Method for eliminating RTK positioning jump point, cloud and storage medium

Abstract

The invention discloses a method for eliminating RTK positioning jump points, a cloud end and a storage medium. The method comprises the following steps: acquiring an observation value from at least one terminal; wherein the observation values from each terminal are respectively a group of observation values; for each terminal, a series of RTK positioning calculation results based on a group of observation values of the terminal are obtained by using networking information of an RTK base station, and the obtained series of RTK positioning calculation results are averaged to eliminate RTK positioning jump points corresponding to the terminal. According to the embodiment of the invention, positive and negative results can be counteracted to a great extent, so that the reliability of an RTK fixed solution is improved, and the positioning precision of RTK is improved.

Description

Technical Field

[0001] This article relates to high-precision positioning technology, particularly a method for eliminating RTK positioning jump points, cloud, and storage media. Background Art

[0002] Real-time kinematic (RTK) provides centimeter-level or even millimeter-level high-precision position information, and improves the accuracy and real-time performance of positioning through differential correction between the base station and the mobile station. Ideally, RTK positioning should be stable, but in actual use, it may cause point jumps due to the problem of switching RTK positioning base stations.

[0003] However, the related art lacks a corresponding elimination method, thereby reducing the reliability of the RTK fixed solution and the positioning accuracy of the RTK. Summary of the invention

[0004] The present application provides a method, a cloud, and a storage medium for eliminating RTK positioning jump points, which can improve the reliability of RTK fixed solutions and improve the positioning accuracy of RTK.

[0005] In a first aspect, the present application provides a method for eliminating RTK positioning jump points, the method comprising: Obtaining observations from at least one terminal; wherein the observations from each terminal are a group of observations; For each terminal, the networking information of the RTK base station is used to obtain a series of RTK positioning solution results based on a set of observation values ​​of the terminal, and the obtained series of RTK positioning solution results are averaged to eliminate the RTK positioning jump points corresponding to the terminal.

[0006] In a second aspect, the present application provides a cloud for eliminating RTK positioning jump points, including: a memory and a processor, wherein the memory is used to store an executable program; The processor is used to read and execute the executable program to implement the method for eliminating RTK positioning jump points as described above.

[0007] In a third aspect, the present application provides a storage medium having computer executable commands stored thereon, wherein the computer executable commands are used to execute the method for eliminating RTK positioning jump points as described above.

[0008] Compared with the related art, the embodiment of the present application obtains observation values ​​from at least one terminal; wherein the observation values ​​from each terminal are a group of observation values; for each terminal, the networking information of the RTK base station is used to obtain a series of RTK positioning solution results based on a group of observation values ​​of the terminal, and the obtained series of RTK positioning solution results are averaged to eliminate the RTK positioning jump points corresponding to the terminal. The embodiment of the present application recognizes that the solution results usually have positive and negative differences (the RTK positioning solution results are different in direction relative to the positioning origin when expressed in positioning coordinates, so there are positive and negative differences), so using a series of RTK positioning solution results for averaging can achieve the offset of positive and negative results to a great extent, thereby improving the reliability of the RTK fixed solution and improving the positioning accuracy of the RTK.

[0009] Other features and advantages of the present application will be described in the following description, and partly become apparent from the description, or be understood by implementing the present application. Other advantages of the present application can be realized and obtained by the schemes described in the description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] The accompanying drawings are used to provide an understanding of the technical solution of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the technical solution of the present application and do not constitute a limitation on the technical solution of the present application.

[0011] FIG1 is a flow chart of a method for eliminating RTK positioning jump points according to an embodiment of the present application; FIG2 is a schematic diagram of a process for obtaining a series of RTK positioning solution results according to an embodiment of the present application; FIG3 is a schematic diagram of a process for eliminating RTK positioning jump points according to an embodiment of the present application; FIG4 is a schematic diagram of a cloud structure for eliminating RTK positioning jump points according to an embodiment of the present application. DETAILED DESCRIPTION

[0012] The present application describes multiple embodiments, but the description is exemplary rather than restrictive, and it is obvious to those skilled in the art that there may be more embodiments and implementations within the scope of the embodiments described in the present application. Although many possible feature combinations are shown in the drawings and discussed in the specific embodiments, many other combinations of the disclosed features are also possible. Unless specifically limited, any feature or element of any embodiment may be used in combination with any other feature or element in any other embodiment, or may replace any other feature or element in any other embodiment.

[0013] The present application includes and contemplates combinations of features and elements known to those of ordinary skill in the art. The embodiments, features and elements disclosed in the present application may also be combined with any conventional features or elements to form a unique invention scheme defined by the claims. Any features or elements of any embodiment may also be combined with features or elements from other invention schemes to form another unique invention scheme defined by the claims. Therefore, it should be understood that any feature shown and / or discussed in the present application may be implemented individually or in any appropriate combination. Therefore, except for the limitations made according to the attached claims and their equivalents, the embodiments are not subject to other restrictions. In addition, various modifications and changes may be made within the scope of protection of the attached claims.

[0014] In addition, when describing representative embodiments, the specification may have presented the method and / or process as a specific sequence of steps. However, to the extent that the method or process does not rely on the specific order of the steps described herein, the method or process should not be limited to the steps of the specific order described. As will be understood by those of ordinary skill in the art, other sequences of steps are also possible. Therefore, the specific sequence of the steps set forth in the specification should not be interpreted as a limitation for the claims. In addition, the claims for the method and / or process should not be limited to the steps of performing them in the order written, and those skilled in the art can easily understand that these sequences can be changed and still remain within the spirit and scope of the embodiments of the present application.

[0015] The embodiment of the present application provides a method for eliminating RTK positioning jump points, as shown in FIG1 , the method comprising: Step 101: Obtain observation values ​​from at least one terminal; wherein the observation values ​​from each terminal are a group of observation values; Step 102: For each terminal, the networking information of the RTK base station is used to obtain a series of RTK positioning solution results based on a set of observation values ​​of the terminal, and the obtained series of RTK positioning solution results are averaged to eliminate the RTK positioning jump points corresponding to the terminal.

[0016] The method for eliminating RTK positioning jump points provided in the embodiment of the present application can be applied to any one observation time, or to a series of continuous observation times. When applied to a series of continuous observation times, the method for eliminating RTK positioning jump points provided in the embodiment of the present application is applied to each observation time in the series of continuous observation times.

[0017] The method for eliminating RTK positioning jump points provided in the embodiment of the present application obtains observation values ​​from at least one terminal; wherein the observation values ​​from each terminal are a group of observation values; for each terminal, the networking information of the RTK base station is used to obtain a series of RTK positioning solution results based on a group of observation values ​​of the terminal, and the obtained series of RTK positioning solution results are averaged to eliminate the RTK positioning jump points corresponding to the terminal. The embodiment of the present application recognizes that there are usually positive and negative differences in the solution results (the RTK positioning solution results are different in direction relative to the positioning origin when expressed in positioning coordinates, so there are positive and negative differences), so using a series of RTK positioning solution results for averaging can achieve the offset of positive and negative results to a great extent, thereby improving the reliability of the RTK fixed solution and improving the positioning accuracy of the RTK.

[0018] The method for eliminating RTK positioning jump points provided in the embodiment of the present application can be executed by the cloud, which can fully utilize the computing power of the cloud.

[0019] In an exemplary embodiment, the method of using the networking information of the RTK base station to obtain a series of RTK positioning solution results based on a set of observation values ​​of the terminal, as shown in FIG2, includes: Step 201, calculating the approximate position of the terminal according to a set of observation values ​​of the terminal; Step 202: using the networking information of the RTK base station to search for N RTK base stations that are closest to the obtained approximate location of the terminal; wherein N is a preset number; Step 203: Obtain the observation values ​​and precise coordinates of the N RTK base stations found, and obtain N RTK positioning solution results based on the observation values ​​and precise coordinates of the N RTK base stations obtained, and use them as a series of RTK positioning solution results based on a set of observation values ​​of the terminal.

[0020] The networking information of the RTK base station refers to the location information of the RTK base station that constitutes the network RTK.

[0021] Exemplarily, assuming that there are terminal A, terminal B, and terminal C, at a certain observation time, a set of observation values ​​of terminal A, terminal B, and terminal C are obtained. For terminal A, the networking information of the RTK base station is used to find the N RTK base stations closest to the approximate position of terminal A, and the observation values ​​and precise coordinates of the N RTK base stations found are obtained. N RTK positioning solution results are obtained based on the observation values ​​and precise coordinates of the N RTK base stations obtained, and are used as a series of RTK positioning solution results based on the set of observation values ​​of terminal A; for terminal B, the networking information of the RTK base station is used to find the N RTK base stations closest to the approximate position of terminal B. RTK base stations are found, the observation values ​​and precise coordinates of the N RTK base stations found are obtained, and N RTK positioning solution results are obtained according to the observation values ​​and precise coordinates of the N RTK base stations obtained, and these are used as a series of RTK positioning solution results based on a group of observation values ​​of terminal B; the networking information of the RTK base stations is used to find the N RTK base stations closest to the approximate position of terminal C, and the observation values ​​and precise coordinates of the N RTK base stations found are obtained, and N RTK positioning solution results are obtained according to the observation values ​​and precise coordinates of the N RTK base stations obtained, and these are used as a series of RTK positioning solution results based on a group of observation values ​​of terminal C.

[0022] In an exemplary embodiment, before averaging a series of RTK positioning solution results to eliminate the RTK positioning jump point corresponding to the terminal, the method further includes: Verify the correctness of a series of RTK positioning solution results; The averaging of a set of obtained RTK positioning solution results to eliminate the RTK positioning jump point corresponding to the terminal includes: When a series of RTK positioning solution results obtained pass the correctness check, the series of RTK positioning solution results obtained are averaged to eliminate the RTK positioning jump point corresponding to the terminal.

[0023] The correctness check is to check the correctness of each positioning solution result in a series of RTK positioning solution results, as well as the relationship between the positioning solution results. If a series of RTK positioning solution results obtained do not pass the correctness check, the series of RTK positioning solution results obtained will be discarded.

[0024] When the observation values ​​obtained come from multiple terminals, the correctness check is to perform correctness checks on a series of RTK positioning solution results of each terminal. For example, it is still assumed that there are terminals A, B and C. Through the above embodiment, we can obtain: a series of RTK positioning solution results of a group of observation values ​​of terminal A, a series of RTK positioning solution results of a group of observation values ​​of terminal B, and a series of RTK positioning solution results of a group of observation values ​​of terminal C. Correctness check means: respectively checking the correctness of a series of RTK positioning solution results of a group of observation values ​​of terminal A, a series of RTK positioning solution results of a group of observation values ​​of terminal B, and a series of RTK positioning solution results of a group of observation values ​​of terminal C; averaging a group of RTK positioning solution results obtained to eliminate the RTK positioning jump point corresponding to the terminal means: when a series of RTK positioning solution results of a group of observation values ​​of terminal A pass the correctness check, averaging a series of RTK positioning solution results of a group of observation values ​​of terminal A to eliminate the RTK positioning jump point corresponding to the terminal, otherwise discarding; when a series of RTK positioning solution results of a group of observation values ​​of terminal B pass the correctness check, averaging a series of RTK positioning solution results of a group of observation values ​​of terminal B to eliminate the RTK positioning jump point corresponding to the terminal, otherwise discarding; when a series of RTK positioning solution results of a group of observation values ​​of terminal C pass the correctness check, averaging a series of RTK positioning solution results of a group of observation values ​​of terminal C to eliminate the RTK positioning jump point corresponding to the terminal, otherwise discarding.

[0025] In an exemplary embodiment, the correctness check of a series of RTK positioning solution results obtained includes: Use at least one of the following methods to check correctness: Determine whether a series of RTK positioning solution results obtained are all fixed solutions; Determine whether the distance between any two RTK positioning solution results in a series of RTK positioning solution results obtained is greater than a preset threshold.

[0026] The correctness check can be performed by determining whether the series of RTK positioning solution results obtained are all fixed solutions, or by determining whether the distance between any two RTK positioning solution results in the series of RTK positioning solution results obtained is greater than a preset threshold, or by both determining whether the series of RTK positioning solution results obtained are all fixed solutions and determining whether the distance between any two RTK positioning solution results in the series of RTK positioning solution results obtained is greater than a preset threshold, that is, a combination of methods.

[0027] Exemplarily, it is still assumed that there are terminal A, terminal B and terminal C, and the above embodiments provide: a series of RTK positioning solution results for a group of observation values ​​of terminal A, a series of RTK positioning solution results for a group of observation values ​​of terminal B, and a series of RTK positioning solution results for a group of observation values ​​of terminal C. When the correctness check is performed in a combined manner, it is determined whether the series of RTK positioning solution results for a group of observation values ​​of terminal A are all fixed solutions, and whether the distance between any two RTK positioning solution results is greater than a preset threshold; it is determined whether the series of RTK positioning solution results for a group of observation values ​​of terminal B are all fixed solutions, and whether the distance between any two RTK positioning solution results is greater than a preset threshold; it is determined whether the series of RTK positioning solution results for a group of observation values ​​of terminal C are all fixed solutions, and whether the distance between any two RTK positioning solution results is greater than a preset threshold.

[0028] In an exemplary embodiment, when the correctness check is performed in the following manner: determining whether a series of RTK positioning solution results obtained are all fixed solutions, the method further includes: When a series of RTK positioning solution results obtained are all fixed solutions, it is determined that the series of RTK positioning solution results obtained pass the correctness check; In an exemplary embodiment, when the correctness check is performed in the following manner: determining whether the distance between any two RTK positioning solution results in a series of obtained RTK positioning solution results is greater than a preset threshold, the method further includes: When the distance between any two RTK positioning solution results in the series of RTK positioning solution results obtained is not greater than a preset threshold, it is determined that the series of RTK positioning solution results obtained pass the correctness check; In an exemplary embodiment, when the correctness check is performed in the following manner: determining whether a series of RTK positioning solution results obtained are all fixed solutions, and determining whether the distance between any two RTK positioning solution results in the series of RTK positioning solution results obtained is greater than a preset threshold, the method further includes: When the series of RTK positioning solution results obtained are all fixed solutions, and the distance between any two RTK positioning solution results in the series of RTK positioning solution results obtained is not greater than a preset threshold, it is determined that the series of RTK positioning solution results obtained pass the correctness check.

[0029] Exemplarily, it is still assumed that there are terminal A, terminal B and terminal C. Through the above embodiment, we obtain: a series of RTK positioning solution results of a group of observation values ​​of terminal A, a series of RTK positioning solution results of a group of observation values ​​of terminal B, and a series of RTK positioning solution results of a group of observation values ​​of terminal C. When the combination method is used for correctness verification, when the series of RTK positioning solution results of a group of observation values ​​of terminal A are all fixed solutions, and the distance between any two RTK positioning solution results is not greater than the preset threshold, it is determined that the series of RTK positioning solution results of a group of observation values ​​of terminal A pass the correctness verification; when the series of RTK positioning solution results of a group of observation values ​​of terminal B are all fixed solutions, and the distance between any two RTK positioning solution results is not greater than the preset threshold, it is determined that the series of RTK positioning solution results of a group of observation values ​​of terminal B pass the correctness verification; when the series of RTK positioning solution results of a group of observation values ​​of terminal C are all fixed solutions, and the distance between any two RTK positioning solution results is not greater than the preset threshold, it is determined that the series of RTK positioning solution results of a group of observation values ​​of terminal C pass the correctness verification.

[0030] In an exemplary embodiment, the averaging of a series of RTK positioning solution results obtained to eliminate the RTK positioning jump point corresponding to the terminal includes: A series of RTK positioning solution results are added and averaged to eliminate the RTK positioning jump points corresponding to the terminal.

[0031] For example, assuming N=3, a series of RTK positioning solution results are actually three RTK positioning solution results, r1, r2, r3 represent the three RTK positioning solution results, and the summing and averaging of r1, r2, r3 is achieved by the following formula: (r1+r2+r3) / 3. Since r1, r2, r3 (expressed in positioning coordinates) have different directions relative to the positioning origin, they often have positive and negative values. By summing and averaging them, the positive and negative values ​​can be effectively offset, greatly reducing errors and eliminating positioning jumps.

[0032] In an exemplary embodiment, the averaging of a series of RTK positioning solution results obtained to eliminate the RTK positioning jump point corresponding to the terminal includes: A weighted average process is performed on a series of RTK positioning solution results obtained to eliminate the RTK positioning jump points corresponding to the terminal.

[0033] This method refers to assigning weights to a series of RTK positioning solution results, and then using the assigned weights and a series of RTK positioning solution results for weighted averaging.

[0034] In an exemplary embodiment, when the method of averaging the series of RTK positioning solution results obtained is to perform weighted averaging on the series of RTK positioning solution results obtained; The weighted average processing of a series of RTK positioning solution results obtained to eliminate the RTK positioning jump point corresponding to the terminal, as shown in FIG3, includes: Step 301: Determine the weights corresponding to the N RTK base stations respectively according to the distances between the terminal and the N RTK base stations found; wherein the weight corresponding to the RTK base station far from the terminal is smaller than the weight corresponding to the RTK base station close to the terminal; Step 302: Perform weighted averaging processing based on the weights corresponding to the determined N RTK base stations and a series of obtained RTK positioning solution results to eliminate the RTK positioning jump points of the terminal.

[0035] For example, still assuming N=3, a series of RTK positioning solution results are actually 3 RTK positioning solution results, r1, r2, r3 represent the 3 RTK positioning solution results, 3 TK positioning solution results correspond to 3 RTK base stations, represented by R1, R2, R3 respectively, and the weights corresponding to the 3 RTK base stations are represented by w1, w2, w3 respectively, and it is assumed that base station R1 is the farthest from the terminal (here it means the farthest from the terminal among base stations R1, R2, R3), and base station R3 is the closest to the terminal, so the weight w1 corresponding to base station R1 is the smallest, and the weight w3 corresponding to base station R3 is the largest. The weighted average processing of r1, r2, r3 can be achieved by the following formula: r1* +r2* +r3* Since r1, r2, and r3 (expressed in positioning coordinates) have different directions relative to the positioning origin, they are often positive or negative. By performing weighted averaging on them, the positive and negative values ​​can be effectively offset, greatly reducing errors and eliminating positioning jumps.

[0036] In an exemplary embodiment, determining the weights corresponding to the N RTK base stations respectively according to the distance relationships between the terminal and the N RTK base stations found includes: According to the distances between the terminal and the N RTK base stations found, the weights corresponding to the N RTK base stations are obtained from a preset weight set; wherein the number of weights in the preset weight set is N.

[0037] For example, it is still assumed that N=3, and a series of RTK positioning solution results are actually 3 RTK positioning solution results, and r1, r2, and r3 represent the 3 RTK positioning solution results. The 3 TK positioning solution results correspond to 3 RTK base stations, which are represented by R1, R2, and R3 respectively. It is assumed that base station R1 is the farthest from the terminal (here it means the farthest from the terminal among base stations R1, R2, and R3), and the weight set is (w1, w2, w3), and w1, w2, and w3 are from large to small. Then, since base station R1 is the farthest from the terminal, base station R1 should be assigned the smallest weight in the weight set, that is, w3, and base station R3 is the closest to the terminal, so base station R3 should be assigned the largest weight in the weight set, that is, w1. The weighted average processing of r1, r2, and r3 can be achieved by the following formula: r1* +r2* +r3* .

[0038] In an exemplary embodiment, determining the weights corresponding to the N RTK base stations respectively according to the distance relationships between the terminal and the N RTK base stations found includes: The weights corresponding to the N RTK base stations are calculated according to the distances between the terminal and the N RTK base stations found.

[0039] For example, assuming that N=3, a series of RTK positioning solutions are actually three RTK positioning solutions. The three RTK positioning solutions are represented by r1, r2, and r3. The three TK positioning solutions correspond to three RTK base stations, represented by R1, R2, and R3 respectively. The distances between the base stations R1, R2, and R3 and the terminal are l1, l2, and l3 respectively (all represented by positive numbers). The weight w1 corresponding to the base station R1 is , the weight w2 corresponding to base station R2= , the weight w1 corresponding to base station R3= , the weighted average processing of r1, r2, and r3 can be achieved by the following formula: r1* +r2* +r3* .

[0040] The embodiment of the present application also provides a cloud for eliminating RTK positioning jump points, as shown in FIG4 , the cloud 4 for eliminating RTK positioning jump points includes: An acquisition module 41 is used to acquire observation values ​​from at least one terminal; wherein the observation values ​​from each terminal are a group of observation values; The processing module 42 is used to obtain a series of RTK positioning solution results based on a set of observation values ​​of the terminal for each terminal using the networking information of the RTK base station, and average the obtained series of RTK positioning solution results to eliminate the RTK positioning jump points corresponding to the terminal.

[0041] The cloud for eliminating RTK positioning jump points provided in the embodiment of the present application obtains observation values ​​from at least one terminal; wherein the observation values ​​from each terminal are a group of observation values; for each terminal, the networking information of the RTK base station is used to obtain a series of RTK positioning solution results based on a group of observation values ​​of the terminal, and the obtained series of RTK positioning solution results are averaged to eliminate the RTK positioning jump points corresponding to the terminal. The embodiment of the present application recognizes that there are usually positive and negative differences in the solution results (the RTK positioning solution results are different in direction relative to the positioning origin when expressed in positioning coordinates, so there are positive and negative differences), so using a series of RTK positioning solution results for averaging can achieve the offset of positive and negative results to a great extent, thereby improving the reliability of the RTK fixed solution and improving the positioning accuracy of the RTK.

[0042] The embodiment of the present application also provides a cloud for eliminating RTK positioning jump points, including: a memory and a processor, wherein the memory is used to store an executable program; The processor is used to read and execute the executable program to implement the method for eliminating RTK positioning jump points as described in any of the above embodiments.

[0043] An embodiment of the present application further provides a storage medium, on which computer executable commands are stored, and the computer executable commands are used to execute the method for eliminating RTK positioning jump points as described in any of the above embodiments.

[0044] It will be appreciated by those skilled in the art that all or some of the steps, systems, and functional modules / units in the methods disclosed above may be implemented as software, firmware, hardware, and appropriate combinations thereof. In hardware implementations, the division between the functional modules / units mentioned in the above description does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed by several physical components in cooperation. Some or all components may be implemented as software executed by a processor, such as a digital signal processor or a microprocessor, or implemented as hardware, or implemented as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include a computer storage medium (or non-transitory medium) and a communication medium (or transient medium). As is known to those skilled in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information, such as computer-readable instructions, data structures, program modules, or other data. Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer. In addition, it is well known to those skilled in the art that communication media typically contain computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

Claims

1. A method for eliminating RTK positioning jump points, characterized in that: The method comprises: Obtaining observations from at least one terminal; wherein the observations from each terminal are a group of observations; For each terminal, the networking information of the RTK base station is used to obtain a series of RTK positioning solution results based on a set of observation values ​​of the terminal, and the obtained series of RTK positioning solution results are averaged to eliminate the RTK positioning jump points corresponding to the terminal.

2. The method according to claim 1, characterized in that The method of using the networking information of the RTK base station to obtain a series of RTK positioning solution results based on a set of observation values ​​of the terminal includes: Calculating the approximate position of the terminal based on a set of observation values ​​of the terminal; Using the networking information of the RTK base station, searching for N RTK base stations that are closest to the obtained approximate location of the terminal; wherein N is a preset number; The observation values ​​and precise coordinates of the N RTK base stations found are obtained, and N RTK positioning solution results are obtained according to the observation values ​​and precise coordinates of the N RTK base stations obtained, and used as a series of RTK positioning solution results based on a set of observation values ​​of the terminal.

3. The method according to claim 2, characterized in that Before averaging the obtained series of RTK positioning solution results to eliminate the RTK positioning jump point corresponding to the terminal, the method further includes: Verify the correctness of a series of RTK positioning solution results; The averaging of a set of obtained RTK positioning solution results to eliminate the RTK positioning jump point corresponding to the terminal includes: When a series of RTK positioning solution results obtained pass the correctness check, the series of RTK positioning solution results obtained are averaged to eliminate the RTK positioning jump point corresponding to the terminal.

4. The method according to claim 3, characterized in that The correctness check of a series of RTK positioning solution results obtained includes: Use at least one of the following methods to check correctness: Determine whether a series of RTK positioning solution results obtained are all fixed solutions; Determine whether the distance between any two RTK positioning solution results in a series of RTK positioning solution results obtained is greater than a preset threshold.

5. The method according to claim 4, characterized in that When the correctness check is performed in the following manner: determining whether a series of RTK positioning solution results obtained are all fixed solutions, the method further includes: When a series of RTK positioning solution results obtained are all fixed solutions, it is determined that the series of RTK positioning solution results obtained pass the correctness check; When the correctness check is performed in the following manner: determining whether the distance between any two RTK positioning solution results in a series of obtained RTK positioning solution results is greater than a preset threshold, the method further includes: When the distance between any two RTK positioning solution results in the series of RTK positioning solution results obtained is not greater than a preset threshold, it is determined that the series of RTK positioning solution results obtained pass the correctness check; When the correctness check is performed in the following manner: determining whether a series of RTK positioning solution results obtained are all fixed solutions, and determining whether the distance between any two RTK positioning solution results in the series of RTK positioning solution results obtained is greater than a preset threshold, the method further includes: When the series of RTK positioning solution results obtained are all fixed solutions, and the distance between any two RTK positioning solution results in the series of RTK positioning solution results obtained is not greater than a preset threshold, it is determined that the series of RTK positioning solution results obtained pass the correctness check.

6. The method according to claim 1 or 3, characterized in that: The averaging of a series of RTK positioning solution results obtained to eliminate the RTK positioning jump point corresponding to the terminal includes: Perform summing and averaging of a series of RTK positioning solution results to eliminate the RTK positioning jump points corresponding to the terminal; Alternatively, a weighted average process is performed on a series of RTK positioning solution results obtained to eliminate the RTK positioning jump point corresponding to the terminal.

7. The method according to claim 6, characterized in that When the method of averaging the series of RTK positioning solution results obtained is to perform weighted average processing on the series of RTK positioning solution results obtained; The step of performing weighted average processing on a series of RTK positioning solution results to eliminate the RTK positioning jump point corresponding to the terminal includes: Determine the weights corresponding to the N RTK base stations according to the distances between the terminal and the N RTK base stations found; wherein the weight corresponding to the RTK base station far from the terminal is smaller than the weight corresponding to the RTK base station close to the terminal; A weighted average process is performed based on the weights corresponding to the determined N RTK base stations and a series of RTK positioning solution results to eliminate the RTK positioning jump points of the terminal.

8. The method according to claim 7, characterized in that The determining the weights corresponding to the N RTK base stations respectively according to the distance relationships between the terminal and the found N RTK base stations includes: Obtaining weights corresponding to the N RTK base stations from a preset weight set according to the distances between the terminal and the N RTK base stations found; wherein the number of weights in the preset weight set is N; Alternatively, the weights corresponding to the N RTK base stations are calculated according to the distances between the terminal and the N found RTK base stations.

9. A cloud for eliminating RTK positioning jump points, characterized in that: include: A memory and a processor, wherein the memory is used to store an executable program; The processor is used to read and execute the executable program to implement the method for eliminating RTK positioning jump points as described in any one of claims 1-8.

10. A storage medium, characterized in that: The storage medium stores computer executable commands, and the computer executable commands are used to execute the method for eliminating RTK positioning jump points according to any one of claims 1 to 8.

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