Method and equipment for realizing smooth switching of ground-based and satellite-based positioning resolving modes

Abstract

The invention provides a method and equipment for realizing smooth switching between a ground-based enhanced positioning resolving mode and a satellite-based enhanced positioning resolving mode, a user side takes the ground-based enhanced positioning resolving mode as a main mode of enhanced positioning, judges whether ground-based enhancement is available or not according to a preset abnormal condition detection index, and smoothly switches to satellite-based enhancement if the ground-based enhancement is not available; when a main mode is switched from ground-based enhancement to satellite-based enhancement, an asynchronous positioning mode with additional time accumulation error compensation is adopted, the stability of the positioning precision of a user side is maintained in combination with deviation compensation, and meanwhile, the satellite-based enhancement is restrained and the convergence speed of the satellite-based enhancement is increased in combination with ground-based enhancement solution information; and when the main mode is switched from the satellite-based enhancement to the ground-based enhancement, the ground-based enhancement is constrained by using prior information provided by the satellite-based enhancement, and the restarting speed of the ground-based enhancement positioning mode is improved. According to the method, the continuous smoothness and positioning consistency of ground-based and satellite-based enhanced positioning resolving mode switching are improved by optimizing switching, and the reliability of the Beidou enhanced positioning technology can be improved.

Description

Technical Field

[0001] The present invention belongs to the field of GNSS satellite positioning technology, and in particular relates to a technical solution for realizing smooth switching between ground-based and satellite-based positioning solution modes. Background Art

[0002] At present, the technology of GNSS satellites, such as my country's Beidou, is developing rapidly, but there are still some sub-sectors that need continuous improvement. The problem of continuous and smooth switching of satellite-based ground-based augmentation is an important part of it. The following is a detailed introduction to the relevant existing technical status.

[0003] 1. Beidou ground enhancement The BeiDou Ground-Based Augmentation System is a technology used to improve the positioning accuracy and reliability of the BeiDou satellite navigation system. The BeiDou Ground-Based Augmentation System deploys a large number of monitoring stations on the ground to form a network, receives BeiDou satellite observation data, processes and generates high-precision positioning service information, and provides enhanced services through the ground broadcast network to improve the positioning and navigation service performance of ground users, and can achieve centimeter-level or even millimeter-level positioning accuracy.

[0004] 2. Beidou satellite-based precise point positioning (PPP) Beidou satellite-based augmentation is a method of broadcasting real-time differential correction information to the user end through the deployment of geostationary orbit satellites (GEO) in space, including satellite orbit, satellite clock error, atmospheric delay, etc., to improve the positioning accuracy of ground user terminals. Beidou satellite-based precise point positioning service is broadcast through B2b signals, covering my country and surrounding areas, and providing free enhanced positioning services.

[0005] 3. Enhanced integration of Beidou ground-based and satellite-based Beidou's ground-based augmentation system can converge instantly, and the convergence accuracy can reach the centimeter level, but it relies on dense base stations and ground communication networks, which may lead to a decrease in network stability, especially when facing a large number of users. Beidou's satellite-based PPP augmentation service does not rely on ground communication networks, and only requires a global sparse station network, but it takes tens of minutes to converge. Therefore, the ground-based augmentation system and the satellite-based augmentation system are complementary. Realizing integrated satellite-ground augmentation can significantly improve the performance of augmentation services, while direct hard switching between the two will cause positioning result jumps, seriously affecting the reliability and stability of user enhanced positioning. Summary of the invention

[0006] In order to solve the problem of continuous and smooth switching between satellite-based and ground-based enhancement, the present invention provides a technical solution for realizing smooth switching between ground-based and satellite-based positioning solution modes.

[0007] In order to achieve the above-mentioned purpose, the technical solution proposed in the present invention is a method for realizing smooth switching between ground-based and satellite-based enhanced positioning solution modes. The user end uses the ground-based enhanced positioning solution mode as the main mode of enhanced positioning, and judges whether the ground-based enhancement is available according to the preset abnormal situation detection index. If it is not available, the satellite-based enhanced positioning mode is started, and the user end smoothly switches to the satellite-based enhancement. When the main mode is switched from ground-based augmentation to satellite-based augmentation, an asynchronous positioning method with additional time accumulated error compensation is used, combined with deviation compensation to maintain the stability of user-side positioning accuracy. At the same time, satellite-based augmentation is constrained by ground-based augmentation solution information to accelerate the convergence speed of satellite-based augmentation. When the main mode switches from satellite-based augmentation to ground-based augmentation, the prior information provided by satellite-based augmentation is used to constrain ground-based augmentation and improve the restart speed of the ground-based augmentation positioning mode.

[0008] Moreover, the user motion trajectory data is fitted to the ground-based enhanced positioning results, and the fitting parameters are used as pre-set anomaly detection indicators. Combined with other anomaly detection indicators, the positioning quality is comprehensively evaluated.

[0009] Moreover, the abnormal situation detection index includes the compliance accuracy within the three-dimensional coordinates, the PDOP value, the ADOP value, the GDOP value, the HDOP value, the number of satellites and / or the positioning error distribution.

[0010] Moreover, when the main mode is switched from ground-based augmentation to satellite-based augmentation, the TDCP time cumulative error compensation method is used to construct an asynchronous positioning model combining RTK positioning and TDCP; when the main mode is switched from ground-based augmentation to satellite-based augmentation, the consistency of the positioning accuracy of ground-based augmentation and satellite-based augmentation is checked. When the positioning results of the two solution modes have the same accuracy, the switch from ground-based augmentation positioning to satellite-based augmentation positioning is executed, thereby achieving smooth switching.

[0011] Moreover, the asynchronous positioning model combining RTK positioning and TDCP calculates the average value of the TDCP position change error sequence to obtain the system error, and uses the obtained system error to compensate the positioning result; performs autocorrelation analysis on the TDCP position change error sequence to obtain the autocovariance, and uses the obtained autocovariance to perform real-time accuracy prediction.

[0012] Moreover, when the ground-based augmentation solution is abnormal and the main mode is switched from ground-based augmentation to satellite-based augmentation, the ambiguity and position information output by the ground-based augmentation are combined with the variance and used as virtual observation values ​​according to the prior accuracy to constrain the initialization of satellite-based augmentation and reduce its convergence time; when the main mode is switched from satellite-based augmentation to ground-based augmentation, the ambiguity and position information output by the satellite-based augmentation are combined with the variance and used as prior information to constrain the initialization of ground-based augmentation and reduce the convergence time.

[0013] On the other hand, the present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the method for smoothly switching between ground-based and satellite-based enhanced positioning solution modes is implemented as described above.

[0014] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the method for smoothly switching between ground-based and satellite-based enhanced positioning solution modes is implemented as described above.

[0015] On the other hand, the present invention also provides a computer program product, including a computer program, which, when executed by a processor, implements the method as described above for realizing smooth switching between ground-based and satellite-based enhanced positioning solution modes.

[0016] The present invention provides a technical solution for realizing smooth switching between Beidou ground-based and satellite-based augmented positioning and solution modes on the terminal side. Considering that ground-based augmentation and satellite-based augmented positioning and solution modes have complementary advantages in complex environments, the process of switching between the two has the problem of result jump and failure to fully utilize the high precision of ground-based augmentation, which seriously affects the high precision, continuity and consistency of the service, thereby reducing the user experience. In view of this problem, when ground-based augmentation switches to satellite-based augmentation, the present invention first uses an asynchronous positioning method with additional time cumulative error compensation, a deviation compensation, and a method for determining the accuracy consistency to reduce the accuracy loss caused by system switching, and at the same time uses the high-precision position and ambiguity information provided by ground-based augmentation to constrain satellite-based augmentation and reduce the convergence time of satellite-based augmentation. When satellite-based augmentation switches to ground-based augmentation, the present invention uses the position and other information provided by satellite-based augmentation to constrain ground-based augmentation, significantly shortening the reinitialization time of ground-based augmented positioning and solution mode. When the service performance of a single augmentation system is unstable, the present invention optimizes the switching method to improve the continuous smoothness and positioning consistency of the switching between ground-based and satellite-based augmented positioning and solution modes, thereby improving the reliability of Beidou augmented positioning technology and having practicality.

[0017] The present invention provides a Beidou ground-based enhanced smooth switching technical solution, which supports areas with weak ground facilities and frequent enhanced service switching, and achieves high-precision positioning performance that is consistent across the entire region.

[0018] The solution of the present invention is simple and convenient to implement, has strong practicality, solves the problems of low practicality and inconvenience in actual application existing in related technologies, can improve user experience, and has important market value. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 Schematic diagram of an embodiment of the present invention.

[0020] Figure 2This is a diagram of an experimental scenario of a method for seamless switching of satellite-based / ground-based enhanced services according to an embodiment of the present invention.

[0021] Figure 3 FIG. 4 is a graph showing changes in TDCP positioning accuracy over time according to an embodiment of the present invention.

[0022] Figure 4 It is a comparison diagram of PPP / TDCP coordinate positioning error sequences according to an embodiment of the present invention.

[0023] Figure 5 A schematic diagram of the physical structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0024] The technical solution of the present invention is described in detail below with reference to the accompanying drawings and embodiments.

[0025] like Figure 1 As shown, the embodiment of the present invention requires the user end to use the ground-based augmented positioning solution mode as the main mode of augmented positioning, and judge whether the ground-based augmentation is available according to the pre-set abnormal situation detection index. If it is not available, start the satellite-based augmented positioning mode, smoothly switch to satellite-based augmentation, and use it as the output solution. In specific implementation, the user end can use Beidou ground-based augmented positioning solution as the main mode, satellite-based augmented positioning solution mode as the auxiliary mode, and the main mode positioning result as the system output solution. Once the user end finds abnormal conditions such as the lack of ground-based augmented signal through the pre-set detection indicators, and the accuracy of the main mode positioning result is abnormal, the system will start the satellite-based augmented positioning solution mode.

[0026] When the positioning mode switches from ground-based augmentation to satellite-based augmentation, the asynchronous positioning method and deviation compensation method with additional time accumulated error compensation are used to maintain the stability of user-side positioning accuracy. At the same time, the satellite-based augmentation is constrained by the ground-based augmentation solution information to accelerate the convergence speed of satellite-based augmentation.

[0027] Furthermore, the present invention proposes that when the solution mode is switched from ground-based augmented positioning to satellite-based augmented positioning, an asynchronous positioning method and a deviation compensation method with additional time accumulated error compensation are firstly adopted to maintain the user-side positioning accuracy to the maximum extent, and at the same time, the high-precision position and ambiguity information provided before the ground-based augmented solution is abnormal are used to constrain the satellite-based augmentation and reduce the convergence time of the satellite-based augmentation; the consistency judgment test of the ground-based augmentation and satellite-based augmentation positioning accuracies is synchronously performed, and when the positioning result accuracies of the two solution modes are consistent, the ground-based augmented positioning is switched to the satellite-based augmented positioning, thereby achieving smooth switching.

[0028] When the main mode is switched from satellite-based augmentation to ground-based augmentation, the high-precision position and ambiguity information provided by the satellite-based augmentation mode is used to constrain the ground-based augmentation mode and speed up the reinitialization of the ground-based augmentation mode. In specific implementation, the restart speed of the ground-based augmentation positioning mode can be improved by constraining the ground-based augmentation with the high-precision position, ambiguity and other prior information provided by the satellite-based augmentation.

[0029] The following provides further implementation details: 1. Abnormal situation detection indicators for ground-based augmentation and satellite-based augmentation First, the positioning results of the ground-based augmented solution mode and the satellite-based augmented solution mode are fitted with user motion trajectory data; then, the weighted average method is used, combined with multiple indicators such as fitting parameters and internal conformance accuracy STD, and it is recommended to consider influencing factors such as PDOP value, ADOP value, GDOP value, HDOP value, and the number of satellites to comprehensively evaluate the positioning quality. When determining the weight of each indicator, it is preferred to use machine learning methods to finely control the impact of each factor, ensure that the comprehensive indicator can accurately integrate various factors, and obtain abnormal situation detection indicators to optimize the positioning system performance and user experience.

[0030] The embodiment further proposes that determining abnormal situation detection indicators for the ground-based enhanced positioning mode and the satellite-based enhanced positioning mode at the same time specifically includes the following steps: The user motion trajectory data is fitted to the historical positioning results of ground-based augmentation and satellite-based augmentation respectively, and the user's historical motion trajectory data is used as the network training data set for machine learning. The fitting parameters are used as pre-set abnormal situation detection indicators. If there is a large difference in the user trajectory, it is judged as abnormal; The three-dimensional coordinates of the ground-based enhanced positioning mode and the satellite-based enhanced positioning mode are calculated for the accuracy, PDOP value, ADOP value, GDOP value, HDOP value, VDOP value, number of satellites and / or positioning error distribution, and these indicators are used as abnormality detection indicators. If the indicators exceed the threshold, it is determined to be abnormal. Among them, PDOP (Position Dilution of Precision) is a three-dimensional precision factor, which indicates the sparsity of position accuracy and comprehensively considers the accuracy of three-dimensional position (longitude, latitude, and altitude) positioning. The lower the PDOP value, the higher the positioning accuracy. HDOP (Horizontal Dilution of Precision) is a horizontal precision factor, which indicates the sparsity of horizontal accuracy and only considers the accuracy of two-dimensional plane (longitude and latitude) positioning. The lower the HDOP value, the higher the positioning accuracy in the horizontal direction. VDOP (Vertical Dilution of Precision) is a vertical geometric precision factor, which indicates the sparsity of vertical accuracy and focuses on the accuracy of altitude (vertical direction) positioning. The lower the VDOP value, the higher the vertical positioning accuracy. TDOP (Time Dilution of Precision) is the time precision factor, which indicates the sparsity of time precision. The lower the TDOP value, the higher the time positioning accuracy. GDOP (Geometric Dilution of Precision) is the geometric precision factor, which comprehensively considers the precision sparsity of position, time and altitude. GDOP is a more comprehensive indicator that combines the effects of all dimensions. ADOP (Ambiguity Dilution of Precision) is the ambiguity precision factor, which is an easy-to-calculate scalar diagnostic method used to measure the inherent model strength of successfully resolving ambiguities.

[0031] In specific implementation, the preferred implementation method includes first constructing a parameter precision matrix D as follows:

[0032] In the formula, are the elements in the parameter precision matrix, , .

[0033] The calculation formula of the PDOP value is:

[0034] The calculation formula of the HDOP value is:

[0035] The calculation formula of the VDOP value is:

[0036] The calculation formula of the TDOP value is:

[0037] The calculation formula of the GDOP value is:

[0038] Assume that the real-valued ambiguity floating-point estimator of the GNSS integer ambiguity vector a obeys The calculation formula of the ADOP value is:

[0039] In the formula, represents the fuzziness variance matrix, n represents the number of fuzzy degrees, represents the fuzziness variable, Represents determinant operation.

[0040] The calculation method of the STD in the three-dimensional coordinates is as follows:

[0041]

[0042] In the formula, Indicates the current location. represents the predicted position obtained by fitting the user trajectory. Indicates the corresponding position difference.

[0043] 2. Asynchronous positioning method with additional time cumulative error compensation First, in the initialization stage, the TDCP position change error sequence is used to calculate the average value to obtain the system error, and autocorrelation analysis is performed to obtain the autocovariance; then, when the carrier enters the motion stage, the system uses the system error compensation positioning result generated in the previous stage and the autocovariance to perform real-time accuracy prediction.

[0044] 3. Criteria for judging the accuracy consistency of RTK asynchronous positioning and satellite-based augmentation The position accuracy of RTK asynchronous positioning is obtained by using the variance of RTK output results and the error propagation law. The variance of satellite-based augmentation output results is compared with that of RTK asynchronous positioning. When the two are close, the accuracy of RTK asynchronous positioning and satellite-based augmentation is consistent.

[0045] 4. Ground-based augmentation accelerates satellite-based augmentation initialization The ambiguity and position information of the ground-based augmentation output are combined with their variance and used as virtual observation values ​​to constrain the initialization of the satellite-based augmentation system and reduce the convergence time.

[0046] The embodiment further proposes that when the positioning mode is switched from ground-based augmentation to satellite-based augmentation, the following steps are specifically included: An asynchronous positioning model combining RTK positioning and TDCP is constructed by using the TDCP time accumulation error compensation method. The average value of the TDCP position change error sequence is calculated to obtain the system error. The positioning result obtained by the system error is compensated, and the TDCP position change error sequence is subjected to autocorrelation analysis to obtain the autocovariance. The obtained autocovariance is used for real-time accuracy prediction. Among them, TDCP (Time-Difference Carrier-Phase) is the differential carrier phase positioning mode between GNSS observation epochs.

[0047] The asynchronous positioning model combining RTK positioning and TDCP is that in the static initialization stage, the RTK positioning mode and the TDCP positioning mode are turned on at the same time, and the RTK positioning results are used to analyze the system error and autocovariance of TDCP; in the motion stage, the TDCP analysis results in the static initialization stage are used to compensate the positioning results and perform real-time accuracy prediction.

[0048] For the sake of reference, the following is a description of RTK positioning and TDCP implementation: When the sampling rate is high, the atmosphere between adjacent epochs remains unchanged, which means that the receiver and satellite , the carrier observation equation of the TDCP positioning method is:

[0049] In the formula, represents the carrier observation value after difference between adjacent epochs, represents the satellite-earth distance after the difference between adjacent epochs, represents the clock error after the difference between adjacent epochs, represents the satellite clock error, represents the remaining various noise terms.

[0050] The carrier observation equation of the RTK positioning method is:

[0051] In the formula, represents the double difference operator, and Represent the carrier and pseudorange observation values ​​respectively; Indicates The reference satellite for the baseline; Respectively represent Public satellite with 10 baselines; indicates a monitoring station; Indicates Base stations; Indicates the geometric distance between the receiver and the satellite; It represents the ionospheric delay, which is considered small enough to be ignored after double difference of short baseline, and can be eliminated by using dual-frequency ionospheric-free combination under medium and long baseline; It represents the tropospheric delay. It is considered small enough to be ignored after double difference of short baseline. It can be weakened by random walk parameter estimation method for medium and long baseline or large height difference. A double difference representing the integer phase ambiguity of the carrier; Indicates the wavelength of the carrier; are the measurement noise of the carrier and pseudorange respectively. Then, represents the carrier observation value, represents the geometric distance between the receiver and the satellite, represents the ionospheric delay, represents the tropospheric delay, The double difference representing the integer phase ambiguity of the carrier, represents the carrier measurement noise, represents the pseudorange observation value, represents the measurement noise of the pseudorange.

[0052] Furthermore, the expression of the TDCP time accumulation error compensation method is as follows:

[0053]

[0054]

[0055]

[0056] In the formula, represents the carrier observation value, represents the error compensation coefficient, represents the coordinate error, represents the geometric distance, represents the receiver clock error, represents the speed of light, represents the satellite clock error, represents the tropospheric delay, represents the measurement noise, represents the recursive position, represents the initial position, Represents the recursive value, represents the residual value, i、n represents the epoch, represents the noise matrix, , , Represents the coefficient.

[0057] According to the above accuracy consistency judgment criteria, the accuracy of the RTK asynchronous model positioning result and the satellite-based augmentation positioning result are judged, and then whether the system needs to be switched. If the accuracy of the RTK asynchronous model positioning result is lower than that of the satellite-based augmentation positioning result, switch to satellite-based augmentation.

[0058] The ambiguity and position information output by the ground-based augmented positioning solution mode are combined with their variance and used as virtual observation values ​​according to a certain prior accuracy to constrain the initialization of the satellite-based augmentation system and reduce its convergence time.

[0059] The fuzziness prior information constraint equation is:

[0060] In the formula, represents the ground-based ambiguity information, Represents satellite-based ambiguity information.

[0061] The position prior information constraint equation is:

[0062] In the formula, Indicates the foundation location information. Indicates satellite-based position information.

[0063] The virtual observation constraint equation is:

[0064] In the formula, represents the coefficient matrix of the virtual observation equation, M represents the constant matrix of the virtual observation equation, and X represents the ambiguity and position parameters.

[0065] 5. Satellite-based augmentation accelerates ground-based augmentation initialization According to the switching design of the present invention, when the ground-based augmentation solution is abnormal and the main mode is switched from ground-based augmentation to satellite-based augmentation, the ambiguity and position information output by the ground-based augmentation are combined with their variance and used as virtual observation values ​​to constrain the initialization of the satellite-based augmentation according to a certain priori accuracy, thereby reducing its convergence time; when the main mode is switched from satellite-based augmentation, the priori information output by the satellite-based augmentation is used to constrain the initialization of the ground-based augmentation, thereby reducing the convergence time, including combining the ambiguity and position information output by the satellite-based augmentation with their variance as virtual observation values ​​to constrain the initialization of the ground-based augmentation system, thereby reducing the convergence time.

[0066] The effect of the method for smoothly switching between ground-based and satellite-based enhanced positioning solution modes proposed in this embodiment is described below through experimental results.

[0067] See also Figure 2 , Figure 2The experimental design and experimental scene were demonstrated. The experimental weather conditions were relatively good, the satellite observation environment was open, the experimental scene was set up in the school playground, and the experimental equipment included a mobile car equipped with a GNSS multi-system satellite receiver and another GNSS multi-system satellite receiver as a base station.

[0068] Figure 3 The figure shows how the positioning error of the TDCP method proposed in the embodiment of the present invention changes over time in the N / E / U (north, east, and sky) directions. Figure 4 The comparative effect of the coordinate positioning error sequence of the PPP / TDCP method is demonstrated. The experimental results show that the TDCP method proposed in this patent has an elevation accuracy better than 10cm within 3 minutes of signal interruption, and a plane accuracy better than 5cm within 9 minutes. It can also be seen from the experimental results that the positioning accuracy of RTK is higher than PPP before the signal interruption. After the signal is interrupted, the satellite-ground integrated system uses TDCP to maintain the positioning accuracy, but the error of TDCP will continue to increase with the increase of time. At a certain point in time, the accuracy of TDCP will be consistent with the accuracy of PPP. This time point is the time point for switching between satellite-based / ground-based enhancements. Before this time point, the accuracy of TDCP is higher than PPP, and the satellite-ground integrated system will use TDCP; and beyond this time point, the error of TDCP is greater than PPP, and the satellite-ground integrated system will switch to PPP to achieve the effect of smooth satellite-ground switching.

[0069] Figure 5 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 5As shown, the electronic device may include: a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus. The processor may call the logic instructions in the memory to execute a method for smoothly switching between ground-based and satellite-based positioning solution modes. In addition, the logic instructions in the above-mentioned memory may be implemented in the form of a software functional unit and may be stored in a computer-readable storage medium when sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk. On the other hand, the present invention also provides a computer program product, the computer program product includes a computer program, the computer program can be stored on a non-transitory computer-readable storage medium, and when the computer program is executed by a processor, the computer can execute the method for realizing smooth switching of ground-based and satellite-based positioning solution modes provided by the above methods. On the other hand, the present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it is implemented to execute the method for realizing smooth switching of ground-based and satellite-based positioning solution modes provided by the above methods. The device embodiments described above are only schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the present embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor. Through the description of the above implementation methods, technicians in this field can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware.Based on this understanding, the above technical solutions are essentially or the part that contributes to the prior art can be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., and includes a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments. Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention is described in detail with reference to the above embodiments, ordinary technicians in this field should understand that they can still modify the technical solutions recorded in the above embodiments, or replace some of the technical features therein by equivalent; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for realizing smooth switching between ground-based and satellite-based enhanced positioning solution modes, characterized in that: The user end uses the ground-based enhanced positioning solution mode as the main mode of enhanced positioning, and determines whether ground-based enhancement is available according to the pre-set abnormal situation detection indicators. If it is not available, the satellite-based enhanced positioning mode is activated and smoothly switched to satellite-based enhancement; When the main mode is switched from ground-based augmentation to satellite-based augmentation, an asynchronous positioning method with additional time accumulated error compensation is used, combined with deviation compensation to maintain the stability of user-side positioning accuracy. At the same time, satellite-based augmentation is constrained by ground-based augmentation solution information to accelerate the convergence speed of satellite-based augmentation. When the main mode switches from satellite-based augmentation to ground-based augmentation, the prior information provided by satellite-based augmentation is used to constrain ground-based augmentation and improve the restart speed of the ground-based augmentation positioning mode.

2. The method for smoothly switching between ground-based and satellite-based enhanced positioning solution modes according to claim 1, characterized in that: The user motion trajectory data is fitted to the ground-based enhanced positioning results, and the fitting parameters are used as pre-set anomaly detection indicators. Combined with other anomaly detection indicators, the positioning quality is comprehensively evaluated.

3. The method for smoothly switching between ground-based and satellite-based enhanced positioning solution modes according to claim 1, characterized in that: The abnormal situation detection index includes the compliance accuracy within the three-dimensional coordinates, the PDOP value, the ADOP value, the GDOP value, the HDOP value, the number of satellites and / or the positioning error distribution.

4. The method for smoothly switching between ground-based and satellite-based enhanced positioning solution modes according to claim 1, characterized in that: When the main mode is switched from ground-based augmentation to satellite-based augmentation, the TDCP time accumulated error compensation method is used to construct an asynchronous positioning model combining RTK positioning and TDCP; when the main mode is switched from ground-based augmentation to satellite-based augmentation, the consistency judgment test is performed on the positioning accuracy of ground-based augmentation and satellite-based augmentation. When the positioning results of the two solution modes have the same accuracy, the switch from ground-based augmentation positioning to satellite-based augmentation positioning is executed, thereby achieving smooth switching.

5. The method for smoothly switching between ground-based and satellite-based enhanced positioning solution modes according to claim 4, characterized in that: The asynchronous positioning model combining RTK positioning and TDCP calculates the average value of the TDCP position change error sequence to obtain the system error, and uses the obtained system error to compensate the positioning result; performs autocorrelation analysis on the TDCP position change error sequence to obtain the autocovariance, and uses the obtained autocovariance to perform real-time accuracy prediction.

6. The method for smoothly switching between ground-based and satellite-based enhanced positioning solution modes according to claim 1, characterized in that: When the ground-based augmentation solution is abnormal and the main mode is switched from ground-based augmentation to satellite-based augmentation, the ambiguity and position information output by the ground-based augmentation are combined with the variance, and the prior accuracy is used as the virtual observation value to constrain the initialization of the satellite-based augmentation, thereby reducing its convergence time; when the main mode is switched from satellite-based augmentation to ground-based augmentation, the ambiguity and position information output by the satellite-based augmentation are combined with the variance, and the prior accuracy is used as the virtual observation value to constrain the initialization of the ground-based augmentation, thereby reducing the convergence time.

7. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, it implements the method for realizing smooth switching between ground-based and satellite-based enhanced positioning solution modes as described in any one of claims 1 to 6.

8. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by the processor, it implements the method for realizing smooth switching between ground-based and satellite-based enhanced positioning solution modes as described in any one of claims 1 to 6.

9. A computer program product, comprising a computer program, characterized in that When the computer program is executed by the processor, it implements the method for realizing smooth switching between ground-based and satellite-based enhanced positioning solution modes as described in any one of claims 1 to 6.

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