Observation information generation method and apparatus, electronic device, and storage medium

Abstract

Embodiments of the present application disclose a kind of observation information generation method, device, electronic equipment and storage medium, the present application can be applied to map field, traffic field, automatic driving field or map car networking etc., the method comprises: if the state of reference physical main station currently corresponding to virtual base station in positioning service range is abnormal, select target spare physical main station for replacing reference physical main station from spare physical main station, spare physical main station and reference physical main station are pre-configured according to the distance with virtual base station;Search target physical auxiliary station associated with the target spare physical main station and the virtual base station;If no target physical auxiliary station is searched, determine the virtual observation data of virtual base station according to the geographic location information of target spare physical main station and virtual base station and the observation data of target spare physical main station.If the generation of virtual observation data is ensured by setting spare physical main station.

Description

Technical Field

[0001] This application relates to the field of computer technology, specifically to a method, apparatus, electronic device, and storage medium for generating observation information. Background Technology

[0002] Virtual Reference Station (VRS) technology aims to divide the service area into equally spaced virtual grid points and establish a virtual base station for each virtual grid point. Services are provided to users through the virtual base stations of the virtual grid points. The system only needs to maintain the virtual observation data of the virtual base station of each virtual grid point, which reduces the computational load of the system and removes the limitation on the number of users that can be served at the same time.

[0003] However, the virtual observation data of a virtual base station depends on the observation data of the corresponding physical master station. The physical master station is a reference station established for the navigation system. When the data of the physical master station is incorrect or malfunctions, it is difficult to guarantee the accuracy of the virtual observation data of the virtual base station, or it is difficult to calculate the virtual observation data of the virtual base station, which is not conducive to providing positioning services to users. Summary of the Invention

[0004] This application provides a method, apparatus, electronic device, and storage medium for generating observation information, which can realize the generation of virtual observation data of virtual base stations.

[0005] In a first aspect, embodiments of this application provide a method for generating observation information, including:

[0006] If the current reference physical master station corresponding to the virtual base station within the location service range is in an abnormal state, a target backup physical master station is selected from the backup physical master stations to replace the reference physical master station. Both the backup physical master station and the reference physical master station are pre-configured based on their distance from the virtual base station.

[0007] Search for target physical auxiliary stations associated with the target backup physical master station and the virtual base station;

[0008] If the target physical auxiliary station is not found, the virtual observation data of the virtual base station is determined based on the geographical location information of the target backup physical master station and the virtual base station, as well as the observation data of the target backup physical master station.

[0009] Secondly, embodiments of this application also provide an observation information generation device, comprising:

[0010] The selection module is used to select a target backup physical master station from the backup physical master stations to replace the reference physical master station if the current reference physical master station corresponding to the virtual base station within the positioning service range is in an abnormal state. Both the backup physical master station and the reference physical master station are pre-configured according to their distance from the virtual base station.

[0011] The search module is used to search for target physical auxiliary stations associated with the target backup physical master station and the virtual base station;

[0012] The generation module is used to determine the virtual observation data of the virtual base station based on the geographical location information of the target backup physical master station and the virtual base station, as well as the observation data of the target backup physical master station, if the target physical auxiliary station is not found.

[0013] In some embodiments of this application, the selected modules include:

[0014] The acquisition unit is used to acquire the user's movement direction;

[0015] The selection unit is configured to select a target backup physical master station from the backup physical master stations to replace the reference physical master station based on the direction of movement and the distance from the virtual base station.

[0016] In some embodiments of this application, the generation module includes:

[0017] The first determining unit is used to determine the first satellite-to-ground distance between the target backup physical master station and the visible satellite based on the geographical location information of the target backup physical master station;

[0018] The second determining unit is used to determine the second satellite-to-ground distance between the virtual base station and the visible satellite based on the first satellite-to-ground distance and the geographical location information of the virtual base station;

[0019] The correction unit is used to correct the observation data of the target backup physical master station according to the second satellite-to-ground distance to obtain the corrected observation data;

[0020] A generation unit is used to use the corrected observation data as virtual observation data for the virtual base station.

[0021] In some embodiments of this application, the first determining unit includes:

[0022] The first determining subunit is used to determine the first transmission time of the satellite signal emitted from the antenna of the target backup physical master station based on the observation data of the target backup physical master station and the reception time of the satellite signal;

[0023] The calculation subunit is used to calculate the satellite clock error based on the first launch time and the broadcast ephemeris;

[0024] The second determining subunit is used to determine the second transmission time of the satellite signal emitted from the target backup physical master station based on the observation data, the satellite clock difference, and the reception time;

[0025] The third bullet-determining unit is used to determine the first satellite position information of the visible satellite at the second launch time based on the broadcast ephemeris.

[0026] The fourth determining subunit is used to determine the first satellite-to-ground distance between the target backup physical master station and the visible satellite based on the geographical location information of the target backup physical master station and the location information of the first satellite.

[0027] In some embodiments of this application, the second determining unit includes:

[0028] The acquisition sub-unit is used to obtain the reference satellite-to-ground distance based on the first satellite position information and the geographical location information of the virtual base station;

[0029] The fifth determining subunit is used to determine the third transmission time corresponding to the virtual base station based on the first satellite-to-ground distance, the reference satellite-to-ground distance, and the second transmission time;

[0030] The sixth determining subunit is used to determine the second satellite position information of the visible satellite at the third launch time based on the broadcast ephemeris;

[0031] The seventh determining subunit is used to determine the second satellite-to-ground distance between the virtual base station and the visible satellite based on the geographical location information of the virtual base station and the location information of the second satellite.

[0032] In some embodiments of this application, the device further includes another generation module, which includes:

[0033] The reference correction determination unit is used to determine the double difference error correction of the target backup physical master station relative to the target physical auxiliary station based on the observation data of the target physical auxiliary station and the observation data of the target backup physical master station if the target physical auxiliary station is found.

[0034] The estimation correction number determination unit is used to obtain the estimated double difference error correction number of the target backup physical master station relative to the virtual base station by fitting the double difference error correction number;

[0035] The observation data correction unit is used to correct the observation data of the target backup physical master station based on the correction number estimated by the double difference error, so as to obtain the corrected observation data.

[0036] The virtual observation data generation unit is used to determine the virtual observation data of the virtual base station based on the geographical location information of the target backup physical master station, the geographical location information of the virtual base station, and the corrected observation data.

[0037] In some embodiments of this application, the device further includes a positioning module, which includes:

[0038] A receiving unit is used to receive approximate coordinates reported by the user terminal;

[0039] A base station selection unit is used to select a target virtual base station from virtual base stations based on the approximate coordinates.

[0040] The sending unit is used to send the virtual observation data of the target virtual base station to the user terminal.

[0041] Thirdly, embodiments of this application also provide an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the computer program is executed by the processor, it implements the steps in the above-described observation information generation method.

[0042] Fourthly, embodiments of this application also provide a storage medium storing a computer program, which, when executed by a processor, implements the steps in the above-described observation information generation method.

[0043] Fifthly, embodiments of this application also provide a computer program product or computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the methods provided in the various optional implementations described in embodiments of this application.

[0044] In this embodiment, when the status of the reference physical master station corresponding to the virtual base station within the location service range is abnormal, a target backup physical master station is selected from the backup physical master stations to replace the reference physical master station. Both the backup physical master station and the reference physical master station are pre-configured based on the distance to the virtual base station. A target physical auxiliary station associated with the target backup physical master station and the virtual base station is searched. If no target physical auxiliary station is found, virtual observation data for the virtual base station is determined based on the geographical location information of the target backup physical master station and the virtual base station, as well as the observation data of the target backup physical master station. By setting a backup physical master station, a target backup physical master station can be selected from the backup physical master stations when the status of the reference physical master station is abnormal, and the target backup physical master station is used to replace the reference physical master station to obtain virtual observation data for the virtual base station, ensuring that the virtual base station can obtain the corresponding virtual observation data. If no target physical auxiliary station is associated with the target backup physical master station and the virtual base station, virtual observation data for the virtual base station can be obtained through the geographical location relationship between the target backup physical master station and the virtual base station, further ensuring the generation of virtual observation data. Attached Figure Description

[0045] To more clearly illustrate the technical solutions in this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0046] Figure 1 This is a schematic diagram of a scenario for the observation information generation method provided in the embodiments of this application;

[0047] Figure 2 This is a flowchart illustrating the observation information generation method provided in the embodiments of this application;

[0048] Figure 3 This is a flowchart illustrating the correction of observation data of a target backup physical master station based on location differences, provided in an embodiment of this application.

[0049] Figure 4 This is a schematic diagram showing the positional relationship between the target backup physical master station, the target physical auxiliary station, and the virtual base station provided in the embodiments of this application;

[0050] Figure 5 This is a flowchart illustrating the process of calculating the double-difference residual between the target backup physical master station and the virtual base station provided in an embodiment of this application.

[0051] Figure 6 This is a structural diagram of the double-difference observation model corresponding to the main station and auxiliary station provided in the embodiments of this application;

[0052] Figure 7 This is another flowchart illustrating the observation information generation method provided in the embodiments of this application;

[0053] Figure 8 This is a schematic diagram of the process of providing location services to users based on virtual observation data from virtual base stations, provided in an embodiment of this application.

[0054] Figure 9 This is a schematic diagram of the observation information generation device provided in the embodiments of this application;

[0055] Figure 10 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0056] The technical solutions of this application will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0057] This application provides an observation information generation method, apparatus, electronic device, and storage medium. The observation information primarily refers to the observation information of a virtual base station. The observation data of this virtual base station is not obtained through direct observation, but rather calculated from the observation data of nearby physical base stations. That is, the observation data of the virtual base station can be calculated using virtual reference station technology. Virtual reference station technology (VRS), also known as virtual base station technology, is a network real-time kinematic (RTK) technology. It establishes multiple base stations forming a mesh coverage within a certain area, and establishes a virtual reference station near the target device. The virtual observation value of the virtual reference station is calculated based on the actual observation values ​​from the surrounding base stations, achieving high-precision positioning of the user station.

[0058] Accordingly, the observation information generation method of this application embodiment is applicable to an implementation environment formed by physical base stations, virtual base stations, data centers, and satellites, specifically:

[0059] Physical base stations, also known as reference stations or base stations, are typically equipped with GPS receivers, data transmission equipment, and meteorological equipment. Physical base stations can continuously observe satellite signals over long periods, receive and record signals transmitted by satellites, and provide data to data centers periodically or in real-time via communication networks. A network of physical base stations (or reference stations) requires at least three base stations for the data center to generate observational data (VRS).

[0060] Data centers are typically located in the data center of the construction unit and include servers, workstations, network transmission equipment, power equipment, data recording equipment, and system security equipment. The data center is primarily responsible for the entire system's data processing, data analysis and computation storage, system differential correction modeling, generation, transmission, recording, data management, maintenance, and distribution. Data centers can provide targeted services based on the approximate location provided by the terminal. Data centers can encapsulate data in messages according to the format of the Radio Technical Commission for Maritime Services (RTCM) for transmission, and can transmit all or part of the data as needed.

[0061] Virtual base stations: Within the service area, virtual base stations are set up at preset distance intervals. Each virtual base station contains multiple physical base stations nearby. In Virtual Reference Station (VRS) technology, the virtual observation data of a virtual base station is obtained by differentiating the observation data of multiple physical base stations nearby. Typically, a physical base station is selected as the reference physical master station based on the closest proximity to the virtual base station (the observation data of the virtual base station is strongly dependent on the reference physical master station). Then, with the reference physical master station as the vertex, a minimum triangle network is searched, consisting of the baselines between the reference physical master station and the other two physical base stations. This triangle network contains the virtual base station. Based on the observation data of each physical base station in the triangle network, the correction number of the reference physical master station relative to the virtual base station is calculated, and the virtual observation data of the virtual base station is obtained based on this correction number.

[0062] However, since the reference physical master station is a physical base station, it is susceptible to malfunctions or data errors. Traditionally, only one reference physical master station is selected. Therefore, when the reference physical master station malfunctions, virtual observation data for the virtual base station cannot be calculated, which is detrimental to providing location services to users. Based on this, this application provides a method for generating observation information suitable for electronic devices. The electronic device includes a terminal or a server (referring to the entire data center). The terminal includes, but is not limited to, computers, physical base stations, or CNC electronic equipment. The server can be an independent physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server providing basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, content delivery networks (CDNs), and big data and artificial intelligence platforms. The server can be directly or indirectly connected via wired or wireless communication.

[0063] In this embodiment, the observation information generation method can be executed by the terminal device alone, by the server alone, or by both the terminal device and the server. Please refer to [link to relevant documentation]. Figure 1 Taking the observation information generation method jointly executed by terminal devices and servers as an example, the specific execution process of the observation information generation method is as follows:

[0064] Server 10 detects the status of the reference physical master station 12 for virtual base station 11. When the status of the reference physical master station 12 is abnormal, it selects a target backup physical master station 14 from the backup physical master stations 13 to replace the reference physical master station 12, and searches for a target physical auxiliary station 15 associated with the target backup physical master station 14 and the virtual base station 11. If no target physical auxiliary station 15 is found, it determines the virtual observation data of the virtual base station 11 based on the geographical location information of the target backup physical master station 14 and the virtual base station 11 and the observation data of the target backup physical master station 14.

[0065] In this embodiment of the application, both the backup physical master station and the reference physical master station are pre-configured based on their distance from the virtual base station. For example, the reference physical master station and the backup physical master station are selected from the physical base stations near the virtual base station based on their distance from the virtual base station.

[0066] In this embodiment of the application, the target physical auxiliary station is associated with the target backup physical master station and the virtual base station. Based on the target physical auxiliary station and the target backup physical master station, the observation correction values ​​of the target backup physical master station and the virtual base station can be calculated. Based on the observation correction values, the observation data of the virtual base station can be calculated.

[0067] In this embodiment, when the status of the reference physical master station corresponding to the virtual base station within the location service range is abnormal, a target backup physical master station is selected from the backup physical master stations to replace the reference physical master station. Both the backup physical master station and the reference physical master station are pre-configured based on the distance to the virtual base station. A target physical auxiliary station associated with the target backup physical master station and the virtual base station is searched. If no target physical auxiliary station is found, virtual observation data for the virtual base station is determined based on the geographical location information of the target backup physical master station and the virtual base station, as well as the observation data of the target backup physical master station. By setting a backup physical master station, a target backup physical master station can be selected from the backup physical master stations when the status of the reference physical master station is abnormal, and the target backup physical master station is used to replace the reference physical master station to obtain virtual observation data for the virtual base station, ensuring that the virtual base station can obtain the corresponding virtual observation data. If no target physical auxiliary station is associated with the target backup physical master station and the virtual base station, virtual observation data for the virtual base station can be obtained through the geographical location relationship between the target backup physical master station and the virtual base station, further ensuring the generation of virtual observation data.

[0068] The following sections provide detailed descriptions of each example. It should be noted that the order in which the embodiments are described is not intended to limit the priority of the embodiments.

[0069] Please see Figure 2 , Figure 2This is a flowchart illustrating the observation information generation method provided in this application embodiment. The specific flow of this observation information generation method can be as follows:

[0070] 101. If the current reference physical master station corresponding to the virtual base station is in an abnormal state, a target backup physical master station is selected from the backup physical master stations to replace the reference physical master station. Both the backup physical master station and the reference physical master station are pre-configured based on their distance from the virtual base station.

[0071] In this embodiment of the application, the virtual base station is a virtual base station established by dividing the service area into virtual grid points at equal intervals in the Virtual Reference Station (VRS) technology. Each virtual grid point corresponds to one virtual base station, and services are provided to users through the virtual base station. Providing services to users through the virtual base station can reduce the computational load of the system and remove the limitation on the number of users that can be served at the same time.

[0072] The virtual base station provides positioning services to users by sending its own virtual observation data to the user terminal. However, the virtual observation data of the virtual base station depends on the surrounding reference stations. These reference stations are actually established for the positioning system and have a certain physical structure. The reference stations conduct long-term continuous observation of satellite navigation signals and transmit the observation data to the ground fixed observation station of the data center in real time or at regular intervals through communication facilities. The virtual observation data of the virtual base station is calculated by using the actual observation data of the surrounding reference stations.

[0073] The accuracy of virtual observation data depends on the corresponding reference physical master station, which is selected from the base stations based on its distance from the virtual base station. The closer the reference physical master station is to the virtual base station, the more accurate the calculated virtual observation data will be, and the more accurately it can provide positioning services to users.

[0074] Since the reference physical master station is also an actual base station with a certain physical structure, its data or status may also be abnormal. For example, when the reference physical master station malfunctions, its observation data may also be abnormal or its accuracy may be difficult to guarantee. Therefore, the virtual observation data calculated based on this observation data may not be able to guarantee high accuracy or reliability, which is not conducive to providing positioning services to users.

[0075] Therefore, in this embodiment of the application, in view of the possibility that the reference physical master station may have abnormal status or failure, multiple backup physical master stations are pre-set. When the reference physical master station is abnormal, the backup physical master station is used to replace the reference physical master station. That is, the virtual observation data of the virtual base station is calculated based on the observation data of the backup physical master station.

[0076] In this embodiment, the backup physical master station is also selected from the base stations. For example, multiple base stations that are close to the virtual base station are selected as backup physical master stations. In this embodiment, a target backup physical master station to replace the reference physical master station can be selected from the backup physical master stations based on its distance from the virtual base station. For example, a backup physical master station that is close to the virtual base station and is in normal operation is selected as the target backup physical master station.

[0077] In this embodiment, both the reference physical master station and the backup physical master station are selected from the base stations based on their distance from the virtual base station. Therefore, in this embodiment, the reference physical master station is the base station closest to the virtual base station, while the backup physical master station is the base station second closest to the virtual base station. For example, several base stations other than the reference physical master station that are closest to or relatively close to the virtual base station are used as backup physical master stations. The configuration of the backup physical master station avoids the problem of not being able to obtain virtual observation data from the virtual base station when the reference physical master station malfunctions or is in an abnormal state. That is, when the reference physical master station malfunctions or is in an abnormal state, the backup physical master station takes over the function of the reference physical master station and performs its role, calculating the virtual observation data of the virtual base station based on the actual observation data of the backup physical master station.

[0078] In some embodiments of this application, when selecting a target backup physical master station from the backup physical master stations, the selection can also be based on the user's movement direction. That is, the backup physical master station in the user's movement direction is selected as the target backup physical master station. Optionally, in some embodiments of this application, the step "selecting a target backup physical master station from the backup physical master stations to replace the reference physical master station" includes:

[0079] Obtain the user's movement direction;

[0080] Based on the direction of movement and the distance from the virtual base station, a target backup physical master station is selected from the backup physical master stations to replace the reference physical master station.

[0081] Selecting a backup physical master station as the target backup physical master station based on the user's movement direction ensures that the selected target backup physical master station is relatively close to the user's location. For example, when two or more backup physical master stations are relatively close to the user, the backup physical master station that will be closer to the user in the future can be selected based on the user's movement direction. The virtual observation data of the virtual base station is then calculated using the actual observation data of that backup physical master station. Since the virtual observation data is calculated based on the observation data of the target backup physical master station, when the target backup physical master station is close to the user, more accurate positioning services can be provided to the user based on the virtual observation data.

[0082] 102. Search for target physical auxiliary stations associated with the target backup physical master station and the virtual base station.

[0083] In this embodiment, the target physical auxiliary station is also selected from the reference station (physical base station). The target physical auxiliary station has the functions of the reference station. The target physical auxiliary station must meet the following requirements: it must be able to calculate the observation corrections (such as the double difference error estimation corrections below) of the target backup physical master station and the virtual base station in combination with the target backup physical master station. Under normal circumstances, there is a relative positional relationship between the target physical auxiliary station, the target backup physical master station, and the virtual base station. For example, the target physical auxiliary station must meet the condition that the triangle connected to the target backup physical master station can enclose the virtual base station.

[0084] In this embodiment of the application, the triangle is formed by the baselines between the base stations, and the baselines are straight line segments between the base stations with precisely measured lengths.

[0085] Typically, the virtual observation data of a virtual base station is obtained by correcting the observation data of the master station based on the double-difference residuals between the virtual base station and the corresponding master station, and by correcting the observation data based on the satellite-to-ground distance caused by the positional difference between the virtual base station and the master station. The double-difference residuals are obtained by fitting the double-difference residuals between the master station and the auxiliary station in the triangle. Therefore, whether there is a target physical auxiliary station that meets the conditions determines whether the virtual observation data of the virtual base station can be calculated based on the double-difference residuals.

[0086] In this embodiment of the application, the triangle formed should be small enough, that is, with the target backup physical master station as the vertex, two base stations near the virtual base station are selected so that the virtual base station is inside the triangle.

[0087] 103. If the target physical auxiliary station is not found, the virtual observation data of the virtual base station is determined based on the geographical location information of the target backup physical master station and the virtual base station, as well as the observation data of the target backup physical master station.

[0088] In general, when there is no target physical auxiliary station that meets the conditions, i.e., there is no triangle that meets the conditions, virtual observation data for virtual base stations cannot be generated, and thus location services cannot be provided to users.

[0089] In this embodiment, for cases where there is a lack of target physical auxiliary stations, the observation data of the target backup physical master station is directly corrected based on the location difference between the target backup physical master station and the virtual master station, and the corrected observation data is used as the virtual observation data of the virtual base station.

[0090] In this embodiment of the application, since the observation data of the target backup physical master station is constrained by the distance between the target backup physical master station and the satellite, the correction of the observation data in this embodiment mainly includes the correction of the distance between the target backup physical master station and the satellite in the observation data. That is, optionally, in some embodiments of this application, the step "determine the virtual observation data of the virtual base station based on the geographical location information of the target backup physical master station and the virtual base station and the observation data of the target backup physical master station" includes:

[0091] The first satellite-to-ground distance between the target backup physical master station and the visible satellite is determined based on the geographical location information of the target backup physical master station;

[0092] The second satellite-to-ground distance between the virtual base station and the visible satellite is determined based on the first satellite-to-ground distance and the geographical location information of the virtual base station;

[0093] The observation data of the target backup physical master station are corrected based on the second satellite distance to obtain the corrected observation data;

[0094] The corrected observation data is used as the virtual observation data of the virtual base station.

[0095] In this embodiment of the application, the satellite-to-ground distance reflects the distance between the satellite and the base station.

[0096] Since the differences in the observation data include the differences in the satellite-to-ground distance between the base station and the satellite, the differences in the satellite-to-ground distance between the target backup physical master station and the satellite, and between the target backup physical master station and the virtual base station and the satellite, can be obtained. Based on these differences in the satellite-to-ground distance, the observation data of the target backup physical master station can be corrected to obtain the corrected observation data. This corrected observation data can then be used as the virtual observation data of the virtual base station.

[0097] In this embodiment, because there is a time difference between the generation of the satellite signal from the reference station and its transmission from the antenna of the reference station, the satellite-to-ground distance observed from the target backup physical master station is not the true distance between the target backup physical master station and the satellite. Therefore, in this embodiment, the true distance between the target backup physical master station and the satellite can be obtained based on the time difference. That is, optionally, in some embodiments of this application, the step "determining the first satellite-to-ground distance between the target backup physical master station and the visible satellite based on the geographical location information of the target backup physical master station" includes:

[0098] Based on the observation data of the target backup physical master station and the satellite signal reception time, determine the first transmission time of the satellite signal emitted from the antenna of the target backup physical master station;

[0099] Calculate the satellite clock bias based on the first launch time and the broadcast ephemeris;

[0100] Based on the observation data, the satellite clock difference, and the reception time, the second transmission time of the satellite signal emitted from the target backup physical master station is determined;

[0101] The first satellite position information of the visible satellite at the second launch time is determined based on the broadcast ephemeris.

[0102] Based on the geographical location information of the target backup physical master station and the location information of the first satellite, the first satellite-to-ground distance between the target backup physical master station and the visible satellite is determined.

[0103] In this embodiment of the application, the first transmission time can be determined based on the reception time, the speed of light, and the distance observation value (such as pseudorange observation value) in the observation data.

[0104] The broadcast ephemeris is determined and provided by the ground control part of the Global Positioning System. It is a radio signal broadcast by the positioning satellite that carries a message information predicting the number of satellite orbital elements within a certain period of time. The satellite clock bias is calculated using the first launch time and three clock bias parameters in the broadcast ephemeris.

[0105] Specifically, the first launch time is corrected by the satellite clock difference to obtain the second launch time, which is the actual launch time when the satellite signal is generated.

[0106] The satellite's position information at the second launch time can be obtained from the broadcast ephemeris. Based on this position information and the position information of the target backup physical base station, the distance between the satellite and the target backup physical base station at that time (i.e., the first satellite-to-ground distance) can be obtained.

[0107] Among them, based on the satellite's position at the second launch time, the distance between the virtual base station and the satellite can be obtained. That is, optionally, in some embodiments of this application, the step "determining the second satellite-to-ground distance between the virtual base station and the visible satellite based on the first satellite-to-ground distance and the geographical location information of the virtual base station" includes:

[0108] Based on the location information of the first satellite and the geographical location information of the virtual base station, the reference satellite-to-ground distance is obtained;

[0109] The third transmission time corresponding to the virtual base station is determined based on the first satellite-to-ground distance, the reference satellite-to-ground distance, and the second transmission time.

[0110] The second satellite position information of the visible satellite at the third launch time is determined according to the broadcast ephemeris.

[0111] Based on the geographical location information of the virtual base station and the location information of the second satellite, the second satellite-to-ground distance between the virtual base station and the visible satellite is determined.

[0112] Since the satellite location corresponding to the virtual base station is not the same as the satellite location of the target backup physical master station, it is necessary to compensate for the reference satellite-to-ground distance obtained based on the first satellite location information. In this embodiment, the transmission time difference of the satellite signal can be obtained based on the first satellite-to-ground distance and the reference satellite-to-ground distance. Based on this time difference, the compensation value of the reference satellite-to-ground distance can be obtained, and then the actual distance between the virtual base station and the satellite (the second satellite-to-ground distance) can be obtained.

[0113] For example, please see Figure 3 , Figure 3 This is a flowchart illustrating the correction of observation data of a target backup physical master station based on location differences, provided in an embodiment of this application. Hereinafter, "master station" refers to the target backup physical master station. Taking the pseudorange observation value as an example, the correction of the carrier phase observation value can be understood with reference to the pseudorange observation value. The distance calculation between the virtual base station and the satellite is explained using relevant formulas during the correction process, as detailed below:

[0114] 111. Calculate the signal transmission time of the satellite corresponding to the main station (the time when the satellite signal leaves the main station's antenna) based on the pseudorange observation value of the main station and the satellite signal reception time.

[0115] Among them, pseudorange observation value P i s Reception time and signal transmission time The relationship can be expressed by the following formula, specifically:

[0116]

[0117] Where c is the speed of light, and based on the above formula, the time when the satellite signal leaves the main station's antenna can be obtained.

[0118] 112. Calculate the satellite clock bias based on the broadcast ephemeris and signal transmission time.

[0119] Among them, satellite clock bias dt s It can be obtained from the clock bias parameter, which can be obtained from the broadcast ephemeris.

[0120] 113. Calculate the actual signal transmission time and satellite coordinates of the satellite corresponding to the master station, and calculate the first satellite-to-ground distance between the master station and the satellite at the actual signal transmission time.

[0121] Among them, the actual signal transmission time t of the satellite corresponding to the main station s It can be obtained using the following formula, as detailed below:

[0122]

[0123] Among them, the actual signal transmission time t is determined according to the broadcast ephemeris. s Satellite position Pos sat =(x s ,y s ,z s Furthermore, based on the location of the main station, Pos... mas and the position of the satellite Pos sat This yields the distance between the master station and the satellite at the actual signal transmission time (first satellite-to-ground distance). Here, dist(a,b) is the distance function that calculates the distance between a and b.

[0124] 114. Initially calculate the reference satellite-to-ground distance between the satellite and the virtual base station at the actual signal transmission time of the master station.

[0125] Among them, the reference satellite distance It can be obtained through the following formula, as detailed below:

[0126]

[0127] Among them, Pos rov This indicates the location information of the virtual base station.

[0128] 115. Calculate the satellite signal transmission time of the virtual base station, and compensate the reference satellite-to-ground distance based on the satellite signal transmission time to obtain the second satellite-to-ground distance between the virtual base station and the satellite.

[0129] Since the satellite position corresponding to the virtual base station is not the same as the satellite position corresponding to the main station, it is necessary to compensate for the reference satellite-to-ground distance in order to obtain the true distance between the virtual base station and the satellite (second satellite-to-ground distance).

[0130] The transmission time difference t of the satellite signal is obtained based on the reference satellite-to-ground distance and the first satellite-to-ground distance. diff The satellite signal transmission time of the virtual base station satellite signal is obtained based on the actual signal transmission time and the transmission time difference. The relevant formula is expressed as follows:

[0131]

[0132]

[0133] 116. Obtain the distance compensation value based on the first satellite-to-ground distance and the second satellite-to-ground distance. Correct the pseudorange observation value in the observation data based on the distance compensation value to obtain the virtual pseudorange observation value of the virtual base station.

[0134] Among them, for pseudorange observations P i s Corrected virtual pseudorange observations You can refer to the following formula, the details of which are as follows:

[0135]

[0136] In this embodiment of the application, in order to make the correction more refined, the errors of the virtual base station and the main station in the troposphere and ionosphere can also be corrected to improve the accuracy of the virtual pseudorange observation calculation.

[0137] In this embodiment of the application, the virtual observation data of the virtual base station mainly includes virtual pseudorange observation data and virtual carrier phase observation data. The virtual pseudorange observation data can be calculated using the above method and the pseudorange observation data of the master station, while the virtual carrier phase observation data can be calculated using the same principle as the above method and the carrier phase observation data of the master station.

[0138] In this embodiment, when a target physical auxiliary station that meets the conditions is found, the double-difference residual between the target backup physical master station and the virtual base station can be obtained by fitting the double-difference residual between the target backup physical master station and the target physical auxiliary station. The observation data of the target backup physical master station is then corrected based on this double-difference residual to obtain corrected observation data. Finally, the corrected observation data is further modified based on the positional differences between the target backup physical master station and the virtual base station to obtain virtual observation data for the virtual base station. Optionally, in some embodiments of this application, after the step "searching for target physical auxiliary stations associated with the target backup physical master station and the virtual base station," the method further includes:

[0139] If the target physical auxiliary station is found, the double difference error correction number of the target backup physical master station relative to the target physical auxiliary station is determined based on the observation data of the target physical auxiliary station and the observation data of the target backup physical master station.

[0140] The estimated double-difference error correction number relative to the virtual base station of the target backup physical master station is obtained by fitting the double-difference error correction number.

[0141] The observation data of the target backup physical master station are corrected based on the double difference error estimation correction number to obtain the corrected observation data;

[0142] Based on the geographical location information of the target backup physical master station, the geographical location information of the virtual base station, and the corrected observation data, the virtual observation data of the virtual base station is determined.

[0143] In the embodiments of this application, please refer to... Figure 4 , Figure 4 This is a schematic diagram of the positional relationship between the target backup physical master station, the target physical auxiliary station, and the virtual base station provided in the embodiments of this application. Since the target backup physical master station A and the target physical auxiliary stations (B and C) form a triangle containing the virtual base station, the double difference error correction between the target backup physical master station A and the two target physical auxiliary stations (B and C) can be fitted to obtain the estimated double difference error correction between the target backup physical master station A and the virtual base station V.

[0144] In this embodiment, the double-difference error correction between the target backup physical master station and the target physical auxiliary station is the double-difference residual between the target backup physical master station and the target physical auxiliary station; the double-difference error estimation correction between the target backup physical master station and the virtual base station is the double-difference residual between the target backup physical master station and the virtual base station. In this embodiment, the double-difference residual includes the double-difference tropospheric residual and the double-difference ionospheric residual.

[0145] Specifically, after correcting the observation data of the target backup physical master station based on the double-difference error estimation correction, the corrected observation data is obtained. Then, the corrected observation data is further adjusted based on the positional difference between the target backup physical master station and the virtual base station, resulting in the corrected observation data. This corrected observation data can then be used as the virtual observation data for the virtual base station. For example, Figure 3 As shown, the part about "correcting the observed data based on the location difference between the target backup physical master station and the virtual base station to obtain the corrected observed data" can be understood by referring to the above "process of correcting the observed data of the target backup physical master station based on location difference", and will not be repeated here.

[0146] Please see Figure 5 , Figure 5 This is a flowchart illustrating the calculation of the double-difference residual between the target backup physical master station and the virtual base station, provided in an embodiment of this application. Hereinafter, the target backup physical master station is referred to as the "master station," as detailed below:

[0147] 121. Determine the master station corresponding to the virtual base station and the auxiliary station corresponding to the master station. The triangle formed by connecting the master station and the auxiliary station encloses the virtual base station.

[0148] 122. Obtain observation data from the main station and auxiliary stations, where the observation data are expressed using the corresponding observation equations.

[0149] The observation data from the master station and auxiliary station are represented by corresponding observation equations. These observation equations are constructed from the original observation equations based on the Global Navigation Satellite System (GNSS). For example, the original observation equations can represent the pseudorange original observation equation for pseudorange and the carrier phase original observation equation for carrier phase. The pseudorange original observation equation and the carrier phase original observation equation are as follows:

[0150]

[0151]

[0152] Where r, s, and i represent the station (base station), satellite number, and frequency number, respectively; These represent the pseudorange and phase observations, respectively, in meters; λ i The wavelength representing the carrier phase, measured in meters; dt represents the geometric distance between the stars and the station, in meters; c represents the speed of light, in m / s; r dt s These represent the receiver clock bias and the satellite clock bias, respectively, in seconds; These represent ionospheric delay and tropospheric delay, respectively, in meters; These represent the hardware delay at the receiving end and the hardware delay at the satellite end, respectively, in meters; These represent the initial phase at the receiver and the initial phase at the satellite, respectively, in cycles; δ r,i , These represent the phase hardware delay at the receiver and the phase hardware delay at the receiver, respectively, in cycles. These represent multipath, noise, and other errors in pseudorange and phase observations, respectively, in meters.

[0153] Please refer to Figure 6 , Figure 6 This is a structural diagram of the double-difference observation model corresponding to the master station and the auxiliary station provided in the embodiment of this application. Assuming that at the same time, the master station r and the auxiliary station b simultaneously observe satellite k, the carrier phase equations of the master station and the auxiliary station can be obtained from the original observation equation as follows:

[0154]

[0155]

[0156]

[0157]

[0158] 123. Based on the observation equations corresponding to the observation data of the main station and the auxiliary station, the double-difference observation equations are obtained.

[0159] In this embodiment, the double-difference observation equation includes a carrier phase double-difference observation equation for the carrier phase and a pseudorange double-difference observation equation for the pseudorange. The specific calculation method is as follows:

[0160] By taking the difference between equations (3) and (4), the carrier phase observation equation for the single difference between stations can be obtained, and the results are as follows:

[0161]

[0162] Similarly, the inter-station single-difference observation equation for pseudorange can be obtained as follows:

[0163]

[0164] It can be seen from equations (7) and (8) that the common error at the satellite end can be eliminated by the single difference between stations. If the distance between the main station and the auxiliary station is short, the corresponding ionospheric and tropospheric errors will also be greatly reduced.

[0165] Assuming that at the same time, both the main station and the auxiliary station also simultaneously observe satellite j, then the inter-station single-difference equation for satellite j can be obtained as follows:

[0166]

[0167] Choosing k as the reference satellite, the corresponding carrier phase double-difference observation equation is as follows:

[0168]

[0169] The corresponding pseudorange double-difference observation equation is as follows:

[0170]

[0171] By using double-difference, most errors can be eliminated, improving the accuracy of calculations based on observation data.

[0172] 124. The double-difference observation equations are eliminated by performing an elimination transformation based on the non-ionospheric combination, resulting in the transformed double-difference observation equations.

[0173] In this embodiment, the transformation of the double-difference observation equation can be carried out in the following manner:

[0174]

[0175]

[0176] The transformed double-difference observation equation is expressed as:

[0177]

[0178] Wherein, IF represents the non-ionosphere combination. For double-difference tropospheric delay, the subscripts 1 and 2 represent frequency point 1 (f1) and frequency point 2 (f2), where λ IF The formula for representing the wavelength without an ionosphere is:

[0179]

[0180] Among them, the ionospheric-free combination, also known as the ionospheric-free combination, eliminates the influence of the first-order ionospheric term. It utilizes the property that the first-order ionospheric term is inversely proportional to the square of the frequency to eliminate the first-order ionospheric term. The characteristics of the ionospheric-free combination are: elimination of the first-order ionospheric delay term, unchanged geometric distance, and amplification of noise.

[0181] 125. Based on the mapping function, perform a mapping transformation on the transformed double-difference observation equation to obtain the mapped double-difference observation equation.

[0182] In this process, a mapping function is introduced, and the transformed double-difference observation equation is expressed as the product of the zenith tropospheric delay and a mapping function with respect to the satellite elevation angle. The product is then rearranged to obtain the following expression:

[0183]

[0184] Among them, the zenith tropospheric delay ZD can be initially obtained from the tropospheric delay coarseness component (Neill model), and MF is the tropospheric mapping function. For the corresponding ionospheric floating-point ambiguity, 1,…,I,n represent satellite numbers, j represents the reference satellite, and RZTD represents the double-difference relative zenith tropospheric delay. The ionospheric floating-point ambiguity is then... As a parameter to be estimated.

[0185] 126. Construct the Kalman filter equation based on the double-difference observation equation after mapping transformation, and obtain the ionosphere-free floating-point ambiguity based on the Kalman filter equation.

[0186] The Kalman filter equation mainly includes a time update module and a measurement update module. Because there are constraints or relationships between the state variables of consecutive epochs, time update is needed to update these state variables.

[0187] When there are observations, measurement updates are required. Measurement updates correct internal state variables by using external inputs (observations), calculating corrections, and then using these corrections to correct the state variables.

[0188] The equations for the time update module and the measurement update module can be expressed as follows:

[0189]

[0190]

[0191] Wherein, Φ k,k-1 Let k be the state transition matrix from time k-1 to time k. This represents the state predicted in one step at epoch k (time). G is the measured and updated parameter for epoch k-1. k Let w be the system noise driving matrix at time k. k Let H be the system noise at time k. k The design matrix for the observation equation, Let e ​​be the state parameter at time k. k This represents the observation error. The complete formulas for the Kalman filter from time k-1 to time k can be summarized as follows:

[0192]

[0193]

[0194]

[0195]

[0196] P k (+)=(IK k H k )P k (-) (twenty three)

[0197] Among them, P k (-) is the matrix for one-step prediction, Q k For the system noise array, K k Let R be the gain matrix. k P is the noise matrix of the observations. k (+) represents the variance-covariance matrix corresponding to the updated state parameters.

[0198] 127. Calculate the ambiguity of wide alley and residential alley based on the ionosphere-free floating-point ambiguity.

[0199] Although ionospheric ambiguity does not possess integer characteristics, it can be decomposed into wide-lane ambiguity and narrow-lane ambiguity. Wide-lane ambiguity, due to its longer wavelength, can be directly rounded after multi-epoch smoothing. The relationship between ionospheric ambiguity and wide-lane and narrow-lane ambiguities is shown below:

[0200] N WL =N1-N2 (24)

[0201]

[0202]

[0203] From the above formula, we can obtain the ionosphere-free floating-point ambiguity N. IF And the ambiguity N of the wide alley WL The relationship between the ambiguity N1 of the residential alleyway and the residential alleyway.

[0204] The calculation method for the wide alley ambiguity is as follows:

[0205]

[0206] Among them, in the above formula The carrier phase observation value at frequency point 1, Let λ be the carrier phase observation value at frequency point 2. WL Let be the wavelength of the wide lane. The wavelength of the wide lane is calculated as follows:

[0207]

[0208] First, the ambiguity of the wide alley is smoothed using the Hatch-Melbourne-Wübbena combination. Then, the smoothed result is evaluated to see if it can be rounded. If it can be rounded, the floating-point solution of the narrow alley ambiguity can be characterized by the relationship between the ionosphere-free floating-point ambiguity and the wide alley ambiguity. Finally, the lambda algorithm is used to fix the ambiguity of the narrow alley.

[0209] Among them, HMW combination smoothing eliminates both ionospheric and geometric distance, and can be used for UPD estimation, cycle slip detection, etc. HMW combination is sometimes also called MW combination. It has many forms, but they are equivalent in principle. Its characteristics are: ionospheric elimination, geometric distance elimination, tropospheric and clock bias elimination, dual-frequency pseudorange carrier mixing, and the resulting wide-lane ambiguity is only affected by multipath effects, hardware delay and observation noise.

[0210] For example, after calculating the ambiguity of the wide alley, we can use (26) to calculate the corresponding ambiguity of the residential alley. Then, determine whether it converges using the following formula:

[0211]

[0212] if If the ambiguity and its variance satisfy the above formula, then we can... The ambiguity is rounded down, and the ambiguity is considered to be fixed and correct.

[0213] 128. Calculate the double-difference residuals between the main station and the auxiliary station based on the fuzziness of the wide alley and the fuzziness of the residential alley.

[0214] Among them, the double-difference residuals include the double-difference tropospheric residuals and the double-difference ionospheric residuals.

[0215] After fixing the wide and narrow lanes, we can back-calculate the corresponding double-difference slant path tropospheric residual (double-difference tropospheric residual) according to equation (14), and then back-calculate the corresponding double-difference ionospheric residual through equation (10).

[0216] Among them, double difference can eliminate a large number of errors, reduce the complexity of calculation, and improve the accuracy of calculation results to a certain extent.

[0217] In this embodiment of the application, after calculating the virtual observation data of the virtual base station, the virtual observation data of the virtual base station can be sent to the user terminal after receiving the approximate coordinates reported by the user terminal, so as to provide positioning services to the user terminal. That is, optionally, in some embodiments of this application, after the step of "determining the virtual observation data of the virtual base station", the method further includes:

[0218] Receive the approximate coordinates reported by the user terminal;

[0219] Select the target virtual base station from the virtual base stations based on the approximate coordinates;

[0220] The virtual observation data of the target virtual base station is sent to the user terminal.

[0221] In this embodiment of the application, the approximate coordinates refer to the coordinates within the grid of the map, i.e., the coordinates in kilometers.

[0222] In this process, virtual observation data from virtual base stations is sent to user terminals, enabling users to perform positioning based on the virtual base stations. This positioning includes real-time kinematic (RTK) positioning.

[0223] In this embodiment of the application, virtual observation data from the virtual base station closest to the user terminal can be sent to the user terminal so that the user terminal can obtain more accurate and reliable virtual observation data.

[0224] In this embodiment, when the status of the reference physical master station corresponding to the virtual base station within the location service range is abnormal, a target backup physical master station is selected from the backup physical master stations to replace the reference physical master station. Both the backup physical master station and the reference physical master station are pre-configured based on the distance to the virtual base station. A target physical auxiliary station associated with the target backup physical master station and the virtual base station is searched. If no target physical auxiliary station is found, virtual observation data for the virtual base station is determined based on the geographical location information of the target backup physical master station and the virtual base station, as well as the observation data of the target backup physical master station. By setting a backup physical master station, a target backup physical master station can be selected from the backup physical master stations when the status of the reference physical master station is abnormal, and the target backup physical master station is used to replace the reference physical master station to obtain virtual observation data for the virtual base station, ensuring that the virtual base station can obtain the corresponding virtual observation data. If no target physical auxiliary station is associated with the target backup physical master station and the virtual base station, virtual observation data for the virtual base station can be obtained through the geographical location relationship between the target backup physical master station and the virtual base station, further ensuring the generation of virtual observation data.

[0225] Please see Figure 7 , Figure 7 This is another flowchart illustrating the observation information generation method provided in this application embodiment, wherein the observation information generation process specifically includes:

[0226] 201. Set up virtual base stations within the service area according to the preset distance interval.

[0227] For example, in this embodiment of the application, for the navigation area, an origin point with both longitude and latitude smaller than the navigation area is selected. Then, based on the origin point, all VRS grid points in the navigation area are generated sequentially in the latitude and longitude directions with a step size of 10km. The physical stations within 50km of each VRS grid point are searched and sorted by distance (the number of physical stations is limited to 3). If there is no physical station within 50km of a virtual station, it means that the VRS station is too far from the physical station and needs to be discarded, thereby generating the corresponding VRS data.

[0228] 202. Select one physical base station from the physical base stations as the reference physical master station based on the distance to the virtual base station, and select multiple physical base stations as backup physical master stations.

[0229] 203. Determine if the status of the reference physical master station is abnormal. If so, proceed to step 204.

[0230] In this embodiment of the application, if the data of the reference physical master station exists and exists continuously for more than 30 epochs, the state of the reference physical master station is considered to be normal; otherwise, the state of the reference physical master station is considered abnormal.

[0231] 204. Select the target backup physical master station from the backup physical master stations based on the distance to the virtual base station.

[0232] 205. Search for a triangle with the target backup physical master station as the vertex, where the other two vertices of the triangle correspond to a physical base station, and the virtual base station is within the range of the triangle.

[0233] 206. Determine whether the above triangle exists. If it does not exist, proceed to step 207; otherwise, proceed to step 208.

[0234] 207. Correct the observation data of the target backup physical master station based on the location difference between the virtual base station and the target backup physical master station to obtain the corrected observation data, and then directly execute step 211.

[0235] 208. Calculate the double-difference residuals between the target backup physical master station and the other two physical base stations in the triangle, and fit the double-difference residuals between the target backup physical master station and the virtual base station based on the two double-difference residuals.

[0236] 209. Correct the observation data of the target backup physical master station based on the double difference residuals between the target backup physical master station and the virtual base station to obtain the corrected observation data.

[0237] 210. Correct the observed data based on the location difference between the target backup physical master station and the virtual base station to obtain the corrected observed data.

[0238] 211. Use the corrected observation data as virtual observation data for the virtual base station.

[0239] In this embodiment, by setting up a backup master station, a backup master station can be selected to replace the current master station when it fails. The observation data from this backup master station is then used to calculate and generate virtual observation data for the virtual base station. If no triangle meeting the conditions exists (i.e., the master station's observation data cannot be corrected based on the double-difference residual), the master station's observation data is directly corrected based on the positional difference between the master station and the virtual base station. This process regenerates the virtual observation data for the virtual base station, ensuring its accuracy and facilitating the provision of location services to users.

[0240] Please see Figure 8 , Figure 8 This is a schematic diagram illustrating the process of providing location services to users based on virtual observation data from virtual base stations, as provided in an embodiment of this application. The specific process of providing location services to users based on virtual observation data from virtual base stations is as follows:

[0241] 221. Receive approximate coordinates reported by the user terminal;

[0242] 222. Determine the virtual base station closest to the approximate coordinates;

[0243] 223. Send the virtual observation data of the virtual base station to the user terminal.

[0244] In this embodiment of the application, after receiving the virtual observation data from the virtual base station, the user terminal can perform real-time kinematic (RTK) positioning services based on the virtual observation data.

[0245] Among these methods, virtual observation data from the virtual base station closest to the user's terminal is used to provide positioning and navigation for the user, thereby improving the accuracy of positioning.

[0246] To facilitate better implementation of the observation information generation method of this application, this application also provides an observation information generation device based on the above-described observation information generation method. The meaning of the third target term is the same as in the above-described observation information generation method; specific implementation details can be found in the description of the method embodiments.

[0247] Please see Figure 9 , Figure 9 This is a schematic diagram of the observation information generation device provided in the embodiments of this application, wherein the observation information generation device may include:

[0248] The selection module 301 is used to select a target backup physical master station from the backup physical master stations to replace the reference physical master station if the current reference physical master station corresponding to the virtual base station is in an abnormal state. Both the backup physical master station and the reference physical master station are pre-configured according to their distance from the virtual base station.

[0249] Search module 302 is used to search for target physical auxiliary stations associated with the target backup physical master station and the virtual base station;

[0250] The generation module 303 is used to determine the virtual observation data of the virtual base station based on the geographical location information of the target backup physical master station and the virtual base station, as well as the observation data of the target backup physical master station, if the target physical auxiliary station is not found.

[0251] In some embodiments of this application, the selection module 301 includes:

[0252] The acquisition unit is used to acquire the user's movement direction;

[0253] The selection unit is configured to select a target backup physical master station from the backup physical master stations to replace the reference physical master station based on the direction of movement and the distance from the virtual base station.

[0254] In some embodiments of this application, the generation module 303 includes:

[0255] The first determining unit is used to determine the first satellite-to-ground distance between the target backup physical master station and the visible satellite based on the geographical location information of the target backup physical master station;

[0256] The second determining unit is used to determine the second satellite-to-ground distance between the virtual base station and the visible satellite based on the first satellite-to-ground distance and the geographical location information of the virtual base station;

[0257] The correction unit is used to correct the observation data of the target backup physical master station according to the second satellite-to-ground distance to obtain the corrected observation data;

[0258] A generation unit is used to use the corrected observation data as virtual observation data for the virtual base station.

[0259] In some embodiments of this application, the first determining unit includes:

[0260] The first determining subunit is used to determine the first transmission time of the satellite signal emitted from the antenna of the target backup physical master station based on the observation data of the target backup physical master station and the reception time of the satellite signal;

[0261] The calculation subunit is used to calculate the satellite clock error based on the first launch time and the broadcast ephemeris;

[0262] The second determining subunit is used to determine the second transmission time of the satellite signal emitted from the target backup physical master station based on the observation data, the satellite clock difference, and the reception time;

[0263] The third bullet-determining unit is used to determine the first satellite position information of the visible satellite at the second launch time based on the broadcast ephemeris.

[0264] The fourth determining subunit is used to determine the first satellite-to-ground distance between the target backup physical master station and the visible satellite based on the geographical location information of the target backup physical master station and the location information of the first satellite.

[0265] In some embodiments of this application, the second determining unit includes:

[0266] The acquisition sub-unit is used to obtain the reference satellite-to-ground distance based on the first satellite position information and the geographical location information of the virtual base station;

[0267] The fifth determining subunit is used to determine the third transmission time corresponding to the virtual base station based on the first satellite-to-ground distance, the reference satellite-to-ground distance, and the second transmission time;

[0268] The sixth determining subunit is used to determine the second satellite position information of the visible satellite at the third launch time based on the broadcast ephemeris;

[0269] The seventh determining subunit is used to determine the second satellite-to-ground distance between the virtual base station and the visible satellite based on the geographical location information of the virtual base station and the location information of the second satellite.

[0270] In some embodiments of this application, the device further includes another generation module, which includes:

[0271] The reference correction determination unit is used to determine the double difference error correction of the target backup physical master station relative to the target physical auxiliary station based on the observation data of the target physical auxiliary station and the observation data of the target backup physical master station if the target physical auxiliary station is found.

[0272] The estimation correction number determination unit is used to obtain the estimated double difference error correction number of the target backup physical master station relative to the virtual base station by fitting the double difference error correction number;

[0273] The observation data correction unit is used to correct the observation data of the target backup physical master station based on the correction number estimated by the double difference error, so as to obtain the corrected observation data.

[0274] The virtual observation data generation unit is used to determine the virtual observation data of the virtual base station based on the geographical location information of the target backup physical master station, the geographical location information of the virtual base station, and the corrected observation data.

[0275] In some embodiments of this application, the device further includes a positioning module, which includes:

[0276] A receiving unit is used to receive approximate coordinates reported by the user terminal;

[0277] A base station selection unit is used to select a target virtual base station from virtual base stations based on the approximate coordinates.

[0278] The sending unit is used to send the virtual observation data of the target virtual base station to the user terminal.

[0279] In this embodiment, when the reference physical master station corresponding to the virtual base station is in an abnormal state, the component under test selection module 301 selects a target backup physical master station from the backup physical master stations to replace the reference physical master station. Both the backup physical master station and the reference physical master station are pre-configured based on their distance from the virtual base station. Then, the search module 302 searches for target physical auxiliary stations associated with the target backup physical master station and the virtual base station. Subsequently, if the target physical auxiliary station is not found, the generation module 303 determines the virtual observation data of the virtual base station based on the geographical location information of the target backup physical master station and the virtual base station, as well as the observation data of the target backup physical master station.

[0280] In this embodiment, when the status of the reference physical master station corresponding to the virtual base station within the location service range is abnormal, a target backup physical master station is selected from the backup physical master stations to replace the reference physical master station. Both the backup physical master station and the reference physical master station are pre-configured based on the distance to the virtual base station. A target physical auxiliary station associated with the target backup physical master station and the virtual base station is searched. If no target physical auxiliary station is found, virtual observation data for the virtual base station is determined based on the geographical location information of the target backup physical master station and the virtual base station, as well as the observation data of the target backup physical master station. By setting a backup physical master station, a target backup physical master station can be selected from the backup physical master stations when the status of the reference physical master station is abnormal, and the target backup physical master station is used to replace the reference physical master station to obtain virtual observation data for the virtual base station, ensuring that the virtual base station can obtain the corresponding virtual observation data. If no target physical auxiliary station is associated with the target backup physical master station and the virtual base station, virtual observation data for the virtual base station can be obtained through the geographical location relationship between the target backup physical master station and the virtual base station, further ensuring the generation of virtual observation data.

[0281] In addition, this application also provides an electronic device, such as Figure 10 As shown, it illustrates the structural diagram of the electronic device involved in this application, specifically:

[0282] The electronic device may include components such as a processor 401 with one or more processing cores, a memory 402 with one or more computer-readable storage media, a power supply 403, and an input unit 404. Those skilled in the art will understand that... Figure 10 The electronic device structure shown does not constitute a limitation on the electronic device and may include more or fewer components than shown, or combine certain components, or have different component arrangements. Wherein:

[0283] The processor 401 is the control center of the electronic device, connecting various parts of the device via various interfaces and lines. It executes various functions and processes data by running or executing software programs and / or modules stored in the memory 402, and by calling data stored in the memory 402. Optionally, the processor 401 may include one or more processing cores; preferably, the processor 401 may integrate an application processor and a modem processor, wherein the application processor mainly handles the operating system, user interface, and applications, and the modem processor mainly handles wireless communication. It is understood that the modem processor may not be integrated into the processor 401.

[0284] The memory 402 can be used to store software programs and modules. The processor 401 executes various functional applications and generates observation information by running the software programs and modules stored in the memory 402. The memory 402 may mainly include a program storage area and a data storage area. The program storage area may store the operating system, application programs required for at least one function (such as sound playback function, image playback function, etc.), etc.; the data storage area may store data created according to the use of the electronic device, etc. In addition, the memory 402 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device. Accordingly, the memory 402 may also include a memory controller to provide the processor 401 with access to the memory 402.

[0285] The electronic device also includes a power supply 403 that supplies power to the various components. Preferably, the power supply 403 can be logically connected to the processor 401 through a power management system, thereby enabling functions such as charging, discharging, and power consumption management through the power management system. The power supply 403 may also include one or more DC or AC power supplies, recharging systems, power fault detection circuits, power converters or inverters, power status indicators, and other arbitrary components.

[0286] The electronic device may also include an input unit 404, which can be used to receive input digital or character information, and generate keyboard, mouse, joystick, optical or trackball signal inputs related to object settings and function control.

[0287] Although not shown, the electronic device may also include a display unit, etc., which will not be described in detail here. Specifically, in this embodiment, the processor 401 in the electronic device loads the executable files corresponding to the processes of one or more application programs into the memory 402 according to the following instructions, and the processor 401 runs the application programs stored in the memory 402, thereby implementing the steps in any of the observation information generation methods provided in this application.

[0288] In this embodiment, when the status of the reference physical master station corresponding to the virtual base station within the location service range is abnormal, a target backup physical master station is selected from the backup physical master stations to replace the reference physical master station. Both the backup physical master station and the reference physical master station are pre-configured based on the distance to the virtual base station. A target physical auxiliary station associated with the target backup physical master station and the virtual base station is searched. If no target physical auxiliary station is found, virtual observation data for the virtual base station is determined based on the geographical location information of the target backup physical master station and the virtual base station, as well as the observation data of the target backup physical master station. By setting a backup physical master station, a target backup physical master station can be selected from the backup physical master stations when the status of the reference physical master station is abnormal, and the target backup physical master station is used to replace the reference physical master station to obtain virtual observation data for the virtual base station, ensuring that the virtual base station can obtain the corresponding virtual observation data. If no target physical auxiliary station is associated with the target backup physical master station and the virtual base station, virtual observation data for the virtual base station can be obtained through the geographical location relationship between the target backup physical master station and the virtual base station, further ensuring the generation of virtual observation data.

[0289] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be performed by instructions, or by instructions controlling related hardware. These instructions can be stored in a computer-readable storage medium and loaded and executed by a processor.

[0290] Therefore, this application provides a computer-readable storage medium storing a computer program that can be loaded by a processor to execute the steps in any of the observation information generation methods provided in this application.

[0291] The computer-readable storage medium may include: read-only memory (ROM), random access memory (RAM), disk or optical disk, etc.

[0292] Since the instructions stored in the computer-readable storage medium can execute the steps in any of the observation information generation methods provided in this application, the beneficial effects that any of the observation information generation methods provided in this application can achieve can be realized, as detailed in the preceding embodiments, and will not be repeated here.

[0293] This application also provides a computer program product or computer program that includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the methods provided in the various optional implementations described in this application.

[0294] The above provides a detailed description of the observation information generation method, apparatus, electronic device, and computer-readable storage medium provided in this application. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, those skilled in the art will recognize that there will be changes in the specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

[0295] It is understood that, in the specific embodiments of this application, data related to user geographic location data, device information of user terminal mobile devices, etc., are involved. When the above embodiments of this application are applied to specific products or technologies, user permission or consent is required, and the collection, use and processing of related data must comply with the relevant laws, regulations and standards of relevant countries and regions.

Claims

1. A method for generating observation information, characterized in that, include: If the current reference physical master station corresponding to the virtual base station within the location service range is in an abnormal state, a target backup physical master station is selected from the backup physical master stations to replace the reference physical master station. Both the backup physical master station and the reference physical master station are pre-configured based on their distance from the virtual base station. Search for target physical auxiliary stations associated with the target backup physical master station and the virtual base station; If the target physical auxiliary station is not found, the virtual observation data of the virtual base station is determined based on the geographical location information of the target backup physical master station and the virtual base station, as well as the observation data of the target backup physical master station.

2. The method according to claim 1, characterized in that, The step of selecting a target backup physical master station from the backup physical master stations to replace the reference physical master station includes: Obtain the user's movement direction; Based on the direction of movement and the distance from the virtual base station, a target backup physical master station is selected from the backup physical master stations to replace the reference physical master station.

3. The method according to claim 1, characterized in that, The step of determining the virtual observation data of the virtual base station based on the geographical location information of the target backup physical master station and the virtual base station, as well as the observation data of the target backup physical master station, includes: The first satellite-to-ground distance between the target backup physical master station and the visible satellite is determined based on the geographical location information of the target backup physical master station; The second satellite-to-ground distance between the virtual base station and the visible satellite is determined based on the first satellite-to-ground distance and the geographical location information of the virtual base station; The observation data of the target backup physical master station are corrected based on the second satellite distance to obtain the corrected observation data; The corrected observation data is used as the virtual observation data of the virtual base station.

4. The method according to claim 3, characterized in that, The step of determining the first satellite-to-ground distance between the target backup physical master station and the visible satellite based on the geographical location information of the target backup physical master station includes: Based on the observation data of the target backup physical master station and the satellite signal reception time, determine the first transmission time of the satellite signal emitted from the antenna of the target backup physical master station; Calculate the satellite clock bias based on the first launch time and the broadcast ephemeris; Based on the observation data, the satellite clock difference, and the reception time, the second transmission time of the satellite signal emitted from the target backup physical master station is determined; The first satellite position information of the visible satellite at the second launch time is determined based on the broadcast ephemeris. Based on the geographical location information of the target backup physical master station and the location information of the first satellite, the first satellite-to-ground distance between the target backup physical master station and the visible satellite is determined.

5. The method according to claim 4, characterized in that, Determining the second satellite-to-ground distance between the virtual base station and the visible satellite based on the first satellite-to-ground distance and the geographical location information of the virtual base station includes: Based on the location information of the first satellite and the geographical location information of the virtual base station, the reference satellite-to-ground distance is obtained; The third transmission time corresponding to the virtual base station is determined based on the first satellite-to-ground distance, the reference satellite-to-ground distance, and the second transmission time. The second satellite position information of the visible satellite at the third launch time is determined according to the broadcast ephemeris. Based on the geographical location information of the virtual base station and the location information of the second satellite, the second satellite-to-ground distance between the virtual base station and the visible satellite is determined.

6. The method according to claim 1, characterized in that, After searching for target physical auxiliary stations associated with the target backup physical master station and the virtual base station, the method further includes: If the target physical auxiliary station is found, the double difference error correction number of the target backup physical master station relative to the target physical auxiliary station is determined based on the observation data of the target physical auxiliary station and the observation data of the target backup physical master station. The estimated double-difference error correction number of the target backup physical master station relative to the virtual base station is obtained by fitting the double-difference error correction number. The observation data of the target backup physical master station are corrected based on the double difference error estimation correction number to obtain the corrected observation data; Based on the geographical location information of the target backup physical master station, the geographical location information of the virtual base station, and the corrected observation data, the virtual observation data of the virtual base station is determined.

7. The method according to claim 2, characterized in that, After determining the virtual observation data of the virtual base station, the method further includes: Receive the approximate coordinates reported by the user terminal; Select the target virtual base station from the virtual base stations based on the approximate coordinates; The virtual observation data of the target virtual base station is sent to the user terminal.

8. An observation information generation device, characterized in that, include: The selection module is used to select a target backup physical master station from the backup physical master stations to replace the reference physical master station if the current reference physical master station corresponding to the virtual base station within the positioning service range is in an abnormal state. Both the backup physical master station and the reference physical master station are pre-configured according to their distance from the virtual base station. The search module is used to search for target physical auxiliary stations associated with the target backup physical master station and the virtual base station; The generation module is used to determine the virtual observation data of the virtual base station based on the geographical location information of the target backup physical master station and the virtual base station, as well as the observation data of the target backup physical master station, if the target physical auxiliary station is not found.

9. An electronic device, characterized in that, The electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps of the observation information generation method as described in any one of claims 1-7.

10. A storage medium, characterized in that, The storage medium stores a computer program, which, when executed by a processor, implements the steps of the observation information generation method as described in any one of claims 1-7.

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