Positioning processing method and device, equipment and storage medium

Abstract

The invention provides a positioning processing method and device, equipment and a storage medium, and the method comprises the steps: obtaining observation data of a target network; determining a reference base station and a reference satellite; according to the observation data corresponding to the reference base station and the reference satellite, generating standard observation data of each target base station for each associated satellite under each frequency point; determining ambiguity data of the target reference stations for the associated satellites under the frequency points according to the standard observation data of the target reference stations for the associated satellites under the frequency points; and generating positioning data of the target object according to the ambiguity data of each satellite under each frequency point and the original virtual observation data corresponding to the target network. According to the invention, the positioning data of the target object in the target network is not influenced by the switching of the reference station any more, the positioning data of the target object is prevented from jumping, the continuity of the positioning data of the target object is ensured, and the positioning precision is improved.

Description

Technical Field

[0001] The present application relates to the field of positioning processing technology, and in particular to a positioning processing method, device, equipment and storage medium. Background Art

[0002] Since the advent of the Global Navigation Satellite System (GNSS), it has become the preferred way for users to obtain high-precision absolute positions because it is free from the constraints of time and space and has excellent real-time performance. As its core technology implementation method, the Continuously Operating Reference Stations (CORS) system has been widely used and developed rapidly.

[0003] The existing technology is usually based on CORS, using multiple base stations in the area that observe satellite data in real time, and forming an optimal baseline network between the base stations. The area is then divided into multiple small grid areas. Each grid area will have the nearest base station. The nearest base station and other base stations have already formed multiple baselines for real-time solution. After extracting atmospheric information, the virtual observation data in the grid area is generated in combination with the original data of the nearest base station and broadcast to users near the grid.

[0004] However, in this processing method, the virtual observation data of the grid area only relies on the satellite data of the nearest base station, and cannot cope with the problem of positioning data jumps generated when the user moves between different grid areas. Specifically, if a user moves across different grid areas and the nearest base stations of the grid areas are inconsistent, then the generated positioning data will jump, affecting the terminal's user solution, resulting in deviations in the positioning information received by the user, resulting in poor positioning accuracy and affecting the user's real-time acquisition and judgment of location information. Summary of the invention

[0005] The purpose of the present application is to provide a positioning processing method, device, equipment and storage medium to address the deficiencies in the above-mentioned prior art, so as to solve the problem that the positioning information received by the user in the prior art has deviations.

[0006] To achieve the above purpose, the technical solution adopted in the embodiment of the present application is as follows:

[0007] In a first aspect, an embodiment of the present application provides a positioning processing method, the method comprising:

[0008] Acquire observation data of a target network for a target object at multiple frequency points, the observation data comprising: observation data of each reference station in the target network and multiple reference station pairs, each of the reference station pairs comprising two of the reference stations;

[0009] Determining a reference base station and a reference satellite corresponding to the target network;

[0010] Determine at least one target reference station pair from the plurality of reference station pairs according to the observation data corresponding to the reference reference station and the reference satellite, perform ambiguity uniform processing on the observation data, and generate standard observation data of each satellite associated with each target reference station pair at each frequency point;

[0011] According to the standard observation data of each satellite associated with each target reference station pair at each frequency point, the single-difference wide-lane ambiguity data of each satellite associated with the target reference station pair is determined respectively, and the ambiguity data of each satellite associated with the target reference station pair at each frequency point is determined according to the single-difference wide-lane ambiguity data of each satellite associated with the target reference station pair;

[0012] The positioning data of the target object is generated according to the ambiguity data of each satellite at each frequency point and the original virtual observation data corresponding to the target network. The original virtual observation data is used to indicate the positioning data of the grid point closest to the target object. The positioning data of the grid point is obtained based on the observation data of the base station closest to the grid point.

[0013] In a second aspect, another embodiment of the present application provides a positioning processing device, the device comprising:

[0014] An acquisition module, used to acquire observation data of a target network for a target object at multiple frequency points, wherein the observation data includes: observation data of each reference station in the target network and multiple reference station pairs, each of the reference station pairs includes two of the reference stations;

[0015] A first determination module is used to determine a reference base station and a reference satellite corresponding to the target network;

[0016] A first generating module is used to determine at least one target reference station pair from the multiple reference station pairs according to the observation data corresponding to the reference reference station and the reference satellite, and perform ambiguity uniform processing on the observation data to generate standard observation data of each satellite associated with each target reference station pair at each frequency point;

[0017] A second determination module is used to determine the single-difference wide-lane ambiguity data of each satellite associated with each target reference station pair according to the standard observation data of each satellite associated with each target reference station pair at each frequency point, and determine the ambiguity data of each satellite associated with the target reference station pair at each frequency point according to the single-difference wide-lane ambiguity data of each satellite associated with the target reference station pair;

[0018] The second generating module is used to generate the positioning data of the target object according to the ambiguity data of each satellite at each frequency point and the original virtual observation data corresponding to the target network, wherein the original virtual observation data is used to indicate the positioning data of the grid point closest to the target object, and the positioning data of the grid point is obtained based on the observation data of the reference station closest to the grid point.

[0019] In the third aspect, another embodiment of the present application provides an electronic device, comprising: a processor, a storage medium and a bus, wherein the storage medium stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor communicates with the storage medium through the bus, and the processor executes the machine-readable instructions to perform the steps of any method described in the first aspect above.

[0020] In a fourth aspect, another embodiment of the present application provides a storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of any method described in the first aspect are executed.

[0021] The beneficial effect of the present application is that by acquiring the observation data of the target network for the target object at multiple frequency points and determining the reference reference station and the reference satellite corresponding to the target network, at least one target reference station pair can be determined from multiple reference station pairs according to the observation data corresponding to the reference reference station and the reference satellite, and the observation data is uniformly processed for ambiguity to generate standard observation data of each satellite associated with each target reference station pair at each frequency point, and the standard observation data of each satellite associated with each target reference station pair at each frequency point is processed to respectively determine the single-difference wide-lane ambiguity data of each satellite associated with the target reference station pair, and the ambiguity data of each satellite associated with the target reference station pair at each frequency point is determined according to the single-difference wide-lane ambiguity data of each satellite associated with the target reference station pair, so that the positioning data of the target object can be generated according to the ambiguity data of each satellite at each frequency point and the virtual observation data corresponding to the target network, so that the positioning data of the target object in the target network is no longer affected by the switching of the reference station, avoiding the jump of the positioning data of the target object, ensuring the continuity of the positioning data of the target object, and improving the positioning accuracy. In addition, since the observation data of the target network for the target object at multiple frequencies is obtained, the data at different frequencies can provide more diverse information and obtain more accurate positioning data in complex environments. At the same time, by determining the reference base station and reference satellite corresponding to the target network, the consistency of the ambiguity data obtained by each satellite at each frequency can be ensured, thereby further improving the positioning accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0023] Figure 1 A schematic diagram of a scenario of a positioning data processing method provided in an embodiment of the present application;

[0024] Figure 2 A schematic diagram of a flow chart of a positioning processing method provided in an embodiment of the present application;

[0025] Figure 3 A schematic diagram of a flow chart for generating standard observation data of each satellite associated with each target reference station at each frequency point in the positioning processing method provided in an embodiment of the present application;

[0026] Figure 4 A schematic diagram of a flow chart for obtaining standard observation data of each satellite at each frequency point in the positioning processing method provided in an embodiment of the present application;

[0027] Figure 5 A schematic diagram of a flow chart for determining ambiguity data of each satellite associated with a target reference station at each frequency point in the positioning processing method provided in an embodiment of the present application;

[0028] Figure 6 A schematic diagram of a flow chart for solving and obtaining the single-difference wide-lane ambiguity data of the current satellite in the positioning processing method provided in an embodiment of the present application;

[0029] Figure 7 A schematic diagram of a flow chart for solving and obtaining the ambiguity data of the current satellite at each frequency point in the positioning processing method provided in an embodiment of the present application;

[0030] Figure 8 A schematic diagram of a flow chart for obtaining positioning data of a target object in a positioning processing method provided in an embodiment of the present application;

[0031] Fig. 9 A schematic diagram of a positioning processing device provided in an embodiment of the present application;

[0032] Fig.10 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0033] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the drawings in the present application only serve the purpose of explanation and description and are not used to limit the scope of protection of the present application. In addition, it should be understood that the schematic drawings are not drawn in real proportion. The flowchart used in this application shows the operations implemented according to some embodiments of the present application. It should be understood that the operations of the flowchart can be implemented out of sequence, and the steps without logical context can be reversed in order or implemented simultaneously. In addition, those skilled in the art can add one or more other operations to the flowchart under the guidance of the content of the present application, or remove one or more operations from the flowchart.

[0034] In addition, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0035] It should be noted that the term "comprising" will be used in the embodiments of the present application to indicate the existence of the features declared thereafter, but does not exclude the addition of other features.

[0036] The existing technology is usually based on CORS, using multiple base stations in the area that observe satellite data in real time, and forming an optimal baseline network between the base stations. The area is then divided into multiple small grid areas. Each grid area will have the nearest base station. The nearest base station and multiple baselines that have been formed with other base stations are solved in real time. After extracting atmospheric information, the virtual observation data in the grid area is generated in combination with the original data of the nearest base station and broadcast to users near the grid.

[0037] However, in this processing method, the virtual observation data of the grid area only relies on the satellite data of the nearest base station, and cannot cope with the problem of positioning data jumps generated when the user moves between different grid areas. Specifically, if a user moves across different grid areas and the nearest base stations of the grid areas are inconsistent, then the generated positioning data will jump, affecting the terminal's user solution, resulting in deviations in the positioning information received by the user, resulting in poor positioning accuracy and affecting the user's real-time acquisition and judgment of location information.

[0038] Based on the above problems, an embodiment of the present application proposes a positioning processing method, which obtains observation data of a target network for a target object at multiple frequency points and determines a reference reference station and a reference satellite corresponding to the target network. At least one target reference station pair can be determined from multiple reference station pairs according to the observation data corresponding to the reference reference station and the reference satellite, and the observation data is uniformly processed for ambiguity to generate standard observation data of each satellite associated with each target reference station pair at each frequency point, and the standard observation data of each satellite associated with each target reference station pair at each frequency point is processed to determine the single-difference wide-lane ambiguity data of each satellite associated with the target reference station pair, and the ambiguity data of each satellite associated with the target reference station pair at each frequency point is determined according to the single-difference wide-lane ambiguity data of each satellite associated with the target reference station pair, so that the positioning data of the target object can be generated according to the ambiguity data of each satellite at each frequency point and the virtual observation data corresponding to the target network, so that the positioning data of the target object in the target network is no longer affected by the switching of the reference station, thereby avoiding the jump of the positioning data of the target object, ensuring the continuity of the positioning data of the target object, and improving the positioning accuracy.

[0039] First, the relevant background and related concepts involved in the positioning processing method provided in this application are explained.

[0040] Figure 1A schematic diagram of a scenario of a positioning data processing method provided in an embodiment of the present application, referring to Figure 1 As shown, taking the case where there are three reference stations based on CORS and observing satellite data in real time in the area as an example, specifically, there are reference stations A, B and C in the area, and reference stations AC together form the optimal baseline network. After obtaining the optimal baseline network, the area where the optimal baseline network is located can be divided into multiple small grid areas according to certain rules (such as equal spacing, equal area, etc.), and based on the observation data of the nearest reference station to each grid area, calculation is performed according to the location of each grid area, so as to obtain the original virtual observation data of each grid area, that is, the observation data of each grid area, and each grid point in each grid area is positioned based on the original virtual observation data of each grid area.

[0041] It can be understood that the number of reference stations and the area where the optimal baseline network is located can be adjusted according to actual application conditions. The embodiment of the present application only takes three reference stations as an example for explanation.

[0042] Exemplarily, it is assumed that the target object, that is, the user who needs to be positioned, is at the location of grid point 1 and moves from the location of grid point 1 to the location of grid point 2, and the location of grid point 1 belongs to a certain grid area, the nearest reference station of the grid area is reference station A, and the location of grid point 2 belongs to another grid area, the nearest reference station of the grid area is reference station B, then at this time, the positioning data of the target object is changed from being provided by reference station A to being provided by reference station B, that is, the positioning data of the target object only depends on the original virtual observation data of grid point 1 and grid point 2, then the positioning data of the target object obtained at this time will produce a jump, in order to avoid the jump, the steps of the positioning processing method provided in the embodiment of the present application can be executed to update the original virtual observation data of grid point 1 and grid point 2, so as to correct the error generated when reference station A is changed to reference station B, and after the execution is completed, the positioning data of the target object is obtained, and the positioning data of the target object is broadcast to the target object, so that the positioning data of the target object in the target network no longer jumps, but remains continuous, thereby improving the positioning accuracy of the target object.

[0043] Specifically, during the positioning processing of the target object, multiple satellites that can be observed by the base station AC continuously send navigation signals to the base station AC. The base station AC receives the navigation signal of each satellite respectively, generates observation data, and sends the observation data to the data center. The data center executes the steps of the positioning processing method provided in the embodiment of the present application, and after the execution is completed, obtains the positioning data of the target object, and broadcasts the positioning data of the target object to the target object, for example, to the terminal device held by the target object, thereby achieving high-precision positioning of the target object.

[0044] Among them, the base station refers to equipment composed of GNSS equipment, meteorological equipment, power equipment, communication equipment, computers and other equipment, as well as infrastructure such as observation piers, observation rooms, and studios. The base station is used to conduct long-term continuous tracking and observation of satellites and record satellite signals to obtain observation data.

[0045] The data center is used to process the observation data sent by the base station and generate positioning data of the target object for users to use.

[0046] The positioning processing method provided by the present application is described in detail below in combination with multiple embodiments.

[0047] Figure 2 A flowchart of a positioning processing method provided in an embodiment of the present application, referring to Figure 2 As shown, the execution subject of the method can be any electronic device with processing capabilities, such as the above-mentioned data center, and the method includes:

[0048] S201. Obtain observation data of a target network for a target object at multiple frequency points.

[0049] Optionally, data may be exchanged with each reference station via a data communication network, thereby obtaining observation data of the target network for the target object at multiple frequency points from each reference station.

[0050] The frequency point refers to the data collected by each reference station in the target network at different frequencies. The observation data includes: the observation data of each reference station in the target network and multiple reference station pairs, each reference station pair includes two reference stations.

[0051] The observation data of each reference station includes satellite navigation signal data of multiple satellites received by each reference station, satellite navigation information, the time of observation epoch, Doppler observation value and station information, etc., from which observation data related to the positioning data of the target object can be extracted. For example, it can include: pseudorange and carrier phase observation value at the first frequency point, pseudorange and carrier phase observation value at the second frequency point, frequency point value and wavelength, etc.

[0052] For example, continue to refer to Figure 1 As shown, the target network is the optimal baseline network composed of the above-mentioned reference station A, reference station B and reference station C. The observation data of each reference station is the observation data of reference station A, the observation data of reference station B and the observation data of reference station C at the first frequency point, and the observation data of reference station A, the observation data of reference station B and the observation data of reference station C at the second frequency point. The multiple reference station pairs include a reference station pair composed of reference station A and reference station B, a reference station pair composed of reference station A and reference station C, and a reference station pair composed of reference station B and reference station C.

[0053] S202: Determine the reference base station and reference satellite corresponding to the target network.

[0054] Optionally, after obtaining the observation data of the target network for the target object at multiple frequency points, the observation data of each reference station can be compared, and the reference station with high observation data quality can be used as a reference reference station. Based on the observation data of each reference station, a consensus satellite set observed by each reference station can be determined, and from the consensus satellite set, the satellite with the highest altitude can be used as a reference satellite based on the altitude angle of each satellite.

[0055] The reference base station can be understood as the starting station reference corresponding to the target network, which is used to determine and unify a reference point for the ambiguity calculation of each base station. The ambiguity refers to the uncertain integer part of the carrier phase observation value caused by factors such as multipath effects and atmospheric delays during satellite signal propagation.

[0056] Among them, the reference satellite refers to the satellite observed by multiple base stations and has the highest altitude angle in the list of satellites observed by these base stations. It is used as a benchmark for unifying ambiguity.

[0057] For example, continue to refer to Figure 1 As shown, when the target network is the optimal baseline network composed of the above-mentioned reference station A, reference station B and reference station C, the reference reference station can be reference station A or reference station B or reference station C.

[0058] S203 determines at least one target reference station pair from multiple reference station pairs based on the observation data corresponding to the reference reference station and the reference satellite, performs ambiguity uniform processing on the observation data, and generates standard observation data of each satellite associated with each target reference station pair at each frequency point.

[0059] Optionally, after determining the reference base station and the reference satellite, the reference base station and the reference satellite are used as the base and reference when correcting the positioning data of the target object. Then, at least one target base station pair can be determined from multiple base station pairs based on the reference base station, thereby avoiding repeated calculations between multiple base station pairs.

[0060] Optionally, after obtaining at least one target reference station pair, the observation data corresponding to the target reference station pair can be uniformly processed for ambiguity based on the observation data corresponding to the reference satellite, thereby generating standard observation data of each satellite associated with each target reference station pair at each frequency point.

[0061] The standard observation data of each satellite associated with each target reference station pair at each frequency point is used to indicate the standard observation data of each satellite obtained at each reference station pair at each frequency point based on the observation data of the reference satellite. The standard observation data of each satellite may include double difference ambiguity data obtained by each satellite based on the observation data of the reference satellite, as well as frequency point value and wavelength, etc.

[0062] For example, continue to refer to Figure 1 As shown, the target network is the optimal baseline network composed of the above-mentioned reference station A, reference station B and reference station C, and when the reference station is reference station A, the target reference station pair may include: a reference station pair composed of reference station A and reference station B, and a reference station pair composed of reference station A and reference station C. The standard observation data of each satellite associated with each target reference station pair at each frequency point may be understood as the standard observation data corresponding to the satellites associated with reference station A and reference station B at each frequency point.

[0063] S204. Determine the single-difference wide-lane ambiguity data of each satellite associated with each target reference station according to the standard observation data of each satellite associated with each target reference station at each frequency point, and determine the ambiguity data of each satellite associated with the target reference station at each frequency point according to the single-difference wide-lane ambiguity data of each satellite associated with the target reference station.

[0064] It can be understood that after obtaining the standard observation data of each satellite associated with each target reference station pair at each frequency point, the standard observation data of each satellite associated with the target reference station pair at each frequency point can be used to compare the differences in the standard observation data of each satellite associated with the target reference station pair at different frequencies, thereby obtaining the single-difference wide-lane ambiguity data of each satellite associated with the target reference station pair, and then separating the single-difference wide-lane ambiguity data of each satellite associated with the target reference station pair, thereby obtaining the ambiguity data of each satellite associated with the target reference station pair at each frequency point with each reference station in the target reference station pair.

[0065] Optionally, after obtaining the standard observation data of each satellite associated with each target reference station pair at each frequency point, the standard observation data of each satellite associated with the first target reference station pair at each frequency point can be calculated to obtain the single-difference wide-lane ambiguity data of each satellite associated with the first target reference station pair, and the ambiguity data of each satellite associated with the first target reference station pair at each frequency point can be calculated based on the single-difference wide-lane ambiguity data of each satellite associated with the first target reference station pair.

[0066] Optionally, standard observation data of each satellite associated with the second target reference station at each frequency point can be calculated to obtain single-difference wide-lane ambiguity data of each satellite associated with the second target reference station, and ambiguity data of each satellite associated with the second target reference station at each frequency point can be obtained based on the single-difference wide-lane ambiguity data of each satellite associated with the second target reference station.

[0067] The ambiguity data of each satellite associated with the target reference station pair at each frequency point is used to indicate the ambiguity difference between the carrier phase observation values ​​of the same satellite observed by the target reference station pair.

[0068] S205: Generate positioning data of the target object according to the ambiguity data of each satellite at each frequency point and the original virtual observation data corresponding to the target network.

[0069] It can be understood that after obtaining the ambiguity data of each satellite at each frequency point, the ambiguity data of each satellite at each frequency point can be used as a known parameter and applied to positioning the target object to eliminate the jump caused by the change of the base station and achieve accurate positioning of the target object.

[0070] Optionally, the positioning data of the target object can be generated based on the ambiguity data of each satellite at each frequency point and the original virtual observation data corresponding to the target network through atmospheric modeling and other processing.

[0071] For example, continue to refer to Figure 1 As shown, after obtaining the ambiguity data of each satellite at each frequency point, the ambiguity data of each satellite at each frequency point can be applied to the original virtual observation data of grid point 1 and grid point 2 to obtain the latest virtual observation data, thereby generating the positioning data of the target object based on the latest virtual observation data.

[0072] The original virtual observation data is used to indicate the positioning data of the grid point closest to the target object, and the positioning data of the grid point is obtained based on the observation data of the reference station closest to the grid point.

[0073] In this embodiment, by acquiring observation data of the target network for the target object at multiple frequency points, and determining the reference reference station and the reference satellite corresponding to the target network, at least one target reference station pair can be determined from multiple reference station pairs according to the observation data corresponding to the reference reference station and the reference satellite, and the observation data is uniformly processed for ambiguity to generate standard observation data of each satellite associated with each target reference station pair at each frequency point, and the standard observation data of each satellite associated with each target reference station pair at each frequency point is processed to determine the single-difference wide-lane ambiguity data of each satellite associated with the target reference station pair, and the ambiguity data of each satellite associated with the target reference station pair at each frequency point is determined according to the single-difference wide-lane ambiguity data of each satellite associated with the target reference station pair, so that the positioning data of the target object can be generated according to the ambiguity data of each satellite at each frequency point and the virtual observation data corresponding to the target network, so that the positioning data of the target object in the target network is no longer affected by the switching of the reference station, thereby avoiding the jump of the positioning data of the target object, ensuring the continuity of the positioning data of the target object, and improving the positioning accuracy. In addition, since the observation data of the target network for the target object at multiple frequencies is obtained, the data at different frequencies can provide more diverse information and obtain more accurate positioning data in complex environments. At the same time, by determining the reference base station and reference satellite corresponding to the target network, the consistency of the ambiguity data obtained by each satellite at each frequency can be ensured, thereby further improving the positioning accuracy.

[0074] In one possible implementation, Figure 3 A schematic diagram of a flow chart for generating standard observation data of each satellite associated with each target reference station at each frequency point in the positioning processing method provided in the embodiment of the present application, referring to Figure 3 As shown, in the above step S203, at least one target reference station pair is determined from multiple reference station pairs according to the observation data corresponding to the reference reference station and the reference satellite, and the ambiguity of the observation data is uniformly processed to generate the standard observation data of each satellite associated with each target reference station pair at each frequency point. The steps can be performed as follows, including:

[0075] S301. Determine at least one target reference station pair from a plurality of reference station pairs according to a reference reference station.

[0076] Optionally, the reference station pair where the reference reference station is located is used as at least one target reference station pair, thereby avoiding repeated calculations between multiple reference station pairs and improving the efficiency of determining positioning data.

[0077] S302: Generate initial double-difference ambiguity data of each satellite associated with each target reference station at each frequency point based on the observation data.

[0078] Optionally, the observation data can be screened to obtain the observation data corresponding to each target reference station pair, and then the observation data of each target reference station pair can be double-differenced to calculate the initial double-difference ambiguity data of each satellite associated with the target reference station pair at each frequency point.

[0079] Among them, the initial double-difference ambiguity data of each satellite associated with the target reference station pair at each frequency point refers to the ambiguity parameters in the double-difference carrier phase observation equation of the same pair of satellite observations between the two reference stations in the target reference station pair, reflecting the unknown integer number of weeks of the relative position between the two reference stations.

[0080] S303. Perform unified ambiguity processing on the initial double-difference ambiguity data of each target reference station for each satellite associated therewith according to the observation data corresponding to the reference satellite, and generate standard observation data of each target reference station for each satellite associated therewith at each frequency point.

[0081] Optionally, after obtaining the initial double-difference ambiguity data of each target reference station for each satellite associated with it, the ambiguity is uniformly processed by using the observation data corresponding to the reference satellite, using the double-difference observation equation and an appropriate algorithm (such as the least squares method, the LAMBDA algorithm, etc.), to generate standard observation data of each target reference station for each satellite associated with it at each frequency point, thereby reducing the positioning error caused by the non-fixed ambiguity.

[0082] The standard observation data of each satellite associated with each target reference station pair at each frequency point is the double-difference ambiguity data of each satellite associated with each target reference station pair relative to the reference satellite.

[0083] By referring to the reference station, at least one target reference station pair is determined from multiple reference station pairs, and initial double-difference ambiguity data of each satellite associated with each target reference station pair at each frequency point is generated through observation data, so that the initial double-difference ambiguity data of each satellite associated with each target reference station pair is uniformly processed according to the observation data corresponding to the reference satellite, and standard observation data of each satellite associated with each target reference station pair at each frequency point is generated, which can eliminate most common errors, such as satellite orbit error, receiver clock error, etc., thereby improving positioning accuracy and enhancing the reliability of positioning data.

[0084] In one possible implementation, Figure 4 A schematic diagram of a flow chart of obtaining standard observation data of each satellite at each frequency point in the positioning processing method provided in the embodiment of the present application, referring to Figure 4As shown, the above S303 performs unified ambiguity processing on the initial double-difference ambiguity data of each satellite associated with each target reference station according to the observation data corresponding to the reference satellite, and generates standard observation data of each satellite associated with each target reference station at each frequency point, including:

[0085] S401. Obtain reference ambiguity data at each frequency point in the observation data corresponding to the reference satellite.

[0086] Optionally, reference ambiguity data at each frequency point in the observation data corresponding to the reference satellite may be obtained from the observation data corresponding to the reference satellite.

[0087] Exemplarily, the reference ambiguity data at each frequency point in the observation data corresponding to the reference satellite may include: reference ambiguity data of the reference satellite at a first frequency point and reference ambiguity data of the reference satellite at a second frequency point.

[0088] S402. Subtract the double-difference ambiguity data corresponding to each satellite at each frequency point from the reference ambiguity data at each frequency point to obtain the standard ambiguity data corresponding to each satellite at each frequency point.

[0089] Optionally, the double-difference ambiguity data corresponding to each satellite at each frequency point may be subtracted from the reference ambiguity data at each frequency point to obtain the standard ambiguity data corresponding to each satellite at each frequency point.

[0090] Exemplarily, the double-difference ambiguity data corresponding to each satellite at the first frequency point is subtracted from the reference ambiguity data of the reference satellite at the first frequency point to obtain the standard ambiguity data corresponding to each satellite at the first frequency point, and the double-difference ambiguity data corresponding to each satellite at the second frequency point is subtracted from the reference ambiguity data of the reference satellite at the second frequency point to obtain the standard ambiguity data corresponding to each satellite at the second frequency point.

[0091] S403. Obtain standard observation data of each satellite at each frequency point according to the standard ambiguity data corresponding to each satellite at each frequency point.

[0092] Optionally, the standard ambiguity data corresponding to each satellite at each frequency point can be used as part of the standard observation data of each satellite at each frequency point, and other data in the observation data except the ambiguity data can be used as another part of the standard observation data of each satellite at each frequency point, so as to obtain the standard observation data of each satellite at each frequency point.

[0093] By obtaining the reference ambiguity data at each frequency point in the observation data corresponding to the reference satellite, and subtracting the double-difference ambiguity data corresponding to each satellite at each frequency point from the reference ambiguity data at each frequency point, the standard ambiguity data corresponding to each satellite at each frequency point is obtained, and then the standard observation data of each satellite at each frequency point is obtained according to the standard ambiguity data corresponding to each satellite at each frequency point. The double-difference ambiguity data at different satellites and different frequencies can be converted to a unified benchmark, which is convenient for subsequent data processing and analysis, and improves the efficiency of positioning data processing. At the same time, it helps to fix the ambiguity more accurately, thereby improving positioning accuracy. In addition, it can also process observation data at each frequency point, support multi-frequency point observation, and improve the flexibility and adaptability in the process of determining positioning data.

[0094] In one possible implementation, Figure 5 A flow chart of determining the ambiguity data of each satellite associated with the target reference station at each frequency point in the positioning processing method provided in the embodiment of the present application, with reference to Figure 5 As shown, the above S204 determines the single-difference wide-lane ambiguity data of each satellite associated with each target reference station according to the standard observation data of each satellite associated with each target reference station at each frequency point, and determines the ambiguity data of each satellite associated with the target reference station at each frequency point according to the single-difference wide-lane ambiguity data of each satellite associated with the target reference station, including:

[0095] S501. Determine the double-difference wide-lane ambiguity data of the current satellite based on the standard observation data of the current satellite at each frequency point.

[0096] Optionally, taking any one of the satellites associated with the target reference station as the current satellite, wide-lane combination can be performed based on the standard ambiguity data of the current satellite at the first frequency point and the standard ambiguity data of the current satellite at the second frequency point in the standard observation data of the current satellite at each frequency point to obtain double-difference wide-lane ambiguity data of the current satellite.

[0097] Among them, the double-difference wide-lane ambiguity data of the current satellite can be understood as the ambiguity data of the current satellite and the target reference station under the joint action of the first frequency point and the second frequency point.

[0098] For example, the standard ambiguity data of the current satellite at the first frequency point and the standard ambiguity data of the current satellite at the second frequency point can be linearly combined to obtain the double-difference wide-lane ambiguity data of the current satellite. The double-difference wide-lane ambiguity data of the current satellite has a longer wavelength and a lower noise level, and can generate positioning data faster.

[0099] S502: According to the double-difference wide-lane ambiguity data of the current satellite and a preset first observation equation, the single-difference wide-lane ambiguity data of the current satellite is obtained by solving.

[0100] It can be understood that, taking any one of the satellites associated with the target reference station pair as the current satellite, since the double-difference wide-lane ambiguity data of the current satellite is for the target reference station pair, that is, it reflects the common error related to the satellite and multiple reference stations, and when the positioning data jumps, the relative relationship between a single reference station and the satellite is needed, therefore, the double-difference wide-lane ambiguity data can be converted into single-difference wide-lane ambiguity data, that is, the single-difference wide-lane ambiguity data is used to indicate the phase difference between a single reference station and the satellite.

[0101] The single-difference wide-lane ambiguity data of the current satellite can be understood as the ambiguity data of the first reference station in the current satellite and the target reference station pair under the joint action of the first frequency point and the second frequency point, and the ambiguity data of the second reference station in the current satellite and the target reference station pair under the joint action of the first frequency point and the second frequency point. The first reference station and the second reference station are the two reference stations in the target reference station pair.

[0102] Optionally, the single-difference wide-lane ambiguity data of the current satellite may be obtained by solving the double-difference wide-lane ambiguity data of the current satellite and a preset first observation equation, wherein the first observation equation may be a Melbourne-Wubbena (MW) observation equation.

[0103] S503: According to the single-difference wide-lane ambiguity data of the current satellite and the preset second observation equation, the ambiguity data of the current satellite at each frequency point is obtained by solving.

[0104] It can be understood that, taking any one of the satellites associated with the target reference station as the current satellite, after obtaining the single-difference wide-lane ambiguity data of the current satellite, since the single-difference wide-lane ambiguity of the current satellite is affected by the first frequency point and the second frequency point, and the observation value at each frequency point contains different information, the single-difference wide-lane ambiguity data of the current satellite can be converted into the ambiguity data of the current satellite at each frequency point.

[0105] The ambiguity data of the current satellite at each frequency point can be understood as the ambiguity data of the first reference station in the current satellite and the target reference station pair at the first frequency point, the ambiguity data of the first reference station in the current satellite and the target reference station pair at the second frequency point, the ambiguity data of the second reference station in the current satellite and the target reference station pair at the first frequency point, and the ambiguity data of the second reference station in the current satellite and the target reference station pair at the second frequency point. The first reference station and the second reference station are the two reference stations in the target reference station pair.

[0106] Optionally, the ambiguity data of the current satellite at each frequency point can be solved according to the single-difference wide-lane ambiguity data of the current satellite and a preset second observation equation, wherein the second observation equation can be a geometry-free (GF) observation equation.

[0107] Determining the double-difference wide-lane ambiguity data of the current satellite through the standard observation data of the current satellite at each frequency point helps to eliminate or weaken various error sources, such as ionospheric delay, tropospheric delay, satellite orbit error and receiver clock error, thereby significantly improving positioning accuracy, especially in long baselines or complex environments. The single-difference wide-lane ambiguity data of the current satellite is solved by the double-difference wide-lane ambiguity data of the current satellite and the preset first observation equation, which can further refine the error elimination, optimize the data processing flow, and reduce unnecessary calculation steps. Therefore, the ambiguity data of the current satellite at each frequency point can be solved according to the single-difference wide-lane ambiguity data of the current satellite and the preset second observation equation, further improving the positioning accuracy and reliability.

[0108] In one possible implementation, Figure 6 A schematic diagram of a flow chart for solving the single-difference wide-lane ambiguity data of the current satellite in the positioning processing method provided in the embodiment of the present application, referring to Figure 6 As shown, the above S502 solves the single-difference wide-lane ambiguity data of the current satellite according to the double-difference wide-lane ambiguity data of the current satellite and the preset first observation equation, including:

[0109] S601. Input the double-difference wide-lane ambiguity data of the current satellite into the first observation equation to obtain the first equation to be solved.

[0110] Optionally, after obtaining the double-difference wide-lane ambiguity data of the current satellite After that, the double difference wide lane ambiguity data of the current satellite can be Input the first observation equation, and obtain the first equation to be solved as shown in the following formula (1):

[0111]

[0112] in, is the single difference observation value of the current satellite unref1 at the first frequency point in the observation data under the target reference station pair, where f1 is the first frequency value of the current satellite unref1 in the observation data, f2 is the second frequency value of the current satellite unref1 in the observation data, λ1 is the wavelength of the current satellite unref1 in the observation data at the first frequency, λ2 is the wavelength of the current satellite unref1 in the observation data at the second frequency, ΔP1 is the single difference satellite-to-earth distance value of the current satellite unref1 in the observation data at the first frequency, ΔP2 is the single difference satellite-to-earth distance value of the current satellite unref1 in the observation data at the target reference station pair, ΔWL ref is the single-difference wide-lane ambiguity data of the reference satellite.

[0113] S602: Input the double-difference wide-lane ambiguity data of each associated satellite into the first observation equation to obtain at least one second equation to be solved.

[0114] The associated satellite is a satellite other than the current satellite among the satellites associated with the target reference station pair.

[0115] Optionally, the double-difference wide-lane ambiguity data of each associated satellite may be respectively input into a plurality of first observation equations to obtain a plurality of second equations to be solved.

[0116] For example, taking an associated satellite unref2 as an example, the double difference wide lane ambiguity data ΔWL of the associated satellite unref2 is unref2 Input the first observation equation, and obtain the second equation to be solved as shown in the following formula (2):

[0117]

[0118] in, is the single difference observation value of the associated satellite unref2 at the first frequency point under the target reference station pair, are the single difference observation values ​​of the associated satellite unref2 at the target reference station pair at the second frequency point, f1 is the first frequency point value of the associated satellite unref2, f2 is the second frequency point value of the associated satellite unref2, λ1 is the wavelength of the associated satellite unref2 at the first frequency point, λ2 is the wavelength of the associated satellite unref2 at the second frequency point, ΔP1 is the single difference satellite-to-earth distance value of the associated satellite unref2 at the target reference station pair at the first frequency point, ΔP2 is the single difference satellite-to-earth distance value of the associated satellite unref2 at the target reference station pair at the second frequency point, ΔWL ref is the single-difference wide-lane ambiguity data of the reference satellite.

[0119] S603, combining and solving the first equation to be solved and each second equation to be solved by the least square method to obtain single-difference wide-lane ambiguity data of the reference satellite.

[0120] Optionally, after obtaining the first equation to be solved corresponding to the current satellite and the multiple second equations to be solved corresponding to the multiple associated satellites, a combined solution can be performed by the least squares method to obtain the single-difference wide-lane ambiguity data ΔWL of the reference satellite: ref .

[0121] S604. Obtain the single-difference wide-lane ambiguity data of the current satellite according to the single-difference wide-lane ambiguity data of the reference satellite.

[0122] Optionally, after obtaining the single-difference wide-lane ambiguity data ΔWL of the reference satellite ref After that, the single-difference wide-lane ambiguity data ΔWL of the reference satellite can be used to obtain the ref , calculate the single difference wide lane ambiguity data ΔWL of the current satellite unref1 Specifically, it can be calculated by referring to the following formula (3):

[0123]

[0124] Among them, ΔWL ref is the single-difference wide-lane ambiguity data of the reference satellite, ΔWL unref1 is the single-difference wide-lane ambiguity data of the current satellite, is the double-difference wide-lane ambiguity data of the current satellite.

[0125] In one possible implementation, Figure 7 A schematic diagram of a flow chart for solving the ambiguity data of the current satellite at each frequency point in the positioning processing method provided in the embodiment of the present application, referring to Figure 7 As shown, the above S503 solves the ambiguity data of the current satellite at each frequency point according to the single-difference wide-lane ambiguity data of the current satellite and the preset second observation equation, including:

[0126] S701. Input the single-difference wide-lane ambiguity data of the current satellite into the second observation equation to obtain a third equation to be solved.

[0127] Optionally, after obtaining the single-difference wide-lane ambiguity data ΔWL of the current satellite unref1 Then, taking the solution of the ambiguity data of the current satellite at the first frequency point as an example, the single difference wide lane ambiguity data ΔWL of the current satellite can be unref1 , input the second observation equation, and obtain the third equation to be solved as shown in the following formula (4):

[0128]

[0129] Where λ1 is the wavelength of the current satellite unref1 at the first frequency point in the observation data, λ2 is the wavelength of the current satellite unref1 at the second frequency point in the observation data, is the observation value of the current satellite unref1 at the first frequency point in the observation data, is the observation value of the current satellite unref1 at the second frequency point in the observation data, Δion 12 is the ionospheric difference between the first frequency point and the second frequency point in the observation data, is the ambiguity data of the reference satellite at the first frequency point, ΔWL unref1 is the single-difference wide-lane ambiguity data of the current satellite unref1, It is the double difference ambiguity data of the current satellite unref1 at the first frequency point.

[0130] S702. Input the single-difference wide-lane ambiguity data of each associated satellite into the second observation equation to obtain at least one fourth equation to be solved.

[0131] Optionally, continuing to take solving the ambiguity data of the current satellite at the first frequency point as an example, the single-difference wide-lane ambiguity data of each associated satellite can be input into multiple second observation equations respectively to obtain multiple fourth equations to be solved.

[0132] The associated satellite is a satellite other than the current satellite among the satellites associated with the target reference station pair.

[0133] For example, taking an associated satellite unref2 as an example, the single-difference wide-lane ambiguity data ΔWL of the current satellite is unref1 , input the second observation equation, and obtain the fourth equation to be solved as shown in the following formula (5):

[0134] (5)

[0135] Where λ1 is the wavelength of the associated satellite unref2 at the first frequency point in the observation data, λ2 is the wavelength of the associated satellite unref2 at the second frequency point in the observation data, is the observation value of the associated satellite unref2 at the first frequency point in the observation data, is the observed value of the associated satellite unref2 at the second frequency point in the observation data, Δion 12 is the ionospheric difference between the first frequency point and the second frequency point in the observation data, is the ambiguity data of the reference satellite at the first frequency point, ΔWL unref2 is the single-difference wide-lane ambiguity data of the associated satellite unref2, Associate the double difference ambiguity data of satellite unref2 at the first frequency point.

[0136] S703. The third equation to be solved and each fourth equation to be solved are combined and solved by the least square method to obtain the ambiguity data of the reference satellite at each frequency point.

[0137] Optionally, continuing to take solving the ambiguity data of the current satellite at the first frequency point as an example, after obtaining the third equation to be solved corresponding to the current satellite and multiple fourth equations to be solved corresponding to multiple associated satellites, the ambiguity data of the reference satellite at the first frequency point can be obtained by combining and solving them using the least squares method.

[0138] S704. Obtain the ambiguity data of the current satellite at each frequency point according to the ambiguity data of the reference satellite at each frequency point.

[0139] Optionally, after obtaining the ambiguity data of the reference satellite at the first frequency point After that, the ambiguity data of the reference satellite at the first frequency point can be Calculate the ambiguity data of the current satellite at the first frequency point And the ambiguity data of the current satellite at the second frequency point

[0140] For example, the ambiguity data of the current satellite at the first frequency point can be calculated according to the following formula (6):

[0141]

[0142] in, is the ambiguity data of the current satellite unref1 at the first frequency point, is the double difference ambiguity data of the current satellite unref1 at the first frequency point, is the ambiguity data of the reference satellite ref at the first frequency point.

[0143] For example, after obtaining the ambiguity data of the current satellite at the first frequency point After that, the ambiguity data of the current satellite at the second frequency point can be calculated using the following formula (7):

[0144]

[0145] in, is the ambiguity data of the current satellite unref1 at the first frequency point, is the ambiguity data of the current satellite unref1 at the second frequency point, ΔWL unref1 It is the single-difference wide-lane ambiguity data of the current satellite unref1.

[0146] In one possible implementation, Figure 8 A schematic diagram of a flow chart of obtaining the positioning data of the target object in the positioning processing method provided in the embodiment of the present application, referring to Figure 8 As shown, the above S205 generates the positioning data of the target object according to the ambiguity data of each satellite at each frequency point and the virtual observation data corresponding to the target network, including:

[0147] S801. Add the ambiguity data of each satellite at each frequency point to the original virtual observation data corresponding to the target network to obtain the target virtual observation data.

[0148] Optionally, the ambiguity data of each satellite at each frequency point is added to the virtual observation data corresponding to the target network to obtain the target virtual observation data, thereby eliminating the jump caused by the change of the base station and achieving accurate positioning of the target object.

[0149] Exemplarily, according to the different frequencies of each satellite, the ambiguity data of each frequency point can be added to the original virtual observation data at each frequency point corresponding to the target network to obtain the target virtual observation data, so as to correct the error generated when the reference station A is changed to the reference station B.

[0150] S802: Obtain positioning data of the target object according to the target virtual observation data.

[0151] Optionally, after obtaining the positioning data of each satellite at each frequency point, the observation data can be combined with the atmospheric physics model to perform atmospheric modeling, establish delay models of the ionosphere and troposphere, and perform processing such as solving based on the target virtual observation data of the grid point closest to the target object, the atmospheric modeling results, and the observation data to generate the positioning data of the target object and broadcast it to the target object.

[0152] Exemplarily, the current layer may be processed with reference to the following formula (8):

[0153]

[0154] Among them, GF_ION f1 is the double difference ionosphere between base stations and satellites at the first frequency point, is the double difference observation value between base stations and satellites at the first frequency point, is the double difference observation value between base stations and satellites at the second frequency point, f1 is the first frequency point value, and f2 is the second frequency point value.

[0155] Exemplarily, the troposphere may be processed with reference to the following formula (9):

[0156]

[0157] Among them, GF_TROP is the double difference tropospheric wet delay between base stations and satellites, ρ is the satellite-to-earth distance, gfion1 is the double difference ionospheric delay between base stations and satellites at the first frequency, gfion2 is the double difference ionospheric delay between base stations and satellites at the second frequency, and ddtrop is dry It is the inter-base station and inter-satellite double-difference tropospheric dry delay calculated by the empirical model.

[0158] Based on the same inventive concept, a positioning processing device corresponding to the positioning processing method is also provided in the embodiment of the present application. Since the principle of solving the problem by the device in the embodiment of the present application is similar to the above-mentioned positioning processing method in the embodiment of the present application, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be repeated.

[0159] Fig. 9 A schematic diagram of a positioning processing device provided in an embodiment of the present application, referring to Fig. 9 As shown, the device includes: an acquisition module 901, a first determination module 902, a first generation module 903, a second determination module 904 and a second generation module 905;

[0160] An acquisition module 901 is used to acquire observation data of a target network for a target object at multiple frequency points, wherein the observation data includes: observation data of each reference station in the target network and multiple reference station pairs, each reference station pair includes two reference stations;

[0161] A first determination module 902 is used to determine a reference base station and a reference satellite corresponding to a target network;

[0162] The first generating module 903 is used to determine at least one target reference station pair from multiple reference station pairs according to the observation data corresponding to the reference reference station and the reference satellite, and perform ambiguity uniform processing on the observation data to generate standard observation data of each satellite associated with each target reference station pair at each frequency point;

[0163] The second determination module 904 is used to determine the single-difference wide-lane ambiguity data of each satellite associated with each target reference station according to the standard observation data of each satellite associated with each target reference station at each frequency point, and determine the ambiguity data of each satellite associated with the target reference station at each frequency point according to the single-difference wide-lane ambiguity data of each satellite associated with the target reference station;

[0164] The second generation module 905 is used to generate the positioning data of the target object based on the ambiguity data of each satellite at each frequency point and the original virtual observation data corresponding to the target network, the original virtual observation data is used to indicate the positioning data of the grid point closest to the target object, and the positioning data of the grid point is obtained based on the observation data of the base station closest to the grid point.

[0165] As a possible implementation manner, the first generating module 903 is specifically configured to:

[0166] determining at least one target reference station pair from a plurality of reference station pairs according to the reference reference station;

[0167] Based on the observation data, the initial double-difference ambiguity data of each satellite associated with each target reference station at each frequency point is generated;

[0168] According to the observation data corresponding to the reference satellite, the initial double-difference ambiguity data of each target reference station for each satellite associated with it is uniformly processed to generate standard observation data of each target reference station for each satellite associated with it at each frequency point.

[0169] As a possible implementation manner, the first generating module 903 is specifically configured to:

[0170] Obtain reference ambiguity data at each frequency point in the observation data corresponding to the reference satellite;

[0171] Subtract the double-difference ambiguity data corresponding to each satellite at each frequency point from the reference ambiguity data at each frequency point to obtain the standard ambiguity data corresponding to each satellite at each frequency point;

[0172] According to the standard ambiguity data corresponding to each satellite at each frequency point, the standard observation data of each satellite at each frequency point is obtained.

[0173] As a possible implementation manner, the second determining module 904 is specifically configured to:

[0174] According to the standard observation data of the current satellite at each frequency point, the double-difference wide-lane ambiguity data of the current satellite is determined;

[0175] According to the double-difference wide-lane ambiguity data of the current satellite and the preset first observation equation, the single-difference wide-lane ambiguity data of the current satellite is obtained by solving;

[0176] According to the single-difference wide-lane ambiguity data of the current satellite and the preset second observation equation, the ambiguity data of the current satellite at each frequency point is solved.

[0177] As a possible implementation manner, the second determining module 904 is specifically configured to:

[0178] Inputting the double-difference wide-lane ambiguity data of the current satellite into the first observation equation to obtain the first equation to be solved;

[0179] Inputting double-difference wide-lane ambiguity data of each associated satellite into the first observation equation to obtain at least one second equation to be solved, wherein the associated satellite is a satellite other than the current satellite among the satellites associated with the target reference station pair;

[0180] The first equation to be solved and each second equation to be solved are combined and solved by the least square method to obtain the single-difference wide-lane ambiguity data of the reference satellite;

[0181] The single-difference wide-lane ambiguity data of the current satellite is obtained according to the single-difference wide-lane ambiguity data of the reference satellite.

[0182] As a possible implementation manner, the second determining module 904 is specifically configured to:

[0183] Inputting the single-difference wide-lane ambiguity data of the current satellite into the second observation equation to obtain a third equation to be solved; inputting the single-difference wide-lane ambiguity data of each associated satellite into the second observation equation to obtain at least one fourth equation to be solved;

[0184] The third equation to be solved and each fourth equation to be solved are combined and solved by the least square method to obtain the ambiguity data of the reference satellite at each frequency point;

[0185] According to the ambiguity data of the reference satellite at each frequency point, the ambiguity data of the current satellite at each frequency point is obtained.

[0186] As a possible implementation manner, the second generating module 905 is specifically configured to:

[0187] Add the ambiguity data of each satellite at each frequency point to the original virtual observation data corresponding to the target network to obtain the target virtual observation data;

[0188] According to the target virtual observation data, the positioning data of the target object is obtained.

[0189] For descriptions of the processing flow of each module in the device and the interaction flow between each module, reference may be made to the relevant descriptions in the above method embodiment, which will not be described in detail here.

[0190] The present application also provides an electronic device, such as Fig.10 As shown, Fig.10 The structural diagram of the electronic device provided in the embodiment of the present application includes: a processor 1001, a memory 1002, and optionally, a bus 1003. The memory 1002 stores machine-readable instructions executable by the processor 1001 (for example, Fig. 9 In the device, the acquisition module 901, the first determination module 902, the first generation module 903, the second determination module 904 and the execution instructions corresponding to the second generation module 905 are obtained, etc.), when the electronic device is running, the processor 1001 communicates with the memory 1002 through the bus 1003, and when the machine-readable instructions are executed by the processor 1001, the steps of the above-mentioned positioning processing method are executed.

[0191] An embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above-mentioned positioning processing method are executed.

[0192] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, the specific working process of the system and device described above can refer to the corresponding process in the method embodiment, and will not be repeated in this application. In the several embodiments provided in this application, it should be understood that the disclosed system, device and method can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation. For example, multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0193] In addition, each functional unit in each embodiment of the present application can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention is essentially or part of the technical solution that contributes to the prior art or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including several instructions for a computer device (which can 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: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, RandomAccess Memory), disk or optical disk and other media that can store program code.

[0194] The above are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be covered by the protection scope of the present application.

Claims

1. A positioning processing method, characterized in that: include: Acquire observation data of a target network for a target object at multiple frequency points, the observation data comprising: observation data of each reference station in the target network and multiple reference station pairs, each of the reference station pairs comprising two of the reference stations; Determining a reference base station and a reference satellite corresponding to the target network; Determine at least one target reference station pair from the plurality of reference station pairs according to the observation data corresponding to the reference reference station and the reference satellite, perform ambiguity uniform processing on the observation data, and generate standard observation data of each satellite associated with each target reference station pair at each frequency point; According to the standard observation data of each satellite associated with each target reference station pair at each frequency point, the single-difference wide-lane ambiguity data of each satellite associated with the target reference station pair is determined respectively, and the ambiguity data of each satellite associated with the target reference station pair at each frequency point is determined according to the single-difference wide-lane ambiguity data of each satellite associated with the target reference station pair; The positioning data of the target object is generated according to the ambiguity data of each satellite at each frequency point and the original virtual observation data corresponding to the target network. The original virtual observation data is used to indicate the positioning data of the grid point closest to the target object. The positioning data of the grid point is obtained based on the observation data of the base station closest to the grid point.

2. The positioning processing method according to claim 1, characterized in that: The step of determining at least one target reference station pair from the plurality of reference station pairs according to the observation data corresponding to the reference reference station and the reference satellite, performing ambiguity uniform processing on the observation data, and generating standard observation data of each satellite associated with each target reference station pair at each frequency point includes: determining, based on the reference reference station, the at least one target reference station pair from the plurality of reference station pairs; Generating initial double-difference ambiguity data of each satellite associated with each target reference station at each frequency point according to the observation data; According to the observation data corresponding to the reference satellite, the initial double-difference ambiguity data of each satellite associated with each target reference station is uniformly processed to generate standard observation data of each satellite associated with each target reference station at each frequency point.

3. The positioning processing method according to claim 2, characterized in that: The step of performing unified ambiguity processing on initial double-difference ambiguity data of each satellite associated with each target reference station according to the observation data corresponding to the reference satellite, and generating standard observation data of each satellite associated with each target reference station at each frequency point, comprises: Obtaining reference ambiguity data at each frequency point in the observation data corresponding to the reference satellite; Subtracting the double-difference ambiguity data corresponding to each satellite at each frequency point from the reference ambiguity data at each frequency point to obtain the standard ambiguity data corresponding to each satellite at each frequency point; According to the standard ambiguity data corresponding to each satellite at each frequency point, the standard observation data of each satellite at each frequency point is obtained.

4. The positioning processing method according to claim 2, characterized in that: The step of determining the single-difference wide-lane ambiguity data of each satellite associated with each target reference station pair according to the standard observation data of each satellite associated with each target reference station pair at each frequency point, and determining the ambiguity data of each satellite associated with the target reference station pair at each frequency point according to the single-difference wide-lane ambiguity data of each satellite associated with the target reference station pair, comprises: Determine the double-difference wide-lane ambiguity data of the current satellite according to the standard observation data of the current satellite at each frequency point; Solving the double-difference wide-lane ambiguity data of the current satellite and a preset first observation equation to obtain the single-difference wide-lane ambiguity data of the current satellite; According to the single-difference wide-lane ambiguity data of the current satellite and a preset second observation equation, the ambiguity data of the current satellite at each frequency point is solved.

5. The positioning processing method according to claim 4, characterized in that: The step of solving the single-difference wide-lane ambiguity data of the current satellite according to the double-difference wide-lane ambiguity data of the current satellite and a preset first observation equation comprises: Inputting the double-difference wide-lane ambiguity data of the current satellite into the first observation equation to obtain a first equation to be solved; Inputting double-difference wide-lane ambiguity data of each associated satellite into the first observation equation to obtain at least one second equation to be solved, wherein the associated satellite is a satellite other than the current satellite among the satellites associated with the target reference station pair; The first equation to be solved and each of the second equations to be solved are combined and solved by a least square method to obtain single-difference wide-lane ambiguity data of the reference satellite; The single-difference wide-lane ambiguity data of the current satellite is obtained according to the single-difference wide-lane ambiguity data of the reference satellite.

6. The positioning processing method according to claim 5, characterized in that: The step of solving the ambiguity data of the current satellite at each frequency point according to the single-difference wide-lane ambiguity data of the current satellite and a preset second observation equation includes: Inputting the single-difference wide-lane ambiguity data of the current satellite into the second observation equation to obtain a third equation to be solved; inputting the single-difference wide-lane ambiguity data of each associated satellite into the second observation equation to obtain at least one fourth equation to be solved; The third equation to be solved and each fourth equation to be solved are combined and solved by the least square method to obtain the ambiguity data of the reference satellite at each frequency point; According to the ambiguity data of the reference satellite at each frequency point, the ambiguity data of the current satellite at each frequency point is obtained.

7. The positioning processing method according to claim 1, characterized in that: The generating the positioning data of the target object according to the ambiguity data of each satellite at each frequency point and the original virtual observation data corresponding to the target network includes: Adding the ambiguity data of each satellite at each frequency point to the original virtual observation data corresponding to the target network to obtain the target virtual observation data; The positioning data of the target object is obtained according to the target virtual observation data.

8. A positioning processing device, characterized in that: include: An acquisition module, used to acquire observation data of a target network for a target object at multiple frequency points, wherein the observation data includes: observation data of each reference station in the target network and multiple reference station pairs, each of the reference station pairs includes two of the reference stations; A first determination module is used to determine a reference base station and a reference satellite corresponding to the target network; A first generating module is used to determine at least one target reference station pair from the multiple reference station pairs according to the observation data corresponding to the reference reference station and the reference satellite, and perform ambiguity uniform processing on the observation data to generate standard observation data of each satellite associated with each target reference station pair at each frequency point; A second determination module is used to determine the single-difference wide-lane ambiguity data of each satellite associated with each target reference station pair according to the standard observation data of each satellite associated with each target reference station pair at each frequency point, and determine the ambiguity data of each satellite associated with the target reference station pair at each frequency point according to the single-difference wide-lane ambiguity data of each satellite associated with the target reference station pair; The second generating module is used to generate the positioning data of the target object according to the ambiguity data of each satellite at each frequency point and the original virtual observation data corresponding to the target network, wherein the original virtual observation data is used to indicate the positioning data of the grid point closest to the target object, and the positioning data of the grid point is obtained based on the observation data of the reference station closest to the grid point.

9. An electronic device, characterized in that: include: A processor and a memory, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor executes the machine-readable instructions to perform the steps of the positioning processing method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the positioning processing method according to any one of claims 1 to 7 are executed.

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