configured to calculate the difference between the second target phase difference and the second ratio as the sixth difference;

[0127] The twelfth calculation unit 5305 is configured to calculate the ratio of the third target distance to the target wavelength as the third ratio;

[0128] The thirteenth calculation unit 5306 is configured to calculate the difference between the third target phase difference and the third ratio as the seventh difference;

[0129] The fourteenth calculation unit 5307 is configured to calculate the ratio of the fourth target distance to the target wavelength as the fourth ratio;

[0130] The fifteenth calculation unit 5308 is configured to calculate the difference between the fourth target phase difference and the fourth ratio as the eighth difference;

[0131] The sixteenth calculation unit 5309 is configured to calculate the difference between the fifth difference and the seventh difference as the first result;

[0132] The seventeenth calculation unit 5310 is configured to calculate the difference between the sixth difference and the eighth difference as the second result;

[0133] The eighteenth calculation unit 5311 is configured to calculate the difference between the first result and the second result as the target ambiguity.

[0134] In a specific embodiment disclosed in the present application, the third establishment unit 5500 includes:

[0135] The nineteenth calculation unit 5501 is configured to calculate the product of the target wavelength and the target ambiguity as the target product;

[0136] The fifth establishment unit 5502 is configured to establish a second observation equation based on the target product, the double-difference distance, the relative displacement value, and the target phase error.

[0137] It should be noted that for the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated herein.

[0138] Embodiment 3:

[0139] Corresponding to the above method embodiment, in this embodiment, a deformation solution device based on a virtual reference station is further provided. A deformation solution device based on a virtual reference station described below can be mutually corresponding and referred to with a deformation solution method based on a virtual reference station described above.

[0140] Figure 3is a block diagram of a deformation solution device 800 based on a virtual reference station shown according to an exemplary embodiment. As Figure 3 shown, the deformation solution device 800 based on the virtual reference station may include: a processor 801, a memory 802. The deformation solution device 800 based on the virtual reference station may also include one or more of a multimedia component 803, an I / O interface 804, and a communication component 805.

[0141] Among them, the processor 801 is used to control the overall operation of the deformation solution device 800 based on the virtual reference station to complete all or part of the steps in the above-mentioned deformation solution method based on the virtual reference station. The memory 802 is used to store various types of data to support the operation of the deformation solution device 800 based on the virtual reference station. These data may include, for example, instructions for any application program or method operating on the deformation solution device 800 based on the virtual reference station, as well as application-related data, such as contact data, sent and received messages, pictures, audio, video, and so on. The memory 802 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The multimedia component 803 may include a screen and an audio component. The screen may be a touch screen, for example, and the audio component is used to output and / or input audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signals may be further stored in the memory 802 or sent through the communication component 805. The audio component further includes at least one speaker for outputting audio signals. The I / O interface 804 provides an interface between the processor 801 and other interface modules, and the other interface modules may be a keyboard, a mouse, buttons, etc. These buttons may be virtual buttons or physical buttons. The communication component 805 is used for wired or wireless communication between the deformation solution device 800 based on the virtual reference station and other devices. Wireless communication, such as Wi-Fi, Bluetooth, near field communication (NFC), 2G, 3G or 4G, or a combination of one or more of them. Accordingly, the communication component 805 may include: a Wi-Fi module, a Bluetooth module, an NFC module.

[0142] In an exemplary embodiment, the deformation solution device 800 based on a virtual reference station may be implemented by one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components, and is used to execute the above-mentioned deformation solution method based on a virtual reference station.

[0143] In another exemplary embodiment, there is also provided a computer-readable storage medium including program instructions. When the program instructions are executed by a processor, the steps of the above-mentioned deformation solution method based on a virtual reference station are implemented. For example, the computer-readable storage medium may be the above-mentioned memory 802 including program instructions, and the above-mentioned program instructions may be executed by the processor 801 of the deformation solution device 800 based on a virtual reference station to complete the above-mentioned deformation solution method based on a virtual reference station.

[0144] Embodiment 4:

[0145] Corresponding to the above method embodiment, in this embodiment, there is also provided a readable storage medium. A readable storage medium described below and a deformation solution method based on a virtual reference station described above can be correspondingly referred to each other.

[0146] A readable storage medium stores a computer program. When the computer program is executed by a processor, the steps of the deformation solution method based on a virtual reference station in the above method embodiment are implemented.

[0147] Specifically, the readable storage medium may be various readable storage media such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disc that can store program codes.

[0148] The above are only the preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention may have various changes and modifications. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

[0149] As described above, it is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of changes or substitutions, which should all be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A deformation solution method based on a virtual reference station, characterized in that Including: Obtain the target coordinates, target virtual pseudorange observations, target virtual phase observations, and target wavelength of the virtual reference station in the current epoch, and obtain the target monitoring pseudorange observations and target monitoring phase observations of the monitoring station; Compare the target coordinates with the coordinates of the virtual reference station in the previous epoch to determine whether the position of the virtual reference station has changed; When it is determined that the position of the virtual reference station has changed, obtain the historical coordinates and historical virtual pseudorange observations of the virtual reference station in the previous epoch, and obtain the historical monitoring pseudorange observations of the monitoring station; Calculate the relative displacement value of the virtual reference station based on the historical virtual pseudorange observations and the target virtual pseudorange observations; Based on the target virtual pseudorange observations, the target virtual phase observations, the target monitoring pseudorange observations, the target monitoring phase observations, the historical monitoring pseudorange observations, the historical virtual pseudorange observations, and the relative displacement value, establish a positioning double-difference observation equation; Solve the positioning double-difference observation equation based on Kalman filtering to obtain the actual coordinates of the monitoring station in the current epoch; Among them, establishing a positioning double-difference observation equation includes: Determine the target pseudorange error based on the target virtual pseudorange observations and the target monitoring pseudorange observations; Determine the target phase error based on the target virtual phase observations and the target monitoring phase observations; Determine the target ambiguity based on the target virtual pseudorange observations, the target virtual phase observations, the target monitoring pseudorange observations, the target monitoring phase observations, and the target wavelength; Based on the historical virtual pseudorange observations, the historical monitoring pseudorange observations, the target virtual pseudorange observations, the target monitoring pseudorange observations, the relative displacement value, and the target pseudorange error, establish a first observation equation; Specifically, the calculation formula of the first observation equation is: Among them, is the double-difference pseudorange distance in the current epoch; is the double-difference distance in the previous epoch; is the relative displacement value; is the pseudorange error in the current epoch; k and l respectively represent the first satellite and the second satellite; Based on the historical virtual pseudorange observations, the historical monitoring pseudorange observations, the target virtual pseudorange observations, the target monitoring pseudorange observations, the target virtual phase observations, the target monitoring phase observations, the relative displacement value, the target phase error, and the target wavelength, establish a second observation equation; Specifically, the calculation formula of the second observation equation is: Among them, is the double-difference phase observation value in the current epoch; is the double-difference distance in the previous epoch; is the relative displacement value; λ is the wavelength of the carrier signal in the current epoch; is the target ambiguity in the current epoch; is the phase error in the current epoch; k and l respectively represent the first satellite and the second satellite; Constitute the positioning double-difference observation equation based on the first observation equation and the second observation equation.

2. The deformation solution method based on a virtual reference station according to claim 1, characterized in that , the historical virtual pseudorange observations include the first historical distance and the second historical distance between the virtual reference station and the first satellite and the second satellite respectively, the target virtual pseudorange observations include the first target distance and the second target distance between the virtual reference station and the first satellite and the second satellite respectively, and calculating the relative displacement value of the virtual reference station based on the historical virtual pseudorange observations and the target virtual pseudorange observations includes: Calculate the difference between the first historical distance and the first target distance as the first difference; Calculate the difference between the second historical distance and the second target distance as the second difference; Calculate the difference between the first difference and the second difference as the relative displacement value.

3. The deformation calculation method based on a virtual reference station according to claim 2, characterized in that , the historical monitored pseudorange observations include a third historical distance and a fourth historical distance between the monitoring station and the first satellite and the second satellite respectively. Based on the historical virtual pseudorange observations, the historical monitored pseudorange observations, the target virtual pseudorange observations, the target monitored pseudorange observations, the relative displacement value, and the target pseudorange error, a first observation equation is established, including: Calculate the difference between the first historical distance and the third historical distance as the third difference; Calculate the difference between the second historical distance and the fourth historical distance as the fourth difference; Calculate the difference between the third difference and the fourth difference as the double-difference distance; Based on the double-difference distance, the relative displacement value, and the target pseudorange error, establish the first observation equation.

4. A deformation solution device based on a virtual reference station, characterized in that, Including: A first acquisition unit, configured to acquire the target coordinates, target virtual pseudorange observations, target virtual phase observations, and target wavelength of the virtual reference station in the current epoch, and acquire the target monitored pseudorange observations and target monitored phase observations of the monitoring station; A comparison unit, configured to compare the target coordinates with the coordinates of the virtual reference station in the previous epoch to determine whether the position of the virtual reference station has changed; A second acquisition unit, configured to acquire the historical coordinates and historical virtual pseudorange observations of the virtual reference station in the previous epoch and the historical monitored pseudorange observations of the monitoring station when it is determined that the position of the virtual reference station has changed; A first calculation unit, configured to calculate the relative displacement value of the virtual reference station based on the historical virtual pseudorange observations and the target virtual pseudorange observations; A first establishment unit, configured to establish a positioning double-difference observation equation based on the target virtual pseudorange observations, the target virtual phase observations, the target monitored pseudorange observations, the target monitored phase observations, the historical monitored pseudorange observations, the historical virtual pseudorange observations, and the relative displacement value; An obtaining unit, configured to solve the positioning double-difference observation equation based on Kalman filtering to obtain the actual coordinates of the monitoring station in the current epoch; Wherein, the first establishment unit includes: A first determination unit, configured to determine a target pseudorange error based on the target virtual pseudorange observations and the target monitored pseudorange observations; A second determination unit, configured to determine a target phase error based on the target virtual phase observations and the target monitored phase observations; A third determination unit, configured to determine a target ambiguity based on the target virtual pseudorange observations, the target virtual phase observations, the target monitored pseudorange observations, the target monitored phase observations, and the target wavelength; A second establishment unit, configured to establish a first observation equation based on the historical virtual pseudorange observations, the historical monitored pseudorange observations, the target virtual pseudorange observations, the target monitored pseudorange observations, the relative displacement value, and the target pseudorange error; Wherein, the calculation formula of the first observation equation is: wherein, is the double-difference pseudorange distance in the current epoch; is the double-difference distance in the previous epoch; is the relative displacement value; is the pseudorange error in the current epoch; k and l respectively represent the first satellite and the second satellite; A third establishment unit, configured to establish a second observation equation based on the historical virtual pseudo-range observation values, the historical monitoring pseudo-range observation values, the target virtual pseudo-range observation values, the target monitoring pseudo-range observation values, the target virtual phase observation values, the target monitoring phase observation values, the relative displacement value, the target phase error, and the target wavelength; Specifically, the calculation formula of the second observation equation is: Among them, is the double-difference phase observation value in the current epoch; is the double-difference distance in the previous epoch; is the relative displacement value; λ is the wavelength of the carrier signal in the current epoch; is the target ambiguity in the current epoch; is the phase error in the current epoch; k and l respectively represent the first satellite and the second satellite; A composition unit, configured to compose the positioning double-difference observation equation based on the first observation equation and the second observation equation.

5. The deformation calculation device based on a virtual reference station according to claim 4, wherein , The historical virtual pseudo-range observation values include a first historical distance and a second historical distance between the virtual reference station and a first satellite and a second satellite respectively, and the target virtual pseudo-range observation values include a first target distance and a second target distance between the virtual reference station and the first satellite and the second satellite respectively. The first calculation unit includes: A second calculation unit, configured to calculate a difference between the first historical distance and the first target distance as a first difference; A third calculation unit, configured to calculate a difference between the second historical distance and the second target distance as a second difference; A fourth calculation unit, configured to calculate a difference between the first difference and the second difference as the relative displacement value.

6. The deformation calculation device based on a virtual reference station according to claim 5, wherein The historical monitoring pseudo-range observation values include a third historical distance and a fourth historical distance between the monitoring station and the first satellite and the second satellite respectively. The second establishment unit includes: A fifth calculation unit, configured to calculate a difference between the first historical distance and the third historical distance as a third difference; A sixth calculation unit, configured to calculate a difference between the second historical distance and the fourth historical distance as a fourth difference; A seventh calculation unit, configured to calculate a difference between the third difference and the fourth difference as a double-difference distance; A fourth establishment unit, configured to establish the first observation equation based on the double-difference distance, the relative displacement value, and the target pseudo-range error.

7. A deformation solution device based on a virtual reference station, characterized in that, Including: A memory, configured to store a computer program; A processor, configured to implement the steps of the deformation resolution method based on a virtual reference station according to any one of claims 1 to 3 when executing the computer program.

8. A readable storage medium, characterized in that, A computer program is stored on the readable storage medium, and when the computer program is executed by a processor, the steps of the deformation resolution method based on a virtual reference station according to any one of claims 1 to 3 are implemented.

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