Positioning processing methods, devices, equipment and storage media

Abstract

This application provides a positioning processing method, apparatus, device, and storage medium. The method includes: acquiring observation data of a target network; determining reference stations and reference satellites; generating standard observation data for each target reference station at each frequency point for each associated satellite based on the observation data corresponding to the reference stations and reference satellites; determining ambiguity data for each target reference station at each frequency point for each associated satellite based on the standard observation data for each target reference station at each frequency point; and generating positioning data for a target object based on the ambiguity data for each satellite at each frequency point and the original virtual observation data corresponding to the target network. This application ensures that the positioning data of the target object within the target network is no longer affected by reference station switching, avoiding jumps in the positioning data of the target object, guaranteeing the continuity of the positioning data of the target object, and improving positioning accuracy.

Description

Technical Field

[0001] This application relates to the field of positioning processing technology, and more specifically, to a positioning processing method, apparatus, device, and storage medium. Background Technology

[0002] Since the advent of the Global Navigation Satellite System (GNSS), it has become the preferred method for users to obtain high-precision absolute position due to its freedom from the constraints of time and space and its excellent real-time performance. As a core technological means of achieving this, Continuously Operating Reference Stations (CORS) have been widely used and are developing rapidly.

[0003] Existing technologies are typically based on CORS, utilizing multiple reference stations within a region that receive real-time satellite data. These reference stations form an optimal baseline network, and the region is then divided into multiple small grid areas. Each grid area has a nearest reference station. The multiple baselines formed by the nearest reference station and other reference stations are calculated in real-time, atmospheric information is extracted, and the virtual observation data within the grid area is generated by combining the raw data from the nearest reference station. This virtual observation data is then 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 reference station. It cannot cope with the problem of positioning data jumps when the user moves between different grid areas. Specifically, if a user moves across different grid areas and the nearest reference stations of the grid areas are inconsistent, it will cause the generated positioning data to jump, affecting the terminal's user calculation. This will cause the positioning information received by the user to be biased, 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 this application is to address the shortcomings of the prior art by providing a positioning processing method, apparatus, device, and storage medium to solve the problem of inaccuracies in the positioning information received by users in the prior art.

[0006] To achieve the above objectives, the technical solutions adopted in the embodiments of this application are as follows:

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

[0008] The observation data of the target network for the target object at multiple frequency points are obtained. The observation data includes: the observation data of each reference station in the target network and multiple reference station pairs, each of the reference station pairs including two reference stations.

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

[0010] Based on the observation data corresponding to the reference reference station and the reference satellite, at least one target reference station pair is determined from the plurality of reference station pairs, and the observation data is subjected to ambiguity unification processing to generate standard observation data of each satellite associated with each target reference station pair at each frequency point.

[0011] Based on the standard observation data of each target reference station for each associated satellite at each frequency point, the single-difference wide-lane ambiguity data of each target reference station for each associated satellite is determined, and the ambiguity data of each target reference station for each associated satellite at each frequency point is determined based on the single-difference wide-lane ambiguity data of each target reference station for each associated satellite.

[0012] Based on the ambiguity data of each satellite at each frequency point and the original virtual observation data corresponding to the target network, the positioning data of the target object is generated. 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 reference station closest to the grid point.

[0013] Secondly, another embodiment of this application provides a positioning processing device, the device comprising:

[0014] The acquisition module is used to acquire observation data of the target network for the target object at multiple frequency points. 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 including two reference stations.

[0015] The first determining module is used to determine the reference base station and reference satellite corresponding to the target network;

[0016] The first generation module is used to determine at least one target reference station pair from the plurality of reference station pairs based on the observation data corresponding to the reference reference station and the reference satellite, and to perform ambiguity unification 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] The second determining module is used to determine the single-difference wide-lane ambiguity data of the target reference station for each associated satellite at each frequency point based on the standard observation data of each target reference station for each associated satellite at each frequency point, and to determine the ambiguity data of the target reference station for each associated satellite at each frequency point based on the single-difference wide-lane ambiguity data of the target reference station for each associated satellite.

[0018] The second generation module 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. The positioning data of the grid point is obtained based on the observation data of the reference station closest to the grid point.

[0019] Thirdly, another embodiment of this application provides an electronic device, including: 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 via the bus, and the processor executes the machine-readable instructions to perform the steps of any of the methods described in the first aspect above.

[0020] Fourthly, another embodiment of this application provides a storage medium storing a computer program, which, when executed by a processor, performs the steps of any of the methods described in the first aspect above.

[0021] The beneficial effects of this application are as follows: By acquiring observation data of the target object at multiple frequency points of the target network and determining the reference base station and reference satellite corresponding to the target network, at least one target reference station pair can be determined from multiple reference station pairs based on the observation data corresponding to the reference base station and reference satellite. Ambiguity unification processing is performed on the observation data to generate 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 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. Based on the single-difference wide-lane ambiguity data of each satellite associated with the target reference station pair, the ambiguity data of each satellite associated with the target reference station pair at each frequency point is determined. Thus, positioning data of the target object can be generated based on the ambiguity data of each satellite at each frequency point and the virtual observation data corresponding to the target network. This ensures that the positioning data of the target object within the target network is no longer affected by reference station switching, avoids jumps in the positioning data of the target object, guarantees the continuity of the positioning data of the target object, and improves positioning accuracy. Furthermore, by acquiring observation data of the target object from multiple frequency points of the target network, the data from different frequency points can provide more diverse information, resulting in more accurate positioning data in complex environments. Simultaneously, by determining the reference base station and reference satellites corresponding to the target network, the consistency of ambiguity data obtained from each satellite at each frequency point can be ensured, thereby further improving positioning accuracy. Attached Figure Description

[0022] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 A schematic diagram of a scenario for the positioning data processing method provided in the embodiments of this application;

[0024] Figure 2 A schematic flowchart of a positioning processing method provided in an embodiment of this application;

[0025] Figure 3 This is a schematic flowchart illustrating the process of generating standard observation data of each target reference station for each associated satellite at each frequency point in the positioning processing method provided in the embodiments of this application.

[0026] Figure 4 This is a flowchart illustrating the process of obtaining standard observation data of each satellite at each frequency point in the positioning processing method provided in the embodiments of this application.

[0027] Figure 5 This is a flowchart illustrating the process of determining the ambiguity data of the target reference station for each associated satellite at each frequency point in the positioning processing method provided in the embodiments of this application.

[0028] Figure 6 A schematic diagram of a process for solving the single-difference wide-lane ambiguity data of the current satellite in the positioning processing method provided in the embodiments of this application;

[0029] Figure 7 A flowchart illustrating the process of obtaining ambiguity data of the current satellite at each frequency point in the positioning processing method provided in the embodiments of this application;

[0030] Figure 8 A flowchart illustrating the process of obtaining location data of a target object in the location processing method provided in this application embodiment;

[0031] Figure 9 A schematic diagram of a positioning processing device provided in an embodiment of this application;

[0032] Figure 10 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the accompanying drawings in this application are for illustrative and descriptive purposes only and are not intended to limit the scope of protection of this application. Furthermore, it should be understood that the schematic drawings are not drawn to scale. The flowcharts used in this application illustrate operations implemented according to some embodiments of this application. It should be understood that the operations in the flowcharts may not be implemented in sequence, and steps without logical contextual relationships may be reversed or implemented simultaneously. In addition, those skilled in the art, guided by the content of this application, may add one or more other operations to the flowcharts, or remove one or more operations from the flowcharts.

[0034] Furthermore, the described embodiments are merely some, not all, of the embodiments of this application. The components of the embodiments of this application described and illustrated herein can typically be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

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

[0036] Existing technologies typically rely on CORS, utilizing multiple reference stations within a region that receive real-time satellite data. These reference stations then form an optimal baseline network, dividing the region into smaller grid areas. Each grid area has a nearest reference station. The baselines established between the nearest reference station and other reference stations are calculated in real-time, and atmospheric information is extracted. This data is then combined with the raw data from the nearest reference station to generate virtual observation data for that grid area, which is then 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 reference station. It cannot cope with the problem of positioning data jumps when the user moves between different grid areas. Specifically, if a user moves across different grid areas and the nearest reference stations of the grid areas are inconsistent, it will cause the generated positioning data to jump, affecting the terminal's user calculation. This will cause the positioning information received by the user to be biased, resulting in poor positioning accuracy and affecting the user's real-time acquisition and judgment of location information.

[0038] Based on the aforementioned problems, this application proposes a positioning processing method. By acquiring observation data of a target object from a target network at multiple frequency points and determining the corresponding reference base station and reference satellite, at least one target reference station pair can be identified from multiple reference station pairs based on the observation data of the reference base station and reference satellite. Ambiguity unification processing is performed on the observation data to generate standard observation data of each satellite associated with each target reference station pair at each frequency point. This standard observation data is then processed to determine the single-difference wide-lane ambiguity data of each satellite associated with each target reference station pair. Based on this single-difference wide-lane ambiguity data, the ambiguity data of each satellite associated with each target reference station pair at each frequency point is determined. Thus, positioning data of the target object can be generated based on the ambiguity data of each satellite at each frequency point and the virtual observation data corresponding to the target network. This ensures that the positioning data of the target object within the target network is no longer affected by reference station switching, preventing jumps in the positioning data of the target object, guaranteeing the continuity of the positioning data, and improving positioning accuracy.

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

[0040] Figure 1This is a schematic diagram of a scenario for the positioning data processing method provided in an embodiment of this application, with reference to... Figure 1 As shown, taking CORS-based reference stations with three real-time satellite data observations in the area as an example, specifically, there are reference stations A, B, and C in the area. Reference stations A, B, and C 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.). Based on the observation data of the nearest reference station in each grid area, calculations are performed according to the location of each grid area to obtain the original virtual observation data of each grid area. That is, the observation data of each grid area. Each grid point in each grid area is located based on the original virtual observation data of each grid area.

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

[0042] For example, suppose the target object, i.e., the user who needs to be located, is at the location of grid point 1 and moves from the location of grid point 1 to the location of grid point 2. The location of grid point 1 belongs to a certain grid area, and the nearest reference station in this grid area is reference station A. The location of grid point 2 belongs to another grid area, and the nearest reference station in this grid area is reference station B. At this time, the location data of the target object is changed from being provided by reference station A to being provided by reference station B. That is, the location data of the target object only depends on the original virtual observation data of grid point 1 and grid point 2. Then, the location data of the target object obtained at this time will jump. In order to avoid the jump, the original virtual observation data of grid point 1 and grid point 2 can be updated by executing the steps of the location processing method provided in this application embodiment. This corrects the error caused by the change of reference station A to reference station B. After the execution is completed, the location data of the target object is obtained and broadcast to the target object, so that the location data of the target object in the target network no longer jumps, but remains continuous, thereby improving the location accuracy of the target object.

[0043] Specifically, during the target object positioning process, multiple satellites that the base station AC can observe continuously send navigation signals to the base station AC. The base station AC receives the navigation signals from each satellite, 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 this application embodiment, and after execution, obtains the target object's positioning data and broadcasts the target object's positioning data 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] A reference station is a set of equipment consisting of GNSS equipment, meteorological equipment, power supply equipment, communication equipment, computers, and other equipment, as well as infrastructure such as observation piers, observation rooms, and studios. The reference 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 the positioning data of the target object for users to use.

[0046] The positioning processing method provided in this application will be described in detail below with reference to several embodiments.

[0047] Figure 2 This is a schematic flowchart of a positioning processing method provided in an embodiment of this application, referring to... Figure 2 As shown, the executing entity of this method can be any electronic device with processing capabilities, such as the aforementioned data center, and the method includes:

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

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

[0050] Here, frequency points refer to the different frequencies at which each reference station in the target network collects data. Observational data includes: observational data from each reference station in the target network, as well as multiple reference station pairs, each pair consisting of two reference stations.

[0051] The observation data from each reference station includes satellite navigation signal data, satellite navigation information, observation epoch time, Doppler observation values, and station information received from multiple satellites. Observation data related to the positioning data of the target object can be extracted from these data. For example, this may include: pseudorange and carrier phase observation values ​​at the first frequency point, pseudorange and carrier phase observation values ​​at the second frequency point, frequency values, and wavelengths.

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

[0053] S202. Determine the reference base station and reference satellites 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 the reference reference station. Based on the observation data of each reference station, a consensus satellite set jointly observed by each reference station can be determined, and from the consensus satellite set, the satellite with the highest altitude can be used as the reference satellite according to the elevation angle of each satellite.

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

[0056] The reference satellite refers to the satellite with the highest elevation angle among the satellites observed by multiple reference stations, which serves as a benchmark for ambiguity unification.

[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 stations A, B, and C, the reference station can be reference station A, B, or C.

[0058] S203 determines at least one target reference station pair from multiple reference station pairs based on the observation data of the reference reference station and the corresponding reference satellite, and performs ambiguity unification processing on the observation data to generate 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 reference satellite, and using the reference base station and reference satellite as the benchmark and reference when correcting the positioning data of the target object, at least one target base station pair can be determined from multiple base station pairs based on the reference base station, thereby avoiding redundant calculations between multiple base station pairs.

[0060] Optionally, after obtaining at least one target reference station pair, the ambiguity unification processing of the observation data corresponding to the target reference station pair can be performed 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] Specifically, the standard observation data of each satellite associated with each target reference station at each frequency point is used to indicate the standard observation data of each satellite obtained at each frequency point under each reference station, based on the observation data of the reference satellite. The standard observation data of each satellite may include the double-difference ambiguity data obtained by each satellite based on the observation data of the reference satellite, as well as frequency points and wavelengths, etc.

[0062] For example, continue to refer to Figure 1 As shown, the target network is the optimal baseline network composed of the aforementioned reference stations A, B, and C. When the reference station is reference station A, the target reference station pair can 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 can be understood as the standard observation data of the satellites associated with reference station A and reference station B at each frequency point.

[0063] S204. Based on the standard observation data of each target reference station for each associated satellite at each frequency point, determine the single-difference wide-lane ambiguity data of each target reference station for each associated satellite, and determine the ambiguity data of each target reference station for each associated satellite at each frequency point based on the single-difference wide-lane ambiguity data of each target reference station for each associated satellite.

[0064] It is understandable that after obtaining the standard observation data of each target reference station for each associated satellite at each frequency point, the differences in the standard observation data of the target reference station for each associated satellite at different frequency points can be compared to obtain the single-difference wide-lane ambiguity data of the target reference station for each associated satellite. Then, the single-difference wide-lane ambiguity data of the target reference station for each associated satellite can be separated to obtain the ambiguity data of the target reference station for each associated satellite at each frequency point compared with the ambiguity data of the target reference station for each reference station.

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

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

[0067] Among them, the ambiguity data of the target reference station for each associated satellite at each frequency point is used to indicate the ambiguity differences between the carrier phase observations of the same satellite observed by the target reference station.

[0068] S205. Based on the ambiguity data of each satellite at each frequency point and the original virtual observation data corresponding to the target network, generate the positioning data of the target object.

[0069] It is understandable that after obtaining the ambiguity data of each satellite at each frequency, the ambiguity data of each satellite at each frequency can be used as known parameters to be applied to the positioning of the target object, so as to eliminate the jump caused by the change of the reference station and achieve accurate positioning of the target object.

[0070] Optionally, the positioning data of the target object can be generated by processing 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 methods.

[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. Based on the latest virtual observation data, the positioning data of the target object can be generated.

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

[0073] In this embodiment, by acquiring observation data of the target object from multiple frequency points of the target network and determining the reference base station and reference satellite corresponding to the target network, at least one target reference station pair can be determined from multiple reference station pairs based on the observation data corresponding to the reference base station and reference satellite. Ambiguity unification processing is performed on the observation data to generate 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 each target reference station pair at each frequency point is then processed to determine the single-difference wide-lane ambiguity data of each satellite associated with the target reference station pair. Based on the single-difference wide-lane ambiguity data of each satellite associated with the target reference station pair, the ambiguity data of each satellite associated with the target reference station pair at each frequency point is determined. Thus, based on the ambiguity data of each satellite at each frequency point and the virtual observation data corresponding to the target network, positioning data of the target object can be generated. This ensures that the positioning data of the target object within the target network is no longer affected by reference station switching, preventing jumps in the positioning data of the target object, guaranteeing the continuity of the positioning data of the target object, and improving positioning accuracy. Furthermore, by acquiring observation data of the target object from multiple frequency points of the target network, the data from different frequency points can provide more diverse information, resulting in more accurate positioning data in complex environments. Simultaneously, by determining the reference base station and reference satellites corresponding to the target network, the consistency of ambiguity data obtained from each satellite at each frequency point can be ensured, thereby further improving positioning accuracy.

[0074] In one possible implementation, Figure 3 This application provides a schematic flowchart illustrating the process of generating standard observation data of each target reference station for each associated satellite at each frequency point in the positioning processing method. (Refer to...) Figure 3 As shown, in step S203 above, when determining 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, and performing ambiguity unification processing on the observation data to generate standard observation data for each satellite associated with each target reference station pair at each frequency point, the following steps can be performed, including:

[0075] S301. Based on the reference base station, determine at least one target base station pair from multiple base station pairs.

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

[0077] S302. Based on the observation data, generate the initial double-difference ambiguity data of each target reference station for each satellite at each frequency point.

[0078] Optionally, the observation data can be filtered to obtain the observation data corresponding to each target reference station pair. Then, double difference processing can be performed on the observation data of each target reference station pair 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 parameter 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. Based on the observation data corresponding to the reference satellite, perform ambiguity unification processing on the initial double-difference ambiguity data of each target reference station for each associated satellite, and generate standard observation data of each target reference station for each associated satellite at each frequency point.

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

[0082] Among them, the standard observation data of each target reference station for each associated satellite at each frequency point is the double-difference ambiguity data of each target reference station for each associated satellite relative to the reference satellite.

[0083] By using reference base stations, at least one target base station pair is determined from multiple base station pairs. Initial double-difference ambiguity data for each satellite associated with each target base station pair at each frequency is generated using observation data. Then, based on the observation data corresponding to the reference satellite, ambiguity unification processing is performed on the initial double-difference ambiguity data of each satellite associated with each target base station pair, generating standard observation data for each satellite associated with each target base station pair at each frequency. This process eliminates most common errors, such as satellite orbit errors and receiver clock errors, thereby improving positioning accuracy and enhancing the reliability of the positioning data.

[0084] In one possible implementation, Figure 4 A flowchart illustrating the process of obtaining standard observation data of each satellite at each frequency point in the positioning processing method provided in this application embodiment, with reference to... Figure 4As shown, S303 above performs ambiguity unification processing on the initial double-difference ambiguity data of each target reference station for each associated satellite based on the observation data corresponding to the reference satellite, generating standard observation data of each target reference station for each associated satellite at each frequency point, including:

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

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

[0087] For example, 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 the first frequency point and reference ambiguity data of the reference satellite at the second frequency point.

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

[0089] Optionally, the double-difference ambiguity data corresponding to each satellite at each frequency point can 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] For example, the reference ambiguity data of the reference satellite at the first frequency point is subtracted from the double-difference ambiguity data of each satellite at the first frequency point to obtain the standard ambiguity data of each satellite at the first frequency point. The reference ambiguity data of the reference satellite at the second frequency point is subtracted from the double-difference ambiguity data of each satellite at the second frequency point to obtain the standard ambiguity data of each satellite at the second frequency point.

[0091] S403. Based on the standard ambiguity data corresponding to each satellite at each frequency point, obtain the standard observation data of 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 the other data in the observation data other than the ambiguity data can be used as another part of the standard observation data of each satellite at each frequency point, thereby obtaining the standard observation data of each satellite at each frequency point.

[0093] By acquiring reference ambiguity data for each frequency point from the observation data corresponding to the reference satellite, and subtracting the reference ambiguity data from the double-difference ambiguity data for each satellite at each frequency point, the standard ambiguity data for each satellite at each frequency point is obtained. Based on this standard ambiguity data, the standard observation data for each satellite at each frequency point can be derived. This allows double-difference ambiguity data from different satellites and at different frequencies to be converted to a unified benchmark, facilitating subsequent data processing and analysis and improving the efficiency of positioning data processing. Simultaneously, it helps to more accurately fix ambiguities, thereby improving positioning accuracy. Furthermore, it can process observation data at various frequencies, supporting multi-frequency observations and improving the flexibility and adaptability of the positioning data determination process.

[0094] In one possible implementation, Figure 5 This is a flowchart illustrating the process of determining the ambiguity data of the target reference station for each associated satellite at each frequency point in the positioning processing method provided in the embodiments of this application, with reference to... Figure 5 As shown, S204 above determines the single-difference wide-lane ambiguity data of the target reference station for each associated satellite at each frequency point based on the standard observation data of each target reference station for each associated satellite, and determines the ambiguity data of the target reference station for each associated satellite at each frequency point based on the single-difference wide-lane ambiguity data of the target reference station for each associated satellite, including:

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

[0096] Optionally, taking any one of the satellites associated with the target reference station as the current satellite, 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 combined to obtain the double-difference wide-lane ambiguity data of the current satellite.

[0097] Among them, the current satellite's double-difference wide-lane ambiguity data can be understood as the ambiguity data between the current satellite and the target reference station under the combined effect 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, enabling faster generation of positioning data.

[0099] S502. Based on the current satellite's double-difference wide-lane ambiguity data and the preset first observation equation, solve for the current satellite's single-difference wide-lane ambiguity data.

[0100] It is understandable 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 relative to 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 required. 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 current satellite's single-difference wide-lane ambiguity data can be understood as the ambiguity data of the current satellite aligning with the target reference station at the first reference station under the combined effect of the first and second frequency points, and the ambiguity data of the current satellite aligning with the target reference station at the second reference station under the combined effect of the first and second frequency points. The first and second reference stations are the two reference stations aligned with the target reference station.

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

[0103] S503. Based on the current satellite's single-difference wide-lane ambiguity data and the preset second observation equation, solve for the current satellite's ambiguity data at each frequency point.

[0104] It is understandable 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 combined effect of the first frequency point and the second frequency point, and the observation value under 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 under each frequency point.

[0105] The ambiguity data of the current satellite at each frequency point can be understood as follows: at the first frequency point, the ambiguity data of the current satellite aligning with the target reference station at the first reference station; at the second frequency point, the ambiguity data of the current satellite aligning with the target reference station at the first reference station; at the first frequency point, the ambiguity data of the current satellite aligning with the target reference station at the second reference station; and at the second frequency point, the ambiguity data of the current satellite aligning with the target reference station at the second reference station. The first reference station and the second reference station are the two reference stations aligned with the target reference station.

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

[0107] By using standard observation data of the current satellite at various frequencies, the double-difference wide-lane ambiguity data of the current satellite can be determined. This helps to eliminate or reduce various error sources, such as ionospheric delay, tropospheric delay, satellite orbital errors, and receiver clock errors, thereby significantly improving positioning accuracy, especially in long baseline or complex environments. Furthermore, by using 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 can be obtained. This further refines error elimination, optimizes the data processing flow, and reduces unnecessary calculation steps. Thus, based on 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 various frequencies can be obtained, further improving the positioning accuracy and reliability.

[0108] In one possible implementation, Figure 6 This is a flowchart illustrating the process of obtaining the single-difference wide-lane ambiguity data of the current satellite in the positioning processing method provided in the embodiments of this application, with reference to... Figure 6 As shown, S502 above solves for the single-difference wide-lane ambiguity data of the current satellite based on the current satellite's double-difference wide-lane ambiguity data and the preset first observation equation, including:

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

[0110] Optionally, after obtaining the current satellite's double-difference wide-lane ambiguity data... Then, the current satellite's double-difference wide-lane ambiguity data can be obtained. Input the first observation equation, and the first equation to be solved is shown in the following formula (1):

[0111]

[0112] in, 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. The following parameters are used in the observation data: f1 is the single-difference observation value of the current satellite unref1 at the second frequency point under the target reference station pair; f2 is the first frequency point value of the current satellite unref1 in the observation data; λ1 is the wavelength of the current satellite unref1 at the first frequency point under the observation data; λ2 is the wavelength of the current satellite unref1 at the second frequency point under the observation data; ΔP1 is the single-difference satellite-to-ground distance value of the current satellite unref1 at the first frequency point under the target reference station pair; ΔP2 is the single-difference satellite-to-ground distance value of the current satellite unref1 at the second frequency point under the target reference station pair; ΔWL is the single-difference satellite-to-ground distance value of the current satellite unref1 at the second frequency point under the observation data. ref The reference satellite's single-difference wide-lane ambiguity data.

[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] Among them, the associated satellites are the satellites other than the current satellite among the satellites associated with the target reference station.

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

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

[0117]

[0118] in, For the single-difference observations of the associated satellite unref2 at the first frequency point under the target reference station pair, The following values ​​represent the single-difference observations of the associated satellite unref2 at the second frequency point relative to the target reference station: 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-ground distance value of the associated satellite unref2 at the first frequency point relative to the target reference station, ΔP2 is the single-difference satellite-to-ground distance value of the associated satellite unref2 at the second frequency point relative to the target reference station, and ΔWL. ref The reference satellite's single-difference wide-lane ambiguity data.

[0119] S603. The first equation to be solved and each of the second equations to be solved are solved by combining them using the least squares method to obtain the single-difference wide-lane ambiguity data of the reference satellite.

[0120] Optionally, after obtaining the first equation to be solved for the current satellite and multiple second equations to be solved for multiple associated satellites, the least squares method can be used to solve them in combination to obtain the single-difference wide-lane ambiguity data ΔWL of the reference satellite. ref .

[0121] S604. Based on the single-difference wide-lane ambiguity data of the reference satellite, obtain the single-difference wide-lane ambiguity data of the current satellite.

[0122] Optionally, after obtaining the single-difference wide-lane ambiguity data ΔWL from the reference satellite... ref Then, the single-difference wide-lane ambiguity data ΔWL from the reference satellite can be used. ref The single-difference wide-lane ambiguity data ΔWL of the current satellite is calculated. unref1 Specifically, the calculation can be performed by referring to the following formula (3):

[0123]

[0124] Among them, ΔWL ref To reference the single-difference wide-lane ambiguity data from the satellite, ΔWL unref1 This is the current satellite's single-difference wide-lane ambiguity data. This is the current satellite's double-difference wide-lane ambiguity data.

[0125] In one possible implementation, Figure 7 This is a flowchart illustrating the process of obtaining ambiguity data of the current satellite at various frequency points in the positioning processing method provided in the embodiments of this application, with reference to... Figure 7 As shown, S503 above solves for the ambiguity data of the current satellite at each frequency point based on the current satellite's single-difference wide-lane ambiguity data and the preset second observation equation, including:

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

[0127] Optionally, after obtaining the current satellite's single-difference wide-lane ambiguity data ΔWL 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 obtained. unref1 Input the second observation equation, and the third equation to be solved is obtained as shown in formula (4):

[0128]

[0129] Wherein, λ1 is the wavelength of the current satellite unref1 at the first frequency point in the observation data, and λ2 is the wavelength of the current satellite unref1 at the second frequency point in the observation data. The observation value of satellite unref1 at the first frequency point in the observation data. The observed value of satellite unref1 at the second frequency point in the observation data, Δion 12 The ionospheric difference between the first and second frequency points in the observation data, For reference satellite ambiguity data at the first frequency point, ΔWL unref1 For the current satellite unref1 single-difference wide-lane ambiguity data, This is the double-difference ambiguity data for 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] Alternatively, 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 of each associated satellite can be input into multiple second observation equations to obtain multiple fourth equations to be solved.

[0132] Among them, the associated satellites are the satellites other than the current satellite among the satellites associated with the target reference station.

[0133] For example, taking a correlated satellite unref2 as an example, the single-difference wide-lane ambiguity data ΔWL of the current satellite is used. unref1 Input the second observation equation, and the fourth equation to be solved is obtained as shown in formula (5):

[0134] (5)

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

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

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

[0138] S704. Based on the ambiguity data of the reference satellite at each frequency point, obtain the ambiguity data of the current satellite at each frequency point.

[0139] Optionally, after obtaining the ambiguity data of the reference satellite at the first frequency point... Then, the ambiguity data of the reference satellite at the first frequency point can be used. The ambiguity data of the current satellite at the first frequency point is calculated. And the current satellite ambiguity data 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, This is the ambiguity data for satellite unref1 at the first frequency point. For the current satellite unref1 double-difference ambiguity data at the first frequency point, The ambiguity data for the reference satellite at the first frequency point.

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

[0144]

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

[0146] In one possible implementation, Figure 8 This is a schematic flowchart illustrating the process of obtaining location data of a target object in the location processing method provided in this application embodiment, with reference to... Figure 8 As shown, S205 generates the target object's positioning data based on 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 can be added to the virtual observation data corresponding to the target network to obtain the virtual observation data of the target, thereby eliminating the jump caused by the change of the reference station and realizing the accurate positioning of the target object.

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

[0150] S802. Based on the target virtual observation data, obtain the positioning data of the target object.

[0151] Optionally, after obtaining the positioning data of each satellite at each frequency, the observation data can be combined with an atmospheric physical model to perform atmospheric modeling, establish delay models of the ionosphere and troposphere, and perform calculations and other processing based on the target virtual observation data of the nearest grid point of 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] For example, the current layer can be processed with reference to the following formula (8):

[0153]

[0154] Among them, GF_ION f1 For the double-differential ionosphere between base stations and satellites at the first frequency point, For the inter-base station and inter-satellite double-difference observations at the first frequency point, f1 represents the double-difference observation value between base stations and satellites at the second frequency point, f2 represents the value at the first frequency point, and f3 represents the value at the second frequency point.

[0155] For example, the troposphere can be treated with reference to the following formula (9):

[0156]

[0157] Wherein, GF_TROP is the inter-base station / inter-satellite double-difference tropospheric wet delay, ρ is the satellite-to-ground distance, gfion1 is the inter-base station / inter-satellite double-difference ionosphere at the first frequency point, gfion2 is the inter-base station / inter-satellite double-difference ionosphere at the second frequency point, and ddtrop is the distance between satellites and base stations. dry The inter-base station and inter-satellite double-difference tropospheric delay is calculated using an empirical model.

[0158] Based on the same inventive concept, this application also provides a positioning processing device corresponding to the positioning processing method. Since the principle of the device in this application is similar to the positioning processing method described above in this application, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be described again.

[0159] Figure 9 This is a schematic diagram of a positioning processing device provided in an embodiment of this application, with reference to... Figure 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] The acquisition module 901 is used to acquire the observation data of the target network for the target object at multiple frequency points. The observation data includes: the observation data of each reference station in the target network and multiple reference station pairs, each reference station pair including two reference stations.

[0161] The first determining module 902 is used to determine the reference base station and reference satellites corresponding to the target network;

[0162] The first generation module 903 is used to determine 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, and to perform ambiguity unification 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 determining module 904 is used to determine the single-difference wide-lane ambiguity data of the target reference station for each associated satellite at each frequency point based on the standard observation data of each target reference station for each associated satellite at each frequency point, and to determine the ambiguity data of the target reference station for each associated satellite at each frequency point based on the single-difference wide-lane ambiguity data of the target reference station for each associated satellite.

[0164] The second generation module 905 is used to generate 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. The positioning data of the grid point is obtained based on the observation data of the reference station closest to the grid point.

[0165] As one possible implementation, the first generation module 903 is specifically used for:

[0166] Based on reference base stations, at least one target base station pair is determined from multiple base station pairs;

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

[0168] Based on the observation data corresponding to the reference satellite, the initial double-difference ambiguity data of each target reference station for each associated satellite are processed to unify the ambiguity, and standard observation data of each target reference station for each associated satellite at each frequency point are generated.

[0169] As one possible implementation, the first generation module 903 is specifically used for:

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

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

[0172] Based on the standard ambiguity data corresponding to each satellite at each frequency, standard observation data for each satellite at each frequency is obtained.

[0173] As one possible implementation, the second determining module 904 is specifically used for:

[0174] Based on the standard observation data of the current satellite at each frequency point, determine the double-difference wide-lane ambiguity data of the current satellite;

[0175] Based on the current satellite's double-difference wide-lane ambiguity data and the preset first observation equation, the current satellite's single-difference wide-lane ambiguity data is obtained by solving.

[0176] Based on the current satellite's single-difference wide-lane ambiguity data and the preset second observation equation, the ambiguity data of the current satellite at each frequency point is obtained by solving.

[0177] As one possible implementation, the second determining module 904 is specifically used for:

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

[0179] 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. The associated satellites are the satellites other than the current satellite among the satellites associated with the target reference station.

[0180] The first equation to be solved and each of the second equations to be solved are solved by combining them using the least squares method to obtain the single-difference wide-lane ambiguity data of the reference satellite.

[0181] Based on the single-difference wide-lane ambiguity data of the reference satellite, the single-difference wide-lane ambiguity data of the current satellite is obtained.

[0182] As one possible implementation, the second determining module 904 is specifically used for:

[0183] Input the single-difference wide-lane ambiguity data of the current satellite into the second observation equation to obtain the third equation to be solved; 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;

[0184] The third equation to be solved and each of the fourth equations to be solved are solved by combining them using the least squares method to obtain the ambiguity data of the reference satellite at each frequency point;

[0185] Based on the ambiguity data of the reference satellite at each frequency, the ambiguity data of the current satellite at each frequency is obtained.

[0186] As one possible implementation, the second generation module 905 is specifically used for:

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

[0188] Based on the virtual observation data of the target, the positioning data of the target object is obtained.

[0189] The processing flow of each module in the device and the interaction flow between each module can be referred to the relevant descriptions in the above method embodiments, and will not be detailed here.

[0190] This application also provides an electronic device, such as... Figure 10 As shown, Figure 10 A schematic diagram of the structure of an electronic device provided in this application embodiment includes: a processor 1001, a memory 1002, and optionally, a bus 1003. The memory 1002 stores machine-readable instructions executable by the processor 1001 (e.g., ...). Figure 9 The device in the device acquires the execution instructions corresponding to the first determination module 901, the first generation module 902, the first generation module 903, the second determination module 904, and the second generation module 905. When the electronic device is running, the processor 1001 and the memory 1002 communicate through the bus 1003. When the machine-readable instructions are executed by the processor 1001, the steps of the above-mentioned positioning processing method are performed.

[0191] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the steps of the above-described positioning processing method.

[0192] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems and devices described above can be referred to the corresponding processes in the method embodiments, and will not be repeated here. In the several embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, 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 displayed or discussed mutual coupling or direct coupling or communication connection can be through some communication interfaces; the indirect coupling or communication connection of devices or modules can be electrical, mechanical, or other forms.

[0193] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. If the functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0194] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application.

Claims

1. A positioning processing method, characterized in that, include: The observation data of the target network for the target object at multiple frequency points are obtained. The observation data includes: the observation data of each reference station in the target network and multiple reference station pairs, each of the reference station pairs including two reference stations. Determine the reference base station and reference satellite corresponding to the target network; Based on the reference base station, at least one target base station pair is determined from the plurality of base station pairs; Based on the observation data, generate initial double-difference ambiguity data for each satellite associated with each target reference station at each frequency point; Based on the observation data corresponding to the reference satellite, the initial double-difference ambiguity data of each target reference station for each associated satellite are processed to unify ambiguity, thereby generating standard observation data of each target reference station for each associated satellite at each frequency point. Based on the standard observation data of each target reference station for each associated satellite at each frequency point, the single-difference wide-lane ambiguity data of each target reference station for each associated satellite is determined, and the ambiguity data of each target reference station for each associated satellite at each frequency point is determined based on the single-difference wide-lane ambiguity data of each target reference station for each associated satellite. Based on the ambiguity data of each satellite at each frequency point and the original virtual observation data corresponding to the target network, the positioning data of the target object is generated. 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 reference station closest to the grid point.

2. The positioning processing method according to claim 1, characterized in that, The step of performing ambiguity unification processing on the initial double-difference ambiguity data of each target reference station for each associated satellite based on the observation data corresponding to the reference satellite, and generating standard observation data of each target reference station for each associated satellite at each frequency point, includes: Obtain the reference ambiguity data at each frequency point from the observation data corresponding to the reference satellite; Subtract the reference ambiguity data at each frequency point from the double-difference ambiguity data of each satellite to obtain the standard ambiguity data of each satellite at each frequency point. Based on the standard ambiguity data corresponding to each satellite at each frequency, standard observation data for each satellite at each frequency is obtained.

3. The positioning processing method according to claim 1, characterized in that, The step of determining the single-difference wide-lane ambiguity data of each target reference station for each associated satellite at each frequency point based on the standard observation data of each target reference station for each associated satellite at each frequency point, and determining the ambiguity data of each target reference station for each associated satellite at each frequency point based on the single-difference wide-lane ambiguity data of each target reference station for each associated satellite, includes: Based on the standard observation data of the current satellite at each frequency point, determine the double-difference wide-lane ambiguity data of the current satellite; Based on the current satellite's double-difference wide-lane ambiguity data and the preset first observation equation, the current satellite's single-difference wide-lane ambiguity data is obtained by solving. Based on 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.

4. The positioning processing method according to claim 3, characterized in that, The step of solving for the single-difference wide-lane ambiguity data of the current satellite based on the current satellite's double-difference wide-lane ambiguity data and the preset first observation equation includes: Input the current satellite's double-difference wide-lane ambiguity data into the first observation equation to obtain the first equation to be solved; 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. The associated satellite is the satellite other than the current satellite among the satellites associated with the target reference station. The first equation to be solved and each of the second equations to be solved are solved by combining them using the least squares method to obtain the single-difference wide-lane ambiguity data of the reference satellite. Based on the single-difference wide-lane ambiguity data of the reference satellite, the single-difference wide-lane ambiguity data of the current satellite is obtained.

5. The positioning processing method according to claim 4, characterized in that, The step of solving for the ambiguity data of the current satellite at each frequency point based on the single-difference wide-lane ambiguity data of the current satellite and the preset second observation equation includes: Input the single-difference wide-lane ambiguity data of the current satellite into the second observation equation to obtain the third equation to be solved; 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; The third equation to be solved and each of the fourth equations to be solved are solved by combining them using the least squares method to obtain the ambiguity data of the reference satellite at each frequency point; Based on the ambiguity data of the reference satellite at each frequency, the ambiguity data of the current satellite at each frequency is obtained.

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

7. A positioning processing device, characterized in that, include: The acquisition module is used to acquire observation data of the target network for the target object at multiple frequency points. 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 including two reference stations. The first determining module is used to determine the reference base station and reference satellite corresponding to the target network; The first generation module is configured to: determine at least one target reference station pair from the plurality of reference station pairs based on the reference reference station; generate initial double-difference ambiguity data for each satellite associated with each target reference station pair at each frequency point based on the observation data; and perform ambiguity unification processing on the initial double-difference ambiguity data for each satellite associated with each target reference station pair based on the observation data corresponding to the reference satellite, thereby generating standard observation data for each satellite associated with each target reference station pair at each frequency point. The second determining module is used to determine the single-difference wide-lane ambiguity data of the target reference station for each associated satellite at each frequency point based on the standard observation data of each target reference station for each associated satellite at each frequency point, and to determine the ambiguity data of the target reference station for each associated satellite at each frequency point based on the single-difference wide-lane ambiguity data of the target reference station for each associated satellite. The second generation module 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. The positioning data of the grid point is obtained based on the observation data of the reference station closest to the grid point.

8. An electronic device, characterized in that, include: A processor and a memory, the memory storing machine-readable instructions executable by the processor, which, when the electronic device is running, are executed by the processor to perform the steps of the positioning processing method as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, performs the steps of the positioning processing method as described in any one of claims 1 to 6.

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