Automatic renetworking method and system for electric power Beidou precise position service network base station

Abstract

The invention discloses an automatic renetworking method and system for a reference station of an electric power Beidou precise position service network. The method comprises the steps that the electric power Beidou precise position service network constructs a plurality of basic resolving network elements according to the position of the reference station; a terminal user accesses the electric power Beidou precise position service network, and the electric power Beidou precise position service network matches the terminal user to a corresponding triangular network element and determines a main reference station; generating a difference virtual observation value for the triangular network element where the terminal user is located, and broadcasting the difference virtual observation value; when one reference station in the triangular network element matched with the terminal user breaks down and is in an off-line or re-on-line state, network element reconstruction is carried out on the triangular network element matched with the terminal user; and executing a differential generation and maintenance technology on a terminal user in the original invalid triangular network element in the reconstructed triangular network element, generating a virtual observation value, and broadcasting the virtual observation value to the terminal user for enhanced positioning. According to the invention, the new network element and the original network element keep good continuity through the disconnection and continuation method of the network elements, and reinitialization of a user is avoided.

Description

Technical Field

[0001] The present invention belongs to the field of GNSS (Global Navigation Satellite System) positioning and navigation technology, and specifically relates to a method, system, device and storage medium for automatic network reorganization of a base station of an electric power Beidou precise positioning service network. Background Art

[0002] The electric power Beidou precise positioning service network is a high-precision real-time positioning technology based on network RTK positioning technology. This technology requires the establishment of a continuously operating reference station network within a certain area. These reference stations have accurate coordinate information and the ability to continuously solve for a long time, so they can obtain high-precision baseline atmospheric delay parameters. After the user accesses, the service platform generates virtual observation values ​​according to the user's position and provides users with differential correction numbers, thereby serving users to achieve real-time high-precision positioning at the wide-area level. The advantage of the ground-based augmentation system is that it can provide high-precision real-time positioning services over a large area without the need for end users to use their own reference stations. It aggregates and processes data between multiple reference stations in the reference station network to achieve the generation of high-precision virtual observation values. The ground-based augmentation system is widely used in land surveying and mapping, geological exploration, mechanical navigation, vehicle navigation, drone navigation and other fields, and plays an important role in application scenarios that require high-precision positioning.

[0003] At present, the electric power Beidou precise positioning service network is based on widely distributed reference stations, and the number of stations has exceeded 3,400. However, due to network reasons or equipment problems at the reference stations, some reference stations in the service platform may have no data or be offline, which will cause the original solution network elements to be unable to be solved due to the reference station being offline, and unable to provide virtual observation values ​​for differential corrections to users located in the network elements. Therefore, the network elements will be rebuilt after the reference station is offline or when it comes back online, and the offline reference stations will be removed to rebuild the network elements or restore the minimum available network elements. When these network elements change, the end user's RTK solution process will inevitably need to be reinitialized. Summary of the invention

[0004] Purpose of the invention: The purpose of the present invention is to provide a method, system, device and storage medium for automatic network reorganization of the base station of the electric power Beidou precise positioning service network, so as to maintain good continuity between the new network element and the original network element through the network element disconnection and reconnection method, thereby avoiding user reinitialization.

[0005] Technical solution: A method for automatically reorganizing a base station of a power Beidou precise positioning service network of the present invention comprises:

[0006] The electric power Beidou precise positioning service network constructs several basic solution network elements based on the reference station location and the Delaunay triangulation principle. The basic solution network elements use triangle network elements.

[0007] The terminal user accesses the electric power Beidou precise positioning service network, which matches the terminal user to the corresponding triangle network element and selects the nearest reference station among the three reference stations of the triangle network element as the main reference station;

[0008] Using the main reference station as a reference, differential virtual observation values ​​are generated and broadcast for the triangular network element where the end user is located;

[0009] When a reference station in the triangular network element matched by the terminal user fails and is in an offline or re-online state, the triangular network element matched by the terminal user is reconstructed;

[0010] In the reconstructed triangular network element, the differential generation and preservation technology is performed on the terminal users in the original failed triangular network element to generate virtual observation values ​​and broadcast them to the terminal users for enhanced positioning.

[0011] Furthermore, the terminal user accesses the electric power Beidou precise positioning service network, which matches the terminal user to the corresponding triangular network element and selects the nearest reference station among the three reference stations of the triangular network element as the main reference station, including:

[0012] After the terminal user accesses the Electric Power Beidou Precision Positioning Service Network Platform, he / she uploads the NEMA GGA information to the Electric Power Beidou Precision Positioning Service Network Platform. The Electric Power Beidou Precision Positioning Service Network matches the terminal user to the corresponding triangular network element according to the location information in NEMAGGA, so that the terminal user is located in the matched triangular network element, and selects the nearest reference station among the three reference stations of the triangular network element as the main reference station.

[0013] Furthermore, taking the main reference station as a reference, differential virtual observation values ​​are generated and broadcasted for the triangular network element where the terminal user is located, including:

[0014] Generate the user location Pos according to the following formula g Differenced virtual observations at :

[0015]

[0016] Where g and A represent the user station and the main reference station respectively; P g,j and are the pseudorange and carrier observation values ​​of the primary reference station with frequency j, respectively; Δρ g,A is the difference between the station-satellite distances of the end user and the main reference station corresponding to the same satellite; λ represents the wavelength corresponding to the observation value of frequency j; is the tropospheric error difference between the primary reference station and the user station, It is the ionospheric error difference between the main reference station and the user station on frequency j.

[0017] Furthermore, when a local site fails and causes a reference station in a triangular network element matched by a terminal user to be offline or back online, the triangular network element matched by the terminal user is reconstructed, including:

[0018] When the end user matches the triangle network element Cell A_B_C In the example, when one of the three reference stations A, B, and C is offline, assuming that reference station C is offline, the triangular network element matched by the terminal user is reconstructed, and reference station A, reference station B, and reference station D adjacent to reference station C together form a new triangular network element Cell. A_B_D ; If the terminal user is in a triangular network element Cell A_B_D If the terminal user's matching network element is within, the matching network element of the terminal user is changed to Cell A_B_D ; If the terminal user is not in the triangular network element Cell A_B_D If the terminal user is within the triangle, the terminal user will be matched to another triangle network element Cell. E_B_D , where E is another nearby reference station.

[0019] Furthermore, when a local site fails and causes a reference station in a triangular network element matched by a terminal user to be offline or back online, the triangular network element matched by the terminal user is reconstructed, including:

[0020] When the end user matches the triangulated network element Cell A_B_D When the C reference station comes back online, the triangular network element matched by the terminal user is reconstructed, and the new triangular network element is Cell A_B_C ; If the terminal user is in a triangular network element Cell A_B_C If the terminal user's matching network element is changed to Cell A_B_C ; If the terminal user is not in the triangular network element Cell A_B_C If the terminal user is matched to another triangular network element Cell E_B_C , where E is another nearby reference station.

[0021] Furthermore, a differential generation and retention technology is performed on the terminal users in the original failed triangular network element in the reconstructed triangular network element to generate virtual observation values ​​and broadcast them to the terminal users for enhanced positioning, including:

[0022] When the new triangle network element matched by the terminal user changes, but the main reference station does not change, the ionospheric error modeling value of the reference station network element and the tropospheric error modeling values ​​of the reference station network elements Modeling is performed by new triangle mesh elements;

[0023] When the main reference station changes, assuming that the main reference station changes from A to C, the baseline BaseLine formed by reference stations A and C A_C After the baseline is solved, the baseline BaseLine is obtained A_C The ambiguity at each frequency on Here, j represents each frequency.

[0024] Furthermore, a differential generation and retention technology is performed on the terminal users in the original failed triangular network element in the reconstructed triangular network element to generate virtual observation values ​​and broadcast them to the terminal users for enhanced positioning, including:

[0025] In the reconstructed triangular network element, the user position Pos is generated according to the following formula g Differenced virtual observations at :

[0026]

[0027] Where g and C represent the user station and the main reference station respectively; P g,j and are the pseudorange and carrier observation values ​​of the main reference station C at frequency j; Δρ g,C is the difference between the station-satellite distances of the end user and the main reference station C corresponding to the same satellite; λ represents the wavelength corresponding to the observation value of frequency j; is the tropospheric error difference between the primary reference station and the user station, It is the ionospheric error difference between the main reference station and the user station on frequency j. is the double difference ambiguity between the original master reference station A and the current master reference station C. Finally, this virtual observation value is sent to the end user through the standard protocol. The virtual observation value generated by the end user under the new network element has the same ambiguity as the virtual observation value generated by the original failed network element.

[0028] Based on the same inventive concept, the present invention provides an automatic reorganization network system for base stations of a power Beidou precise positioning service network, comprising:

[0029] The network element construction module is used for the electric power Beidou precise positioning service network to construct a number of basic solution network elements according to the reference station location and the Delaunay triangulation principle. The basic solution network elements use triangle network elements;

[0030] The network element matching module is used for terminal users to access the electric power Beidou precise positioning service network. The electric power Beidou precise positioning service network matches the terminal users to the corresponding triangular network elements and selects the nearest reference station among the three reference stations of the triangular network element as the main reference station;

[0031] The virtual observation value calculation module is used to generate and broadcast differential virtual observation values ​​for the triangle network element where the terminal user is located, with reference to the main reference station;

[0032] A network element reconstruction module is used to reconstruct the triangular network element matched by the terminal user when a reference station in the triangular network element matched by the terminal user fails and is in an offline or back-online state;

[0033] The differential generation and retention module is used to perform the differential generation and retention technology on the terminal users in the original failed triangular network elements in the reconstructed triangular network elements, generate virtual observation values ​​and broadcast them to the terminal users for enhanced positioning.

[0034] Based on the same inventive concept, the present invention provides an automatic network reorganization service device for a local reference station failure of the electric power Beidou precise positioning service network, comprising a processor and a memory, wherein the memory stores computer instructions, and the processor is used to execute the computer instructions stored in the memory. When the computer instructions are executed by the processor, the electronic device implements the steps of the above-mentioned method for automatic network reorganization of reference stations of the electric power Beidou precise positioning service network.

[0035] Based on the same inventive concept, a computer-readable storage medium of the present invention stores a computer program thereon, and when the program is executed by a processor, the steps of the above-mentioned method for automatic reorganization of the base station of the electric power Beidou precise positioning service network are implemented.

[0036] Beneficial effects: Compared with the prior art, the significant technical effects of the present invention are:

[0037] The virtual observation values ​​generated by the terminal user under the new network element have the same ambiguity as the virtual observation values ​​generated by the original failed network element. The terminal user does not need to perform RTK initialization. When the network elements of the electric power Beidou precise positioning service network are reconstructed due to partial site failures, the virtual observation values ​​generated for the terminal user still maintain good continuity with the original network elements, so that the terminal user's RTK positioning solution does not need to be initialized, which improves the quality of the service platform's high-precision positioning service and ensures the continuity and stability of the terminal user's positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a flow chart of a method for automatically reorganizing a power Beidou precise positioning service network base station disclosed in an embodiment of the present invention;

[0039] Figure 2 A power Beidou precise location service network disclosed in an embodiment of the present invention constructs several basic solution network element topology diagrams;

[0040] Figure 3It is a schematic diagram of network element reconstruction of a power Beidou precise positioning service network disclosed in an embodiment of the present invention;

[0041] Figure 4 It is a structural schematic diagram of an automatic reorganization network system of a Beidou precise positioning service network base station disclosed in an embodiment of the present invention;

[0042] Figure 5 It is a structural schematic diagram of an automatic network reorganization device for a base station of an electric power Beidou precise positioning service network disclosed in an embodiment of the present invention. DETAILED DESCRIPTION

[0043] The present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. It will be understood by those skilled in the art that the purposes and advantages that can be achieved with the present invention are not limited to the specific description of the above beneficial effects, and the above and other purposes that can be achieved by the present invention will be more clearly understood based on the following detailed description.

[0044] It should be understood by those skilled in the art that the exemplary components, systems and methods described in conjunction with the embodiments disclosed in the present invention can be implemented in hardware, software or a combination of the two. Whether it is implemented in hardware or software depends on the specific application and design of the technical solution. Professional and technical personnel can use different methods to implement the functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0045] Reference to "embodiments" in the present invention means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present invention. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0046] Example 1

[0047] See also Figure 1 , Figure 1 It is a flow chart of the method for automatically reorganizing the power Beidou precise positioning service network base station according to the embodiment of the present invention. Figure 1 The described reference station automatic network reorganization method is applied to the power system, such as the network element reorganization of the power Beidou precise positioning service network, etc., which is not limited in the embodiments of the present invention. Figure 1 As shown, the method for automatically reorganizing the network of the power Beidou precise positioning service network base station may include the following operations:

[0048] S1, such as Figure 2As shown, the electric power Beidou precise positioning service network constructs several basic solution network elements according to the location of the reference station and the Delaunay triangulation principle, and the basic solution network elements use triangle network elements.

[0049] S2. The terminal user accesses the Beidou precise positioning service network. The Beidou precise positioning service network matches the terminal user to the corresponding triangle network element and selects the nearest reference station among the three reference stations of the triangle network element as the main reference station.

[0050] After the terminal user accesses the Electric Power Beidou Precision Positioning Service Network, he / she uploads the NEMA GGA information to the Electric Power Beidou Precision Positioning Service Network platform. The Electric Power Beidou Precision Positioning Service Network matches the terminal user to the corresponding triangular network element according to the location information in the NEMA GGA, so that the terminal user is located in the matched triangular network element, and selects the nearest reference station among the three reference stations of the triangular network element as the main reference station.

[0051] S3. Using the main reference station as a reference, generate and broadcast differential virtual observation values ​​for the triangle network element where the terminal user is located. The details are as follows:

[0052] Generate the user location Pos according to the following formula g Differenced virtual observations at :

[0053]

[0054] Where g and A represent the user station and the main reference station respectively; P g,j and are the pseudorange and carrier observation values ​​of the primary reference station with frequency j, respectively; Δρ g,A is the difference between the station-satellite distances of the end user and the main reference station corresponding to the same satellite; λ represents the wavelength corresponding to the observation value of frequency j; is the tropospheric error difference between the primary reference station and the user station, It is the ionospheric error difference between the main reference station and the user station on frequency j.

[0055] After generating the differential virtual observation value, the Electric Power Beidou Precision Positioning Service Network sends it to the end user through an internal communication protocol or a standard communication protocol. The communication protocols here include but are not limited to the existing TCP protocol, Ntrip protocol and Http protocol.

[0056] S4. When a reference station in the triangular network element matched by the terminal user fails and is in an offline or back-online state, the triangular network element matched by the terminal user is reconstructed.

[0057] The status change of the reference station is divided into two situations: online and offline. When re-networking, it is still based on the Delaunay triangulation generation algorithm, such as Figure 3As shown in the figure, the specific network element changes are as follows:

[0058] When the end user matches the triangle network element Cell A_B_C In the example, when one of the three reference stations A, B, and C is offline, assuming that reference station C is offline, in order to ensure the service quality of the precise service network, the triangular network element matched by the end user will be reconstructed. Reference stations A, B, and reference station D adjacent to reference station C together form a new triangular network element Cell. A_B_D ; If the terminal user is in a triangular network element Cell A_B_D If the terminal user's matching network element is changed to Cell A_B_D ; If the terminal user is not in the triangular network element Cell A_B_D If the terminal user is within the triangle, the terminal user will be matched to another triangle network element Cell. E_B_D , where E is another nearby reference station.

[0059] When the end user matches the triangulated network element Cell A_B_D In the process, when the C reference station is back online, in order to ensure the service quality of the precise service network, the triangular network element matched by the terminal user will be reconstructed. The new triangular network element is Cell A_B_C ; If the terminal user is in a triangular network element Cell A_B_C If the terminal user's matching network element is changed to Cell A_B_C ; If the terminal user is not in the triangular network element Cell A_B_C If the terminal user is matched to another triangular network element Cell E_B_C , where E is another nearby reference station.

[0060] Regarding the above-mentioned network element reconstruction caused by the change of the reference station, no matter how the network element changes, the network element re-matched by the terminal user will still have duplicate reference stations with the original network element.

[0061] S5. In the reconstructed triangular network element, a differential generation and retention technology is performed on the terminal users in the original failed triangular network element to generate virtual observation values ​​and broadcast them to the terminal users for enhanced positioning.

[0062] When the network element matched by the end user is reconstructed due to the online or offline of the reference station, the end user will re-match the network element. When the new triangle network element matched by the end user changes, but the main reference station does not change, the ionospheric error modeling value of the reference station network element and the tropospheric error modeling values ​​of the reference station network elements The new triangular network element is used to generate the model. When the main reference station changes, assuming that the main reference station changes from A to C, the baseline BaseLine formed by reference stations A and CA_C After the baseline is solved, the baseline BaseLine is obtained A_C The ambiguity at each frequency on Here, j represents each frequency.

[0063] In the reconstructed triangular network element, the user position Pos is generated according to the following formula g Differenced virtual observations at :

[0064]

[0065] Where g and C represent the user station and the main reference station respectively; P g,j and are the pseudorange and carrier observation values ​​of the main reference station C at frequency j; Δρ g,C is the difference between the station-satellite distances of the end user and the main reference station C corresponding to the same satellite; λ represents the wavelength corresponding to the observation value of frequency j; is the tropospheric error difference between the primary reference station and the user station, It is the ionospheric error difference between the main reference station and the user station on frequency j. is the double difference ambiguity between the original master reference station A and the current master reference station C.

[0066] Finally, this virtual observation value is sent to the terminal user through the standard protocol. The virtual observation value generated by the terminal user under the new network element has the same ambiguity as the virtual observation value generated by the original failed network element. The terminal user does not need to initialize the RTK positioning. This technology realizes the maintenance of network element differential generation. For the currently widely used grid differential service, the grid points are essentially the same as the terminal users mentioned above, so this technology is also applicable to the grid differential service model.

[0067] Example 2

[0068] See also Figure 4 , Figure 4 The present invention is a schematic diagram of a structure of an automatic reorganization network system for a base station of an electric power Beidou precise location service network disclosed in an embodiment of the present invention. The system can realize the network element reorganization of the electric power Beidou precise location service network, and specifically includes:

[0069] The network element construction module is used for the electric power Beidou precise positioning service network to construct a number of basic solution network elements according to the reference station location and the Delaunay triangulation principle. The basic solution network elements use triangle network elements;

[0070] The network element matching module is used for terminal users to access the electric power Beidou precise positioning service network. The electric power Beidou precise positioning service network matches the terminal users to the corresponding triangular network elements and selects the nearest reference station among the three reference stations of the triangular network element as the main reference station;

[0071] The virtual observation value calculation module is used to generate and broadcast differential virtual observation values ​​for the triangle network element where the terminal user is located, with reference to the main reference station;

[0072] A network element reconstruction module is used to reconstruct the triangular network element matched by the terminal user when a reference station in the triangular network element matched by the terminal user fails and is in an offline or back-online state;

[0073] The differential generation and retention module is used to perform the differential generation and retention technology on the terminal users in the original failed triangular network elements in the reconstructed triangular network elements, generate virtual observation values ​​and broadcast them to the terminal users for enhanced positioning.

[0074] In an optional embodiment, the method for automatic network reorganization of the base station of the Electric Power Beidou Precision Positioning Service Network includes: a) the Electric Power Beidou Precision Positioning Service Network constructs a number of basic solution network elements according to the reference station position; b) the terminal user accesses the Electric Power Beidou Precision Positioning Service Network, and the Electric Power Beidou Precision Positioning Service Network matches the terminal user to the corresponding triangle network element and determines the main reference station; c) with the main reference station as a reference, differential virtual observation values ​​are generated for the triangle network element where the terminal user is located and broadcast; d) when one of the reference stations in the triangle network element matched by the terminal user fails and is offline or back online, the triangle network element matched by the terminal user is reconstructed; e) in the reconstructed triangle network element, the differential generation and retention technology is executed for the terminal user in the original failed triangle network element, and virtual observation values ​​are generated and broadcast to the terminal user for enhanced positioning.

[0075] Example 3

[0076] See also Figure 5 , Figure 5 This is a schematic diagram of the structure of an automatic reorganization network device for a Beidou precise positioning service network base station in an electric power system disclosed in an embodiment of the present invention. Figure 5 The described device can be applied to the power system, such as for network element reorganization of the power Beidou precise positioning service network, etc., and the embodiments of the present invention are not limited thereto.

[0077] like Figure 5 As shown, the device may include a processor and a memory, wherein the memory stores computer instructions, and the processor is used to execute the computer instructions stored in the memory. When the computer instructions are executed by the processor, the electronic device implements the steps of the method described in the above embodiment and can achieve the technical effect consistent with the above method.

[0078] The memory may include computer system readable media in the form of volatile memory, such as random access memory (RAM) and / or cache memory. The device may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, the memory may be used to read and write non-removable, non-volatile magnetic media (commonly referred to as a "hard drive"). A program / utility having a set (at least one) of program modules may be stored in, for example, the memory, such program modules including but not limited to an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include the implementation of a network environment. The program modules typically perform the functions and / or methods in the embodiments described herein.

[0079] The processor executes various functional applications and data processing by running the programs stored in the memory, such as implementing the method provided in Embodiment 1 of the present invention.

[0080] Example 4

[0081] Embodiment 4 of the present invention further provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the steps of the method described in the above embodiment are implemented and the technical effect consistent with the above method can be achieved.

[0082] The computer storage medium of the embodiment of the present invention can adopt any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to, a system, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, a computer-readable storage medium can be any tangible medium containing or storing a program, which can be used by an instruction execution system, a device or a device or used in combination with it.

[0083] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, which carry computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0084] The program code embodied on the computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0085] Computer program code for performing the operation of the present invention may be written in one or more programming languages ​​or combinations thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0086] Of course, the storage medium containing computer executable instructions provided by an embodiment of the present invention, whose computer executable instructions are not limited to the above method operations, can also execute related operations in the method provided by any embodiment of the present invention.

[0087] The specific embodiments described above further illustrate the purpose, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for automatically reorganizing the network of base stations of the electric power Beidou precise positioning service network, characterized in that: include: The electric power Beidou precise positioning service network constructs several basic solution network elements based on the reference station location and the Delaunay triangulation principle. The basic solution network elements use triangle network elements. The terminal user accesses the electric power Beidou precise positioning service network, which matches the terminal user to the corresponding triangle network element and selects the nearest reference station among the three reference stations of the triangle network element as the main reference station; Using the main reference station as a reference, differential virtual observation values ​​are generated and broadcast for the triangular network element where the end user is located; When a reference station in the triangular network element matched by the terminal user fails and is in an offline or re-online state, the triangular network element matched by the terminal user is reconstructed; In the reconstructed triangular network element, the differential generation and preservation technology is performed on the terminal users in the original failed triangular network element to generate virtual observation values ​​and broadcast them to the terminal users for enhanced positioning.

2. The method for automatically reorganizing the power Beidou precise positioning service network base station according to claim 1 is characterized in that: The terminal user accesses the electric power Beidou precise positioning service network, which matches the terminal user to the corresponding triangular network element and selects the nearest reference station among the three reference stations of the triangular network element as the main reference station, including: After the terminal user accesses the Electric Power Beidou Precision Positioning Service Network Platform, he / she uploads the NEMAGGA information to the Electric Power Beidou Precision Positioning Service Network Platform. The Electric Power Beidou Precision Positioning Service Network matches the terminal user to the corresponding triangular network element according to the location information in NEMAGGA, so that the terminal user is located in the matched triangular network element, and selects the nearest reference station among the three reference stations of the triangular network element as the main reference station.

3. The method for automatically reorganizing the power Beidou precise positioning service network base station according to claim 1 is characterized in that: Using the main reference station as a reference, differential virtual observation values ​​are generated and broadcast for the triangular network element where the end user is located, including: Generate the user location Pos according to the following formula g Differenced virtual observations at : Where g and A represent the user station and the main reference station respectively; P g,j and are the pseudorange and carrier observation values ​​of the primary reference station with frequency j, respectively; Δρ g,A is the difference between the station-satellite distances of the end user and the main reference station corresponding to the same satellite; λ represents the wavelength corresponding to the observation value of frequency j; is the tropospheric error difference between the primary reference station and the user station, It is the ionospheric error difference between the main reference station and the user station on frequency j.

4. The method for automatically reorganizing the power Beidou precise positioning service network base station according to claim 1 is characterized in that: When a local site fails and causes a reference station in the triangular network element matched by the terminal user to be offline or back online, the triangular network element matched by the terminal user is reconstructed, including: When the end user matches the triangle network element Cell A_B_C In the example, when one of the three reference stations A, B, and C is offline, assuming that reference station C is offline, the triangular network element matched by the terminal user is reconstructed, and reference station A, reference station B, and reference station D adjacent to reference station C together form a new triangular network element Cell. A_B_D ; If the terminal user is in a triangular network element Cell A_B_D If the terminal user's matching network element is changed to Cell A_B_D ; If the terminal user is not in the triangular network element Cell A_B_D If the terminal user is within the triangle, the terminal user will be matched to another triangle network element Cell. E_B_D , where E is another nearby reference station.

5. The method for automatically reorganizing the power Beidou precise positioning service network base station according to claim 4 is characterized in that: When a local site fails and causes a reference station in the triangular network element matched by the terminal user to be offline or back online, the triangular network element matched by the terminal user is reconstructed, including: When the end user matches the triangulated network element Cell A_B_D When the C reference station comes back online, the triangular network element matched by the terminal user is reconstructed, and the new triangular network element is Cell A_B_C ; If the terminal user is in a triangular network element Cell A_B_C If the terminal user's matching network element is changed to Cell A_B_C ; If the terminal user is not in the triangular network element Cell A_B_C If the terminal user is matched to another triangular network element Cell E_B_C , where E is another nearby reference station.

6. The method for automatically reorganizing the power Beidou precise positioning service network base station according to claim 3 is characterized in that: In the reconstructed triangular network element, the differential generation and preservation technology is performed on the terminal users in the original failed triangular network element to generate virtual observation values ​​and broadcast them to the terminal users for enhanced positioning, including: When the new triangle network element matched by the terminal user changes, but the main reference station does not change, the ionospheric error modeling value of the reference station network element and the tropospheric error modeling values ​​of the reference station network elements Modeling is performed by new triangle mesh elements; When the main reference station changes, assuming that the main reference station changes from A to C, the baseline BaseLine formed by reference stations A and C A_C After the baseline is solved, the baseline BaseLine is obtained A_C The ambiguity at each frequency on Here, j represents each frequency.

7. The method for automatically reorganizing the power Beidou precise positioning service network base station according to claim 6 is characterized in that: In the reconstructed triangular network element, the differential generation and preservation technology is performed on the terminal users in the original failed triangular network element to generate virtual observation values ​​and broadcast them to the terminal users for enhanced positioning, including: In the reconstructed triangular network element, the user position Pos is generated according to the following formula g Differenced virtual observations at : Where g and C represent the user station and the main reference station respectively; P g,j and are the pseudorange and carrier observation values ​​of the main reference station C at frequency j; Δρ g,C is the difference between the station-satellite distances of the end user and the main reference station C corresponding to the same satellite; λ represents the wavelength corresponding to the observation value of frequency j; is the tropospheric error difference between the primary reference station and the user station, It is the ionospheric error difference between the main reference station and the user station on frequency j. is the double difference ambiguity between the original master reference station A and the current master reference station C. Finally, this virtual observation value is sent to the end user through the standard protocol. The virtual observation value generated by the end user under the new network element has the same ambiguity as the virtual observation value generated by the original failed network element.

8. An automatic reorganization network system for base stations of the electric power Beidou precise positioning service network, characterized in that: include: The network element construction module is used for the electric power Beidou precise positioning service network to construct a number of basic solution network elements according to the reference station location and the Delaunay triangulation principle. The basic solution network elements use triangle network elements; The network element matching module is used for terminal users to access the electric power Beidou precise positioning service network. The electric power Beidou precise positioning service network matches the terminal users to the corresponding triangular network elements and selects the nearest reference station among the three reference stations of the triangular network element as the main reference station; The virtual observation value calculation module is used to generate and broadcast differential virtual observation values ​​for the triangle network element where the terminal user is located, with reference to the main reference station; A network element reconstruction module is used to reconstruct the triangular network element matched by the terminal user when a reference station in the triangular network element matched by the terminal user fails and is in an offline or back-online state; The differential generation and retention module is used to perform the differential generation and retention technology on the terminal users in the original failed triangular network elements in the reconstructed triangular network elements, generate virtual observation values ​​and broadcast them to the terminal users for enhanced positioning.

9. An automatic network reorganization device for the base station of the electric power Beidou precise positioning service network, characterized in that: The electronic device comprises a processor and a memory, wherein the memory stores computer instructions, and the processor is used to execute the computer instructions stored in the memory. When the computer instructions are executed by the processor, the electronic device implements the steps of the method for automatic network reorganization of the base station of the electric power Beidou precise positioning service network 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, which, when executed by a processor, implements the steps of the method for automatic network reorganization of the base station of the electric power Beidou precise positioning service network as described in any one of claims 1 to 7.

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