A Beidou-based regional augmentation real-time positioning method and system

Abstract

The present invention discloses a Beidou-based regional augmentation real-time positioning method and system, which relates to the technical field of satellite positioning. The Beidou-based regional augmentation real-time positioning method includes: determining ephemeris, clock error, differential code bias, uncalibrated phase hardware delay error, and atmospheric delay error according to the server signal; using the single-frequency PPP algorithm to perform single-point positioning calculation on the acquired satellite signals according to the ephemeris, clock error, differential code bias, uncalibrated phase hardware delay error, and atmospheric delay error to determine satellite observation data; and then determining the position coordinates of the target to be positioned according to the satellite observation data. Since the atmospheric delay error is introduced into the single-frequency PPP algorithm, not only can the positioning accuracy be improved and the initialization time be shortened, but also the positioning can be performed more quickly even when the position of the positioning system changes. Therefore, the positioning accuracy and efficiency are both improved.

Description

Technical Field

[0001] The present invention relates to the technical field of satellite positioning, and particularly to a Beidou-based regional augmentation real-time positioning method and system. Background Art

[0002] The Global Navigation Satellite System (GNSS) is a technology based on satellite positioning and navigation, which is widely used in fields such as transportation, agriculture, surveying and mapping, aerospace, etc. Traditional GNSS positioning methods have some limitations in high-precision positioning, such as high equipment costs, complex infrastructure requirements, and being affected by factors such as multipath effects, signal blockage, and atmospheric delays. Especially in the case of low-cost devices and infrastructure-free environments, it becomes more difficult to obtain high-precision positioning results.

[0003] Compared with dual-frequency Precise Point Positioning (PPP) or differential positioning technology, a single-frequency PPP receiver only needs to receive and record signals of a single frequency transmitted by satellites, without the need for additional frequency reception capabilities, so the required equipment cost is relatively low.

[0004] However, a single-frequency PPP receiver is affected by atmospheric delay errors and cannot accurately position the target to be positioned, resulting in low positioning accuracy. Summary of the Invention

[0005] The purpose of the present invention is to provide a Beidou-based regional augmentation real-time positioning method and system to solve the problem in the prior art that the target to be positioned cannot be accurately positioned, resulting in low positioning accuracy.

[0006] To achieve the above purpose, the present invention provides the following solutions:

[0007] A Beidou-based regional augmentation real-time positioning method includes:

[0008] Obtaining a server signal;

[0009] According to the server signal, determining ephemeris, clock error, differential code bias, uncalibrated phase hardware delay error, and atmospheric delay error; the clock error includes the system clock error and satellite clock error; the differential code bias includes the system hardware delay error and satellite hardware delay error; the uncalibrated phase hardware delay error includes the system uncalibrated phase hardware delay error and satellite uncalibrated phase hardware delay error; the atmospheric delay error includes tropospheric delay error and ionospheric delay error; the system is installed on the target to be positioned for real-time positioning of the target to be positioned;

[0010] Obtain the satellite signals of Beidou satellites and GNSS satellites;

[0011] Using the single-frequency PPP algorithm, determine satellite observation data according to the ephemeris, the clock error, the differential code bias, the uncalibrated phase hardware delay error, the atmospheric delay error, and the satellite signal; the satellite observation data includes pseudorange observations and carrier phase observations;

[0012] Determine the position coordinates of the target to be located according to the satellite observation data.

[0013] Optionally, obtaining the satellite signals of Beidou satellites and GNSS satellites specifically includes:

[0014] Use a GNSS data receiving module composed of a positioning chip board and an antenna to receive the satellite signals of Beidou satellites and GNSS satellites.

[0015] Optionally, before using the single-frequency PPP algorithm to perform single-point positioning solution on the satellite signal according to the ephemeris, the clock error, the differential code bias, the uncalibrated phase hardware delay error, and the atmospheric delay error to determine satellite observation data, it further includes:

[0016] Perform satellite selection operation according to the satellite signal.

[0017] Optionally, the pseudorange observation value is:

[0018]

[0019] In the formula, is the pseudorange observation value, is the satellite-earth distance, Δt r is the clock error of the system, Δt s is the satellite clock error, dcb r is the hardware delay error of the system, dcb s is the hardware delay error of the satellite, is the ionospheric delay error, is the tropospheric delay error, is the multipath error, is the pseudorange observation noise, and c is the speed of light.

[0020] Optionally, the carrier phase observation value is:

[0021]

[0022] In the formula, is the carrier phase observation value, is the satellite-earth distance, Δt r is the clock error of the system, Δt s is the satellite clock error, dcbr is the hardware delay error of the system, dcb s is the hardware delay error of the satellite is the ionospheric delay error is the tropospheric delay error is the multipath error is the initial phase of the system is the initial phase of the satellite is the integer ambiguity is the carrier phase observation error is the uncalibrated phase hardware delay error of the system, b s is the uncalibrated phase hardware delay error of the satellite, λ is the carrier wavelength

[0023] A Beidou-based regional augmentation real-time positioning system includes: a GNSS data receiving module, a network module, and a data processing module;

[0024] The network module is respectively connected to the server and the data processing module, and is used to obtain the real-time ephemeris, clock error, differential code bias, uncalibrated phase hardware delay error, and atmospheric delay error of the server, and transmit the ephemeris, the clock error, the differential code bias, and the atmospheric delay error to the data processing module in real time through a USB interface; the clock error includes the clock error of the system and the satellite clock error; the differential code bias includes the hardware delay error of the system and the hardware delay error of the satellite; the uncalibrated phase hardware delay error includes the uncalibrated phase hardware delay error of the system and the uncalibrated phase hardware delay error of the satellite; the atmospheric delay error includes the tropospheric delay error and the ionospheric delay error;

[0025] The GNSS data receiving module is connected to the data processing module, and is used to obtain the satellite signals of Beidou satellites and GNSS satellites, and transmit the satellite signals to the data processing module in real time through a serial port; the satellite observation data includes pseudorange observation values and carrier phase observation values;

[0026] The data processing module is used to perform single-point positioning calculation on the satellite signals using the single-frequency PPP algorithm according to the ephemeris, the clock error, the differential code bias, the uncalibrated phase hardware delay error, and the atmospheric delay error to determine the satellite observation data, and determine the position coordinates of the target to be located according to the satellite observation data, and then transmit the position coordinates to the server through the network module; the satellite observation data includes pseudorange observation values and carrier phase observation values.

[0027] Optionally, it further includes: a battery pack;

[0028] The battery pack is respectively connected to the GNSS data receiving module, the network module and the data processing module, and is used to supply power to the GNSS data receiving module, the network module and the data processing module.

[0029] Optionally, it further includes: a solar photovoltaic panel;

[0030] The solar photovoltaic panel is connected to the battery pack and is used to charge the battery pack.

[0031] Optionally, it further includes: a power management module;

[0032] The power management module is respectively connected to the battery pack and the solar photovoltaic panel, and is used to control the solar photovoltaic panel to charge the battery pack, and control the battery pack to supply power to the GNSS data receiving module, the network module and the data processing module.

[0033] Optionally, the data processing module is further used to send an alarm signal to the server when the power of the battery pack is lower than a preset power value.

[0034] According to the specific embodiments provided by the present invention, the following technical effects are disclosed by the present invention:

[0035] The Beidou-based regional augmentation real-time positioning method and system provided by the present invention determine ephemeris, clock error, differential code bias, uncalibrated phase hardware delay error and atmospheric delay error according to the server signal; according to the ephemeris, clock error, differential code bias, uncalibrated phase hardware delay error and atmospheric delay error, use the single-frequency PPP algorithm to perform single-point positioning calculation on the acquired satellite signals to determine satellite observation data; then determine the position coordinates of the target to be located according to the satellite observation data. Since the atmospheric delay error is introduced into the single-frequency PPP algorithm, not only can the positioning accuracy be improved and the initialization time be shortened, but also the positioning can be performed more quickly even when the position of the positioning system changes. Therefore, the positioning accuracy and the positioning efficiency are both improved. Description of the Drawings

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required to be used in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0037] Figure 1 It is a flowchart of the Beidou-based regional augmentation real-time positioning method provided by the present invention;

[0038] Figure 2Schematic diagram of the Beidou-based regional augmentation real-time positioning system provided in the present invention.

[0039] Symbol description:

[0040] GNSS data receiving module - 1, network module - 2, data processing module - 3, battery pack - 4, solar photovoltaic panel - 5, power management module - 6. Specific implementation manners

[0041] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0042] The object of the present invention is to provide a Beidou-based regional augmentation real-time positioning method and system, aiming to accurately solve the atmospheric delay error through the precise point positioning algorithm. It can not only extract the positioning accuracy and initialization time, but also be able to position more quickly even when the position of the positioning system changes. Therefore, while improving the positioning accuracy, the positioning efficiency is also improved.

[0043] To make the above objects, features, and advantages of the present invention more obvious and understandable, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific implementation manners.

[0044] Embodiment 1

[0045] As Figure 1 shown, the Beidou-based regional augmentation real-time positioning method in this embodiment includes:

[0046] Step 101, obtain the server signal.

[0047] Step 102, determine the ephemeris, clock error, differential code bias (DCB), uncalibrated phase hardware delay error, and atmospheric delay error according to the server signal; the clock error includes the system clock error and satellite clock error; the differential code bias includes the system hardware delay error and satellite hardware delay error; the uncalibrated phase hardware delay error includes the system uncalibrated phase hardware delay error and satellite uncalibrated phase hardware delay error; the atmospheric delay error includes tropospheric delay error and ionospheric delay error; the system is installed on the target to be positioned for real-time positioning of the target to be positioned.

[0048] Step 103, obtain the satellite signals of Beidou satellites and GNSS satellites.

[0049] Step 104: Using the single-frequency PPP algorithm, determine satellite observation data based on ephemeris, clock bias, differential code bias, uncalibrated phase hardware delay error, atmospheric delay error, and satellite signals; the satellite observation data includes pseudorange observations and carrier phase observations.

[0050] Step 105: Determine the position coordinates of the target to be located based on the satellite observation data.

[0051] Further, Step 103 specifically includes: Using the GNSS data receiving module 1 composed of a positioning chip board and an antenna to receive satellite signals from Beidou satellites and GNSS satellites.

[0052] Further, before Step 104, it also includes: Performing satellite selection based on satellite signals.

[0053] Further, the pseudorange observation value is:

[0054]

[0055] In the formula, is the pseudorange observation value, is the satellite-earth distance, Δt r is the clock bias of the system, Δt s is the satellite clock bias, dcb r is the hardware delay error of the system, dcb s is the hardware delay error of the satellite, is the ionospheric delay error, is the tropospheric delay error, is the multipath error, is the pseudorange observation noise, and c is the speed of light.

[0056] Further, the carrier phase observation value is:

[0057]

[0058] In the formula, is the carrier phase observation value, is the satellite-earth distance, Δt r is the clock bias of the system, Δt s is the satellite clock bias, dcb r is the hardware delay error of the system, dcb s is the hardware delay error of the satellite, is the ionospheric delay error, is the tropospheric delay error, is the multipath error, is the initial phase of the system, is the initial phase of the satellite, is the integer ambiguity, is the carrier phase observation error, is the uncalibrated phase hardware delay error of the system, b s is the uncalibrated phase hardware delay error of the satellite, and λ is the carrier wavelength.

[0059] Embodiment 2

[0060] As Figure 2 shown, the Beidou-based regional augmentation real-time positioning system provided by the present invention includes: a GNSS data receiving module 1, a network module 2, and a data processing module 3.

[0061] The network module 2 is respectively connected to the server and the data processing module 3, and is used to obtain the real-time ephemeris, clock error, differential code bias, uncalibrated phase hardware delay error, and atmospheric delay error of the server, and transmit the ephemeris, clock error, differential code bias, and atmospheric delay error to the data processing module 3 in real time through a USB interface; the clock error includes the clock error of the system and the satellite clock error; the hardware delay error includes the hardware delay error of the system and the hardware delay error of the satellite; the uncalibrated phase differential code bias includes the uncalibrated phase hardware delay error of the system and the uncalibrated phase hardware delay error of the satellite; the atmospheric delay error includes the tropospheric delay error and the ionospheric delay error.

[0062] The GNSS data receiving module 1 is connected to the data processing module 3, and is used to obtain the satellite signals of Beidou satellites and GNSS satellites, and transmit the satellite signals to the data processing module 3 in real time through a serial port; the satellite observation data includes pseudorange observations and carrier phase observations.

[0063] The data processing module 3 is used to use the single-frequency PPP algorithm to determine the satellite observation data according to the ephemeris, clock error, differential code bias, uncalibrated phase hardware delay error, atmospheric delay error, and satellite signals, and determine the position coordinates of the target to be located according to the satellite observation data, and then transmit the position coordinates to the server through the network module 2; the satellite observation data includes pseudorange observations and carrier phase observations. Specifically, the data processing module 3 is composed of a development board.

[0064] Further, it further includes: a battery pack 4. The battery pack 4 is respectively connected to the GNSS data receiving module 1, the network module 2, and the data processing module 3, and is used to supply power to the GNSS data receiving module 1, the network module 2, and the data processing module 3.

[0065] Further, it further includes: a solar photovoltaic panel 5. The solar photovoltaic panel 5 is connected to the battery pack 4 and is used to charge the battery pack 4.

[0066] Further, it further includes: a power management module 6. The power management module 6 is respectively connected to the battery pack 4 and the solar photovoltaic panel 5, and is used to control the solar photovoltaic panel 5 to charge the battery pack 4, and control the battery pack 4 to supply power to the GNSS data receiving module 1, the network module 2 and the data processing module 3.

[0067] Further, the data processing module 3 is further used to send an alarm signal to the server when the power of the battery pack 4 is lower than a preset power value.

[0068] It should be noted that the Beidou-based regional augmentation real-time positioning system in this embodiment is the system in Embodiment 1.

[0069] Next, the specific process of positioning the position coordinates of the target to be located by using the Beidou-based regional augmentation real-time positioning method provided by the present invention for the Beidou-based regional augmentation real-time positioning system provided by the present invention will be introduced.

[0070] First, deploy the Beidou-based regional augmentation real-time positioning system provided by the present invention on the target to be located, turn on the system, and enable the GNSS data receiving module 1 to observe satellites and establish communication with the server. Specifically, the target to be located can be an oil and gas pipeline.

[0071] Second, the data processing module 3 simultaneously receives precise ephemeris, clock bias, differential code bias, ionospheric delay error, tropospheric delay error, and uncalibrated phase hardware delay (UPD) error from the GNSS data receiving module 1 and the network module. The clock bias includes the clock bias of the system and the satellite clock bias; the differential code bias includes the hardware delay error of the system and the hardware delay error of the satellite; the uncalibrated phase hardware delay error includes the uncalibrated phase hardware delay error of the system and the uncalibrated phase hardware delay error of the satellite; the atmospheric delay error includes the tropospheric delay error and the ionospheric delay error.

[0072] Third, the data processing module 3 performs a satellite selection operation according to the satellite signals received by the GNSS data receiving module 1, and removes the satellite signals with unqualified observed values.

[0073] Fourth, the data processing module 3 uses the single-frequency PPP algorithm to perform single-point positioning calculation on the precise ephemeris, precise clock bias, tropospheric delay error, ionospheric delay error, differential code bias, uncalibrated phase hardware delay error, and the satellite signals after the satellite selection operation to determine the satellite observation data; the satellite observation data includes pseudorange observation values and carrier phase observation values.

[0074] Further, the pseudorange observation value is:

[0075]

[0076] In the formula, is the pseudorange observation value, is the satellite-earth distance, and Δt r is the clock error of the system, Δt s is the satellite clock error, dcb r is the hardware delay error of the system, dcb s is the hardware delay error of the satellite, is the ionospheric delay error, is the tropospheric delay error, is the multipath error, is the pseudorange observation noise, and c is the speed of light.

[0077] Furthermore, the carrier phase observation value is:

[0078]

[0079] In the formula, is the carrier phase observation value, is the satellite-earth distance, and Δt r is the clock error of the system, Δt s is the satellite clock error, dcb r is the hardware delay error of the system, dcb s is the hardware delay error of the satellite, is the ionospheric delay error, is the tropospheric delay error, is the multipath error, is the initial phase of the system, is the satellite initial phase, is the integer ambiguity, is the carrier phase observation error, is the uncalibrated phase hardware delay error of the system, b s is the uncalibrated phase hardware delay error of the satellite, and λ is the carrier wavelength.

[0080] Fifth, determine the position coordinates of the target to be located according to the satellite observation data.

[0081] Sixth, transmit the calculated position coordinates of the system back to the server in real time through the network module 2, and feedback the operating status of the system to the server. The user can view the system coordinates and operating status at any time. The operating status includes but is not limited to that the system fails to calculate the coordinates or the battery pack 4 has too low power.

[0082] It should be noted that the satellite position is obtained through real-time precise ephemeris data, and the satellite clock error is obtained through real-time precise clock error data. The multipath error cannot be directly eliminated. By installing a radome or a radome ring on the GNSS data receiving module 1, setting a certain elevation angle, and selecting an appropriate satellite altitude cutoff angle according to the geographical conditions where the system is installed, the error can be effectively reduced.

[0083] Multi-frequency receiving devices in the prior art are usually more expensive than single-frequency receiver devices. Multi-frequency receiving devices require more complex hardware and algorithms to process signals of multiple frequencies, which increases the manufacturing cost and the price of the device; they have higher energy consumption: since multi-frequency receiving devices need to process signals of multiple frequencies, their energy consumption is usually higher than that of single-frequency receiver devices. With the same battery capacity, the battery life of multi-frequency receiving devices is much shorter than that of single-frequency receiver devices; the device design and operation complexity of multi-frequency receiving devices increase: the design and operation of multi-frequency receiving devices are relatively more complex. They need to process and coordinate signals of multiple frequencies and perform complex algorithm processing such as multi-frequency differential positioning or phase smoothing; the sensitivity to environmental changes increases. Multi-frequency receiving devices are relatively more sensitive to environmental changes and multipath interference; due to processing signals of multiple frequencies, they are more sensitive to the influence of environmental factors such as signal attenuation and multipath reflection, which may lead to an increase in positioning error.

[0084] Generally, real-time kinematic (RTK) differential positioning devices in the prior art usually need to communicate with an external base station to obtain differential correction data to improve positioning accuracy. This means that RTK devices need to rely on the coverage range and reliability of the base station when in use. If the base station signal is unavailable or unstable, it will affect the positioning accuracy and reliability. And generally, RTK devices usually need to perform a large amount of calculation and data processing to achieve high-precision real-time positioning, which results in a relatively high power consumption of RTK devices. For devices powered by batteries, more frequent charging or a larger battery capacity may be required.

[0085] In summary, compared with multi-frequency receiving devices and RTK differential positioning devices in the prior art, the Beidou-based regional augmentation real-time positioning system provided by the present invention has the following advantages:

[0086] Real-time communication: By adding a communication module, the positioning device can achieve real-time communication functions, enabling the device to perform instant data transmission and communication with a remote server or other devices. In this way, the device status can be monitored in real time, positioning data can be transmitted, or instructions can be received, etc. Especially by receiving ionospheric and tropospheric delays, the positioning accuracy of single-frequency PPP can be significantly improved.

[0087] Remote management and control: Through the communication module, remote management and control of the positioning device can be achieved. Using a remote management platform or application, users can remotely monitor the device status, adjust device parameters, issue commands, etc., improving the management efficiency and flexibility of the device.

[0088] The solar photovoltaic panel 5 has the following advantages:

[0089] Clean and environmentally friendly: The working principle of the solar photovoltaic panel 5 is to convert solar energy into electrical energy without generating any pollutants or greenhouse gas emissions. Compared with the power generation method using fossil fuels, solar power supply has less impact on the environment, helping to reduce carbon emissions and air pollution.

[0090] Independence and remote use: The solar photovoltaic panel 5 can be installed in various locations without the need for connection to the traditional power grid. This makes solar power supply suitable for remote areas, the wild, and off-grid environments, providing independent and remote power support for devices.

[0091] Low maintenance cost: Once the solar photovoltaic panel 5 is installed, there are almost no moving parts during operation, so the maintenance cost is relatively low. Usually, only the surface of the photovoltaic panel needs to be cleaned regularly to ensure its normal operation.

[0092] The single-frequency precise point positioning method in the present invention also has the following advantages compared with the multi-frequency positioning method:

[0093] 1) Advantages of the GNSS data receiving module 1.

[0094] Lower cost: Single-frequency receivers are simpler and more economical compared to multi-frequency receivers because they only need to process signals of a single frequency.

[0095] Simplicity: The design and operation of single-frequency receivers are relatively simple and do not require additional hardware and algorithms to process signals of multiple frequencies.

[0096] 2) The modular device has the following advantages.

[0097] Flexibility and customizability: Modular devices allow different modules to be freely combined and configured according to needs to achieve the required functions. This provides flexibility and customizability, enabling users to build their own device systems according to specific requirements.

[0098] Easy maintenance and upgrade: Modular devices make maintenance and upgrade simpler. When a module fails, only that module needs to be replaced instead of the entire device. Similarly, when a certain function needs to be upgraded, only the corresponding module needs to be upgraded instead of the entire device, which reduces the cost and workload of maintenance and upgrade.

[0099] Adaptability and scalability: Modular devices can be adapted and expanded according to requirements. When requirements change, modules can be added or removed to meet new needs. This adaptability and scalability enable the device to adapt to different application scenarios and requirements.

[0100] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0101] Specific examples are used in this article to elaborate on the principles and implementation manners of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manners and application scopes. In summary, the content of this specification should not be construed as a limitation on the present invention.

Claims

1. A Beidou-based regional augmentation real-time positioning method, characterized in that, Including: Obtain server signals; According to the server signals, determine ephemeris, clock error, differential code bias, uncalibrated phase hardware delay error, and atmospheric delay error; the clock error includes the system clock error and satellite clock error; the differential code bias includes the system hardware delay error and satellite hardware delay error; the uncalibrated phase hardware delay error includes the system uncalibrated phase hardware delay error and satellite uncalibrated phase hardware delay error; the atmospheric delay error includes tropospheric delay error and ionospheric delay error; the system is installed on the target to be located for real-time positioning of the target to be located; Obtain satellite signals of Beidou satellites and GNSS satellites; Using the single-frequency PPP algorithm, according to the ephemeris, the clock error, the differential code bias, the uncalibrated phase hardware delay error, the atmospheric delay error, and the satellite signals, determine satellite observation data; the satellite observation data includes pseudorange observation values and carrier phase observation values; Determine the position coordinates of the target to be located according to the satellite observation data; The calculation formula for the carrier phase observation value is: Wherein, is the carrier phase observation value, is the satellite-earth distance, and Δt r is the clock error of the system, and Δt s is the satellite clock error, is the ionospheric delay error, is the tropospheric delay error, is the multipath error, is the initial phase of the system, is the initial phase of the satellite, is the integer ambiguity, is the carrier phase observation error, is the uncalibrated phase hardware delay error of the system, b s is the uncalibrated phase hardware delay error of the satellite, c is the speed of light, and λ is the carrier wavelength; The pseudorange observation value is: ； Wherein, is the pseudo-range observation value, is the satellite-earth distance, Δtr is the clock error of the system, Δts is the satellite clock error, dcbr is the hardware delay error of the system, dcbs is the hardware delay error of the satellite, is the ionospheric delay error, is the tropospheric delay error, is the multipath error, is the pseudo-range observation noise, and c is the speed of light.

2. The Beidou-based regional augmentation real-time positioning method according to claim 1, wherein Obtain satellite signals of Beidou satellites and GNSS satellites, specifically including: Use a GNSS data receiving module composed of a positioning chip board and an antenna to receive satellite signals of Beidou satellites and GNSS satellites.

3. The Beidou-based regional augmentation real-time positioning method according to claim 1, characterized in that Before using the single-frequency PPP algorithm to perform single-point positioning calculation on the satellite signals according to the ephemeris, the clock error, the differential code bias, the uncalibrated phase hardware delay error, and the atmospheric delay error to determine satellite observation data, it also includes: Perform satellite selection operation according to the satellite signals.

4. A Beidou-based regional augmentation real-time positioning system, characterized in that, Adopt the Beidou-based regional augmentation real-time positioning method according to any one of claims 1-3, and the Beidou-based regional augmentation real-time positioning system includes: a GNSS data receiving module, a network module, and a data processing module; The network module is respectively connected to the server and the data processing module, and is used to obtain the real-time ephemeris, clock error, differential code bias, uncalibrated phase hardware delay error, and atmospheric delay error of the server, and transmit the ephemeris, the clock error, the differential code bias, and the atmospheric delay error to the data processing module in real time through a USB interface; the clock error includes the system clock error and satellite clock error; the differential code bias includes the system hardware delay error and satellite hardware delay error; the uncalibrated phase hardware delay error includes the system uncalibrated phase hardware delay error and satellite uncalibrated phase hardware delay error; the atmospheric delay error includes tropospheric delay error and ionospheric delay error; The GNSS data receiving module is connected to the data processing module, and is used to obtain satellite signals of Beidou satellites and GNSS satellites, and transmit the satellite signals to the data processing module in real time through a serial port; the satellite observation data includes pseudorange observation values and carrier phase observation values; The data processing module is configured to perform single-point positioning solution on the satellite signals by using the single-frequency PPP algorithm based on the ephemeris, the clock error, the differential code bias, the uncalibrated phase hardware delay error, and the atmospheric delay error to determine satellite observation data, and determine the position coordinates of the target to be located according to the satellite observation data, and then transmit the position coordinates to the server through the network module; the satellite observation data includes pseudorange observations and carrier phase observations; The calculation formula for the carrier phase observation value is: In the formula, is the carrier phase observation value, is the satellite-earth distance, and Δt r is the clock error of the system, and Δt s is the satellite clock error, is the ionospheric delay error, is the tropospheric delay error, is the multipath error, is the initial phase of the system, is the initial phase of the satellite, is the integer ambiguity, is the carrier phase observation error, is the uncalibrated phase hardware delay error of the system, b s is the uncalibrated phase hardware delay error of the satellite, c is the speed of light, and λ is the carrier wavelength; The pseudorange observation value is: ； In the formula, is the pseudorange observation value, is the satellite-earth distance, Δtr is the clock error of the system, Δts is the satellite clock error, dcbr is the hardware delay error of the system, dcbs is the hardware delay error of the satellite, is the ionospheric delay error, is the tropospheric delay error, is the multipath error, is the pseudorange observation noise, and c is the speed of light.

5. The Beidou-based regional augmentation real-time positioning system according to claim 4, wherein, It further includes: A battery pack; The battery pack is respectively connected to the GNSS data receiving module, the network module, and the data processing module, and is used to supply power to the GNSS data receiving module, the network module, and the data processing module.

6. The Beidou-based regional augmentation real-time positioning system according to claim 5, wherein, It further includes: A solar photovoltaic panel; The solar photovoltaic panel is connected to the battery pack and is used to charge the battery pack.

7. The Beidou-based regional augmentation real-time positioning system according to claim 6, wherein, It further includes: A power management module; The power management module is respectively connected to the battery pack and the solar photovoltaic panel, and is used to control the solar photovoltaic panel to charge the battery pack, and control the battery pack to supply power to the GNSS data receiving module, the network module, and the data processing module.

8. The Beidou-based regional augmentation real-time positioning system according to claim 5, wherein The data processing module is further configured to send an alarm signal to the server when the power of the battery pack is lower than a preset power value.

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