CORS system and positioning method based on wireless MESH ad hoc network communication

Abstract

The invention relates to the technical field of communication positioning, and particularly discloses a CORS system based on wireless MESH ad hoc network communication and a positioning method, the system comprises a wireless MESH ad hoc network communication system, a data resolving and broadcasting system, a user terminal and a GNSS base station system; the GNSS base station system and the user terminal are respectively connected with the data resolving and broadcasting system through the wireless MESH ad hoc network communication system; when the GNSS base station system adopts a triangulation network networking mode, the data resolving and broadcasting system receives first original observation data sent by the GNSS base station system and approximate position data sent by the user terminal, generates differential data of a position corresponding to the approximate position data based on the first original observation data and sends the differential data to the user terminal; therefore, the user terminal can perform high-precision positioning according to the differential data. According to the invention, high-precision positioning can be realized in an area without public network coverage, and the popularity rate and availability of positioning service are improved.

Description

Technical Field

[0001] The present invention relates to the field of communication positioning technology, and in particular to a CORS system and positioning method based on wireless MESH ad hoc network communication. Background Art

[0002] The CORS (Continuous Operational Reference Station) system consists of four parts: the GNSS (Global Navigation Satellite System) reference station system, the data communication system, the data solution and broadcasting center, and the user system. The principle is to deploy a number of continuously operating GNSS reference stations in a certain area, and transmit the observation data of each GNSS reference station in real time to the data solution and broadcasting center through a data communication link to establish a regional error model (ionosphere, troposphere, satellite orbit and other error models); within the coverage of the GNSS reference station network, the user end first performs pseudo-range single-point positioning to obtain a rough position with an accuracy of meters, and sends the rough position to the data solution and broadcasting center through a wireless data communication link; then the data solution and broadcasting center calculates various error correction numbers for the point based on the rough position of the user end; finally, the error correction number is sent to the user end through the data communication link, and the user end uses the error correction number and its own original observation data to perform short baseline solution, which can effectively eliminate the influence of errors such as tropospheric delay, ionospheric delay, orbit deviation, etc., greatly improving the accuracy and reliability of the positioning solution.

[0003] The virtual reference station technology (VRS) used in this system has the characteristics of wide coverage, high positioning accuracy, and good receiver compatibility. However, traditional technology is based on the public network as a data communication link. In an environment without public network coverage, it will be impossible to upload the original observation data of the reference station, and the data solution center will not be able to establish an error model.

[0004] Therefore, it is urgent to provide a technical solution to solve the above problems. Summary of the invention

[0005] In order to solve the above technical problems, the present invention provides a CORS system and positioning method based on wireless MESH ad hoc network communication.

[0006] In a first aspect, the present invention provides a CORS system based on wireless MESH ad hoc network communication, and the technical solution of the system is as follows:

[0007] A wireless MESH self-organizing network communication system, a data solution broadcasting system, a user terminal and a GNSS reference station system; the GNSS reference station system is connected to the data solution broadcasting system through the wireless MESH self-organizing network communication system, and the user terminal is connected to the data solution broadcasting system through the wireless MESH self-organizing network communication system;

[0008] When the GNSS reference station system adopts the triangulation network mode, the data solution and broadcasting system is used to:

[0009] Receiving, through the wireless MESH ad hoc network communication system, the first original observation data sent by the GNSS reference station system and the approximate location data sent by the user terminal;

[0010] The differential data of the position corresponding to the approximate position data is generated based on the first original observation data, and the differential data is sent to the user terminal through the wireless MESH self-organizing network communication system, so that the user terminal can perform high-precision positioning according to the differential data.

[0011] The beneficial effects of a CORS system based on wireless MESH ad hoc network communication of the present invention are as follows:

[0012] The system of the present invention can achieve high-precision positioning in areas without public network coverage, making it easier for the CORS system to cover remote or complex terrain areas, improving the popularity and availability of positioning services, and thus meeting the needs of more users.

[0013] On the basis of the above scheme, the CORS system based on wireless MESH ad hoc network communication of the present invention can also be improved as follows.

[0014] In an optional manner, when the GNSS reference station system adopts a non-networking mode, the data solution and broadcasting system is used to:

[0015] Receiving, through the wireless MESH ad hoc network communication system, the first original observation data sent by the GNSS reference station system and the approximate location data sent by the user terminal;

[0016] Based on the approximate position data, the target GNSS reference station in the GNSS reference station system that is closest to the user terminal is determined, and the first original observation data corresponding to the target GNSS reference station is sent to the user terminal, so that the user terminal can perform high-precision positioning based on the first original observation data corresponding to the target GNSS reference station.

[0017] In an optional manner, when the GNSS reference station system adopts a triangulation network mode, the data solution and broadcasting system is specifically used to:

[0018] Preprocessing the first original observation data of the GNSS reference station system to obtain first target observation data of the GNSS reference station system;

[0019] Determining the target triangulated network to which the user terminal belongs according to the approximate location data;

[0020] The double-difference observation model equation is used in combination with the first target observation data to calculate the differential data of the target triangulated network.

[0021] In an optional manner, the preprocessing content includes: data encoding, data decoding, cycle detection and altitude cutoff angle determination.

[0022] In an optional manner, the data solution and broadcasting system is specifically used for:

[0023] The target grid to which the user terminal belongs is determined according to the approximate location data, and the target triangulated network to which the user terminal belongs is determined according to the target grid.

[0024] In an optional manner, the wireless MESH self-organizing network communication system includes: at least one MESH base station and a MESH terminal; the number of GNSS reference stations in the GNSS reference station system is the same as the number of MESH base stations, and each GNSS reference station corresponds to a MESH base station, and the data solution and broadcasting system is connected to at least one target MESH base station; wherein, at least one target MESH base station is determined from all MESH base stations.

[0025] In an optional manner, the step of the user terminal performing high-precision positioning according to the differential data includes:

[0026] The user terminal performs calculation based on the second original observation data and the differential data to obtain a high-precision positioning result.

[0027] In a second aspect, the present invention provides a communication positioning method, and the technical solution of the method is as follows:

[0028] When the GNSS reference station system adopts the triangulation network mode, the first original observation data sent by the GNSS reference station system and the approximate position data sent by the user terminal are received through the wireless MESH self-organizing network communication system;

[0029] The differential data of the position corresponding to the approximate position data is generated based on the first original observation data, and the differential data is sent to the user terminal through the wireless MESH self-organizing network communication system, so that the user terminal can perform high-precision positioning according to the differential data.

[0030] The beneficial effects of a communication positioning method of the present invention are as follows:

[0031] The method of the present invention can achieve high-precision positioning in areas without public network coverage, making it easier for the CORS system to cover remote or complex terrain areas, improving the popularity and availability of positioning services, and thus meeting the needs of more users.

[0032] Based on the above scheme, a communication positioning method of the present invention can also be improved as follows.

[0033] In an optional manner, the method further includes:

[0034] When the GNSS reference station system adopts a non-networking mode, receiving the first original observation data sent by the GNSS reference station system and the approximate location data sent by the user terminal through the wireless MESH self-organizing network communication system;

[0035] Based on the approximate position data, the target GNSS reference station in the GNSS reference station system that is closest to the user terminal is determined, and the first original observation data corresponding to the target GNSS reference station is sent to the user terminal, so that the user terminal can perform high-precision positioning based on the first original observation data corresponding to the target GNSS reference station.

[0036] In an optional manner, when the GNSS reference station system adopts a triangulation network mode, the step of generating differential data of a position corresponding to the approximate position data based on the first original observation data includes:

[0037] Preprocessing the first original observation data of the GNSS reference station system to obtain first target observation data of the GNSS reference station system;

[0038] Determining the target triangulated network to which the user terminal belongs according to the approximate location data;

[0039] The double difference observation model equation is used in combination with the first target observation data to calculate the differential data of the target triangulated network.

[0040] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented according to the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The accompanying drawings are only used to illustrate the embodiments and are not to be considered as limiting the present invention. In addition, the same reference symbols are used to represent the same components throughout the accompanying drawings. In the accompanying drawings:

[0042] Figure 1 A schematic diagram of the structure of an embodiment of a CORS system based on wireless MESH ad hoc network communication of the present invention;

[0043] Figure 2 A schematic diagram of a flow chart of an embodiment of a communication positioning method of the present invention. DETAILED DESCRIPTION

[0044] Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited to the embodiments set forth herein.

[0045] Figure 1 FIG. 1 is a schematic diagram showing a CORS system 10 based on wireless MESH ad hoc network communication according to an embodiment of the present invention. Figure 1 As shown, the system 10 includes: a wireless MESH self-organizing network communication system 11, a data solution and broadcasting system 12, a user terminal 13 and a GNSS reference station system 14; the GNSS reference station system 14 is connected to the data solution and broadcasting system 12 through the wireless MESH self-organizing network communication system 11, and the user terminal 13 is connected to the data solution and broadcasting system 12 through the wireless MESH self-organizing network communication system 11.

[0046] The GNSS reference station system 14 and the data solution and broadcast system 12 are connected by wireless by default, and may also be connected by wire in some cases, which is not limited here. The user terminal 13 and the data solution and broadcast system 12 are connected by wireless.

[0047] When the GNSS reference station system 14 adopts the triangulation network mode, the data solution and broadcasting system 12 is used to:

[0048] The wireless MESH self-organizing network communication system 11 receives the first original observation data sent by the GNSS reference station system 14 , and receives the approximate location data sent by the user terminal 13 through the wireless MESH self-organizing network communication system 11 .

[0049] The first original observation data is the original observation data collected by the GNSS reference station system 14. The number of GNSS reference stations in the GNSS reference station system 14 is at least one, and each GNSS reference station corresponds to one original observation data. The approximate location data is the approximate location coordinates collected by the user terminal 13.

[0050] The differential data of the position corresponding to the approximate position data is generated based on the first original observation data, and the differential data is sent to the user terminal 13 through the wireless MESH ad hoc network communication system 11, so that the user terminal 13 performs high-precision positioning according to the differential data.

[0051] The differential data can be jointly solved with the observation data collected by the user terminal 13 to achieve error correction, thereby achieving high-precision positioning of the user terminal 13.

[0052] In an optional manner, when the GNSS reference station system 14 adopts a non-networking mode, the data solution and broadcasting system 12 is used to:

[0053] The wireless MESH ad hoc network communication system 11 receives the first original observation data sent by the GNSS reference station system 14 and the approximate location data sent by the user terminal 13 .

[0054] Based on the approximate position data, the target GNSS reference station closest to the user terminal 13 in the GNSS reference station system 14 is determined, and the first original observation data corresponding to the target GNSS reference station is sent to the user terminal 13, so that the user terminal 13 can perform high-precision positioning based on the first original observation data corresponding to the target GNSS reference station.

[0055] The GNSS reference station system 14 includes at least one GNSS reference station. The target GNSS reference station is: the GNSS reference station in the GNSS reference station system 14 that is closest to the user terminal 13. When the GNSS reference station system 14 adopts the non-networking mode, the first original observation data is directly transmitted to the user terminal 13, and since there is no differential data, no error correction or other operations are performed.

[0056] In an optional manner, when the GNSS reference station system 14 adopts a triangulation network mode, the data solution and broadcasting system 12 is specifically used for:

[0057] The first original observation data of the GNSS reference station system 14 is preprocessed to obtain the first target observation data of the GNSS reference station system 14 .

[0058] The preprocessing includes but is not limited to: data encoding, data decoding, cycle detection and height cutoff angle determination. The first target observation data is: the observation data obtained after preprocessing the first original observation data. Each GNSS reference station in each GNSS reference station system 14 corresponds to a first target observation data.

[0059] According to the approximate location data, the target triangulated network to which the user terminal 13 belongs is determined.

[0060] The double-difference observation model equation is used in combination with the first target observation data to calculate the differential data of the target triangulated network.

[0061] Among them, according to the approximate position data, the target grid to which the user terminal 13 belongs is determined, and according to the target grid, the target triangulated network to which the user terminal 13 belongs is determined. The target triangulated network is the triangulated network where the user terminal 13 is located, and according to the target triangulated network: baseline AB, baseline AC and baseline BC are formed. The double difference observation model equation is used to weaken the influence of satellite orbit error, satellite clock error, relativistic effect, tropospheric error and ionospheric refraction. The double difference observation model equation is:

[0062]

[0063] Wherein, m represents the mth GNSS reference station system, n represents the nth GNSS reference station system, i represents the i-th satellite, and j represents the j-th satellite. represents carrier observation data, ρ represents the geometric distance between the measuring station and the satellite, T represents the tropospheric delay error, O represents the orbit error, ε represents the multipath error, R represents the pseudorange observation data, and Ι represents the ionospheric delay error in the frequency band.

[0064] In an optional manner, the wireless MESH ad hoc network communication system 11 includes: at least one MESH base station 111 and a MESH terminal 112 .

[0065] The number of GNSS reference stations in the GNSS reference station system 14 is the same as the number of MESH base stations 111 , and each GNSS reference station corresponds to one MESH base station 111 ; the data calculation and broadcasting system 12 is connected to at least one target MESH base station.

[0066] According to the actual situation on site, at least one target MESH base station is determined from all MESH base stations 111. The GNSS reference station is connected to the corresponding MESH base station 111 via a wired (network cable) or wireless connection. Wireless MESH ad hoc network communication system 11 (MESH base station 111 and MESH terminal 112) uses wireless communication to transmit data.

[0067] It should be noted that in this embodiment, all parts (system, terminal and base station) of a CORS system 10 based on wireless MESH self-organizing network communication are in the same network segment, ensuring that when the GNSS base station system 14 adopts the triangulation network networking mode, the user terminal 13 can automatically roam in the triangulation network when acquiring differential data.

[0068] In an optional manner, the step of the user terminal 13 performing high-precision positioning according to the differential data includes:

[0069] The user terminal 13 performs calculations based on the second original observation data and the differential data to obtain a high-precision positioning result.

[0070] Among them, the second original observation data is the observation data directly collected by the user terminal 13. The user terminal 13 jointly solves the received differential data with the second original observation data collected by itself to obtain a high-precision positioning result, which will effectively eliminate the influence of errors such as tropospheric delay, ionospheric delay, and orbit deviation, and greatly improve the accuracy and reliability of the positioning solution.

[0071] It should be noted that the wireless MESH ad hoc network communication system 11 of this embodiment has the following characteristics:

[0072] 1) The specific number of MESH base stations 111 in the area can be determined according to the scope of the project and the number of connected GNSS reference station systems 14. The MESH base station 111 supports multi-channel wireless access, realizes wireless connection with the subordinate MESH terminals 112, and simultaneously undertakes up and down bidirectional communication of various data service information with the data center station.

[0073] 2) The height is calculated based on the actual coverage distance and on-site conditions to achieve high-quality wireless access to terminals within the coverage area.

[0074] 3) It supports automatic access of MESH terminals 112 and user terminals 13, and can also automatically initiate calls and establish connections to authorized terminals within the coverage area through software, supporting flexible expansion of speed and coverage.

[0075] 4) MESH base station 111 is equipped with high-gain antennas and high-efficiency power amplifiers to achieve wireless coverage within a 10-kilometer radius.

[0076] 5) The MESH terminal 112 can freely access the gateway in one or more channels according to the settings. Multiple gateways support complementary services and the terminal can roam freely.

[0077] 6) MESH base station 111 channels support various designs such as chain networking, star networking backbone transmission channels and mesh transmission. Each channel can be defined individually or in group mode to achieve various access to terminals within the network.

[0078] 7) Supports multiple rates and encoding settings, supports a minimum transmission rate of 512Kbps-90Mbps, and can be flexibly configured into response modes with different rates and transmission distances through software according to the user's coverage distance and transmission service bandwidth requirements.

[0079] The technical solution of this embodiment has the following technical effects:

[0080] 1) Reduce infrastructure investment: This embodiment uses wireless MESH self-organizing network communication technology as the data transmission link, does not rely on the Internet, and does not need to build large-scale telecommunications signal towers, which is conducive to reducing construction difficulty, shortening the construction period of hardware layout projects, and reducing line layout costs.

[0081] 2) Flexible deployment: Wireless MESH ad hoc networks do not require fixed infrastructure support and can be flexibly deployed in various environments, making it easier for the CORS system to cover remote or complex terrain areas, improving the popularity and availability of positioning services.

[0082] 3) Multi-hop relay transmission: Wireless MESH ad hoc networks support multi-hop relay transmission, that is, data can be transmitted through multiple nodes, thereby expanding the coverage of the network. For the CORS system, positioning services can be provided in a wider area to meet the needs of more users.

[0083] 4) Strong anti-interference capability: GNSS data has high requirements on the stability of the transmission environment. The wireless MESH ad hoc network has a frequency hopping function, which can effectively improve the anti-interference capability and ensure stable data transmission even in complex electromagnetic environments.

[0084] The technical solution of this embodiment can achieve high-precision positioning in areas without public network coverage, allowing the CORS system to more easily cover remote or complex terrain areas, improving the popularity and availability of positioning services, thereby meeting the needs of more users.

[0085] Figure 2 The flowchart of an embodiment of a communication positioning method provided by the present invention is shown. The communication positioning method is executed by the data solution and broadcasting system 12, and includes the following steps:

[0086] S1, when the GNSS reference station system 14 adopts the triangulation network mode, the first original observation data sent by the GNSS reference station system 14 and the approximate position data sent by the user terminal 13 are received through the wireless MESH self-organizing network communication system 11;

[0087] S2. Generate differential data of the position corresponding to the approximate position data based on the first original observation data, and send the differential data to the user terminal 13 through the wireless MESH ad hoc network communication system 11, so that the user terminal 13 performs high-precision positioning according to the differential data.

[0088] In an optional manner, the method further includes:

[0089] When the GNSS reference station system 14 adopts the non-networking mode, the first original observation data sent by the GNSS reference station system 14 and the approximate location data sent by the user terminal 13 are received through the wireless MESH self-networking communication system 11;

[0090] Based on the approximate position data, the target GNSS reference station closest to the user terminal 13 in the GNSS reference station system 14 is determined, and the first original observation data corresponding to the target GNSS reference station is sent to the user terminal 13, so that the user terminal 13 can perform high-precision positioning based on the first original observation data corresponding to the target GNSS reference station.

[0091] In an optional manner, when the GNSS reference station system 14 adopts a triangulated network mode, the step of generating differential data of a position corresponding to the approximate position data based on the first original observation data includes:

[0092] Preprocessing the first original observation data of the GNSS reference station system 14 to obtain the first target observation data of the GNSS reference station system 14;

[0093] Determine the target triangulated network to which the user terminal 13 belongs based on the approximate location data;

[0094] The double difference observation model equation is used in combination with the first target observation data to calculate the differential data of the target triangulated network.

[0095] In an optional manner, the preprocessing content includes: data encoding, data decoding, cycle detection and altitude cutoff angle determination.

[0096] In an optional manner, the step of determining the target triangulated network to which the user terminal 13 belongs according to the approximate location data includes:

[0097] According to the approximate location data, the target grid to which the user terminal 13 belongs is determined, and according to the target grid, the target triangulated network to which the user terminal 13 belongs is determined.

[0098] In an optional manner, the wireless MESH self-organizing network communication system 11 includes: at least one MESH base station 111 and a MESH terminal 112; the number of GNSS reference stations in the GNSS reference station system 14 is the same as the number of MESH base stations 111, and each GNSS reference station corresponds to a MESH base station 111, and the data solution and broadcasting system 12 is connected to at least one target MESH base station; wherein, at least one target MESH base station is determined from all MESH base stations.

[0099] In an optional manner, the step of the user terminal 13 performing high-precision positioning according to the differential data includes:

[0100] The user terminal 13 performs calculations based on the second original observation data and the differential data to obtain a high-precision positioning result.

[0101] The technical solution of this embodiment can achieve high-precision positioning in areas without public network coverage, allowing the CORS system to more easily cover remote or complex terrain areas, improving the popularity and availability of positioning services, thereby meeting the needs of more users.

[0102] For the corresponding functions implemented by the various parameters and steps in the above-mentioned communication positioning method of this embodiment, reference can be made to the various parameters and modules in the embodiment of the CORS system 10 based on wireless MESH ad hoc network communication, which will not be elaborated here.

[0103] In the description provided herein, a large number of specific details are described. However, it is understood that embodiments of the present invention can be practiced without these specific details. Similarly, in order to simplify the present invention and help understand one or more of the various inventive aspects, in the above description of exemplary embodiments of the present invention, the various features of the embodiments of the present invention are sometimes grouped together into a single embodiment, figure, or description thereof. Wherein, the claims that follow the specific embodiment are hereby expressly incorporated into the specific embodiment, wherein each claim itself is a separate embodiment of the present invention.

[0104] It should be noted that the above embodiments illustrate the present invention rather than limit it, and that those skilled in the art may devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference symbol between brackets shall not be construed as a limitation on the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "one" or "an" preceding an element does not exclude the presence of a plurality of such elements. The present invention may be implemented by means of hardware comprising a number of different elements and by means of a suitably programmed computer. In a unit claim enumerating a number of devices, several of these devices may be embodied by the same hardware item. The use of the words first, second, and third, etc. does not indicate any order. These words may be interpreted as names. The steps in the above embodiments, unless otherwise specified, should not be understood as limitations on the order of execution.

Claims

1. A CORS system based on wireless MESH ad hoc network communication, characterized in that: include: Wireless MESH self-organizing network communication system, data solution and broadcasting system, user terminal and GNSS base station system; The GNSS reference station system is connected to the data solution and broadcasting system through the wireless MESH self-organizing network communication system, and the user terminal is connected to the data solution and broadcasting system through the wireless MESH self-organizing network communication system; When the GNSS reference station system adopts the triangulation network mode, the data solution and broadcasting system is used to: Receiving, through the wireless MESH ad hoc network communication system, the first original observation data sent by the GNSS reference station system and the approximate location data sent by the user terminal; The differential data of the position corresponding to the approximate position data is generated based on the first original observation data, and the differential data is sent to the user terminal through the wireless MESH self-organizing network communication system, so that the user terminal can perform high-precision positioning according to the differential data.

2. The CORS system based on wireless MESH ad hoc network communication according to claim 1 is characterized in that: When the GNSS reference station system adopts a non-networking mode, the data solution and broadcasting system is used to: Receiving, through the wireless MESH ad hoc network communication system, the first original observation data sent by the GNSS reference station system and the approximate location data sent by the user terminal; Based on the approximate position data, the target GNSS reference station in the GNSS reference station system that is closest to the user terminal is determined, and the first original observation data corresponding to the target GNSS reference station is sent to the user terminal, so that the user terminal can perform high-precision positioning based on the first original observation data corresponding to the target GNSS reference station.

3. The CORS system based on wireless MESH ad hoc network communication according to claim 1 is characterized in that: When the GNSS reference station system adopts the triangulation network mode, the data solution and broadcasting system is specifically used for: Preprocessing the first original observation data of the GNSS reference station system to obtain first target observation data of the GNSS reference station system; Determining the target triangulated network to which the user terminal belongs according to the approximate location data; The double-difference observation model equation is used in combination with the first target observation data to calculate the differential data of the target triangulated network.

4. The CORS system based on wireless MESH ad hoc network communication according to claim 3 is characterized in that: The preprocessing contents include: data encoding, data decoding, cycle detection and height cut-off angle determination.

5. The CORS system based on wireless MESH ad hoc network communication according to claim 3 is characterized in that: The data calculation and broadcasting system is specifically used for: The target grid to which the user terminal belongs is determined according to the approximate location data, and the target triangulated network to which the user terminal belongs is determined according to the target grid.

6. The CORS system based on wireless MESH ad hoc network communication according to any one of claims 1 to 5, characterized in that: The wireless MESH self-organizing network communication system includes: at least one MESH base station and a MESH terminal; the number of GNSS reference stations in the GNSS reference station system is the same as the number of MESH base stations, and each GNSS reference station corresponds to a MESH base station, and the data solution and broadcasting system is connected to at least one target MESH base station; wherein, at least one target MESH base station is determined from all MESH base stations.

7. The CORS system based on wireless MESH ad hoc network communication according to claim 1 is characterized in that: The step of the user terminal performing high-precision positioning according to the differential data includes: The user terminal performs calculation based on the second original observation data and the differential data to obtain a high-precision positioning result.

8. A communication positioning method, characterized in that: The method comprises: When the GNSS reference station system adopts the triangulation network mode, the first original observation data sent by the GNSS reference station system and the approximate position data sent by the user terminal are received through the wireless MESH self-organizing network communication system; The differential data of the position corresponding to the approximate position data is generated based on the first original observation data, and the differential data is sent to the user terminal through the wireless MESH self-organizing network communication system, so that the user terminal can perform high-precision positioning according to the differential data.

9. The communication positioning method according to claim 8, characterized in that: The method further comprises: When the GNSS reference station system adopts a non-networking mode, receiving the first original observation data sent by the GNSS reference station system and the approximate location data sent by the user terminal through the wireless MESH self-organizing network communication system; Based on the approximate position data, the target GNSS reference station in the GNSS reference station system that is closest to the user terminal is determined, and the first original observation data corresponding to the target GNSS reference station is sent to the user terminal, so that the user terminal can perform high-precision positioning based on the first original observation data corresponding to the target GNSS reference station.

10. The communication positioning method according to claim 8, characterized in that: When the GNSS reference station system adopts a triangulated network mode, the step of generating differential data corresponding to the position of the approximate position data based on the first original observation data includes: Preprocessing the first original observation data of the GNSS reference station system to obtain first target observation data of the GNSS reference station system; Determining the target triangulated network to which the user terminal belongs according to the approximate location data; The double difference observation model equation is used in combination with the first target observation data to calculate the differential data of the target triangulated network.

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