Data processing method and device, equipment, storage medium and program product

Abstract

The invention discloses a data processing method and device, equipment, a storage medium and a program product, and relates to the technical field of satellite positioning. The method comprises the following steps: receiving an SSR correction product broadcasted by a PPP-RTK server; carrying out decoding processing on the SSR correction number product; correcting the satellite position and the satellite clock obtained by the broadcast ephemeris by using the data obtained by decoding; generating an atmospheric correction product by using the decoded data and the local approximate position of the user; generating a virtual observed quantity by using the initial position of the user, the corrected satellite position, the corrected satellite clock and an atmospheric correction product; and carrying out RTK calculation by using the virtual observed quantity. According to the method, the RTK algorithm does not need to consider the ambiguity parameter updating problem caused by base station coordinate switching, and meanwhile, the attenuation of the precision of the atmospheric correction product caused by the lengthening of the baseline distance is avoided, so that the precision of the atmospheric correction product is ensured, and the fixing rate and the stability of a user side can be improved.

Description

Technical Field

[0001] The present application relates to the field of satellite positioning technology, and in particular to a data processing method, device, computer equipment, computer-readable storage medium and computer program product. Background Art

[0002] PPP-RTK (Precise Point Positioning-Real Time Kinematic Positioning) technology uses relatively sparse ground stations to generate high-precision satellite precision products and atmospheric correction products, and can broadcast its correction data through low-orbit satellites, thereby providing real-time, continuous, high-precision positioning services to the world. PPP-RTK technology has become the most suitable GNSS (Global Navigation Satellite Systems) positioning solution for autonomous driving due to its low cost, high precision, good privacy and natural attributes of complete functional implementation.

[0003] The mature RTK modules (referring to the user end) on the market generally perform base station position and grid ID detection to determine whether the RTK ambiguity parameters need to be updated again. To ensure the accuracy of RTK, the SSR2OSR (State Space Representation To Observation Space Representation, converting state domain precision correction products to observation domain virtual observation values) technology is currently used. It uses the position sent back by the user end to interpolate the atmospheric correction product each time. The interpolated atmospheric correction product is theoretically consistent with the atmosphere of the user end, and the RTK accuracy will be the highest. However, the RTK algorithm will frequently reset the RTK ambiguity parameters due to the frequent switching of the base station position, which will greatly affect its fixation. To solve this problem, one solution is to reduce the interpolation frequency of the atmospheric correction product, for example, interpolate the atmospheric correction product once every 5 kilometers. This can reduce the number of switching times of the base station position or grid ID, thereby reducing the frequency of resetting the RTK ambiguity parameters. However, this solution also brings another problem, that is, the correction accuracy of the atmospheric correction product may decrease due to the increase of the interpolation interval, thereby affecting the positioning accuracy of the user end. Summary of the invention

[0004] In view of this, the purpose of the present application is to provide a data processing method, apparatus, computer device, computer-readable storage medium and computer program product to solve at least one of the above technical problems.

[0005] In a first aspect, the present application provides a data processing method, which includes: receiving SSR correction products broadcast by a PPP-RTK server; decoding the SSR correction products; using the decoded data to correct the satellite position and satellite clock obtained from the broadcast ephemeris; using the decoded data and the user's local approximate position to generate an atmospheric correction product; using the user's starting position, the corrected satellite position and satellite clock, and the atmospheric correction product to generate a virtual observation quantity; and using the virtual observation quantity to perform RTK solution.

[0006] In combination with the first aspect, in some optional embodiments, the virtual observation quantity includes the observation equation of the user's local approximate position for satellite i, the observation equation of the user's local accurate position for satellite i, the observation equation of the user's local approximate position for satellite j, and the observation equation of the user's local accurate position for satellite j.

[0007] In combination with the first aspect, in some optional implementations, virtual observations are used for RTK solution, including: calculating the inter-station single difference between the user's local approximate position and the user's local accurate position for satellite i and satellite j, respectively, and then calculating the inter-satellite single difference between satellite i and satellite j; based on the user's starting position, linearizing the equations obtained by the inter-station single difference and the inter-satellite single difference; using a Kalman filter to solve the linearized equations to obtain a state vector; based on the state vector, calculating the high-precision coordinates of the user's local accurate position.

[0008] In combination with the first aspect, in some optional implementations, the atmospheric correction products include ionospheric products and tropospheric products; the atmospheric correction products are generated using the decoded data and the user's local approximate position, including: generating ionospheric products using the decoded ionospheric polynomial coefficients and grid ionospheric residuals and the user's local approximate position; generating tropospheric products using the decoded tropospheric polynomial coefficients and grid tropospheric residuals and the user's local approximate position.

[0009] In combination with the first aspect, in some optional implementations, the SSR correction products include GAD, OCB, STEC, and GTROP data; the SSR correction products are decoded, including: decoding the GAD data to obtain the geographic area information of the current area including the area ID, the longitude and latitude of the area origin, and the grid division of the area; decoding the OCB data to obtain the satellite's orbit correction, clock correction, code deviation correction, and phase deviation correction; decoding the STEC data to obtain ionospheric polynomial coefficients and grid ionospheric residuals; decoding the GTROP data to obtain tropospheric polynomial coefficients and grid tropospheric residuals.

[0010] In combination with the first aspect, in some optional embodiments, before receiving the SSR correction product broadcast by the PPP-RTK server, the method also includes: calculating the user's local approximate position based on the service area and grid definition broadcast by the server; determining the current area based on the user's local approximate position, and feeding back to the server to obtain corresponding regional product data including the SSR correction product.

[0011] In the second aspect, the present application provides a data processing device, which includes: a data receiving module for receiving the SSR correction product broadcast by the PPP-RTK server; a data decoding module for decoding and processing the SSR correction product; a first data calculation module for using the decoded data to correct the satellite position and satellite clock obtained by the broadcast ephemeris; a second data calculation module for generating an atmospheric correction product using the decoded data and the user's local approximate position; a third data calculation module for generating a virtual observation value using the user's starting position, the corrected satellite position and satellite clock, and the atmospheric correction product; and an RTK solution module for performing RTK solution using the virtual observation value.

[0012] In a third aspect, the present application provides a computer device including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the steps of the data processing method in any one of the embodiments of the first aspect are implemented.

[0013] In a fourth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the data processing method in any one of the embodiments of the first aspect above.

[0014] In a fifth aspect, the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the steps of the data processing method in any one of the embodiments of the first aspect above.

[0015] Based on the above technical solution, the data processing method, device, computer equipment, computer-readable storage medium and computer program product provided by the present application use the user's local approximate position coordinates close to the user's current position to calculate the atmospheric correction product, and use the user's starting position coordinates to calculate the virtual observation quantity. It can adapt to the RTK algorithm based on the NRTK strategy, so that the RTK algorithm does not have to consider the ambiguity parameter update problem caused by the switching of base station coordinates, and at the same time, the accuracy of the atmospheric correction product will not be attenuated due to the increase in baseline distance, thereby ensuring the accuracy of the atmospheric correction product and being able to improve the fixation rate and stability of the user end. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 An application environment diagram of a data processing method provided in an embodiment of the present application.

[0018] Figure 2 A flowchart of a data processing method provided in an embodiment of the present application.

[0019] Figure 3 A flowchart of a data decoding step provided in an embodiment of the present application.

[0020] Figure 4 A schematic diagram of a user position and a satellite position provided in an embodiment of the present application.

[0021] Figure 5 A structural block diagram of a data processing device provided in an embodiment of the present application.

[0022] Figure 6 An internal structure diagram of a computer device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0023] The specific embodiments of the present application will be described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the description of the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application.

[0024] The terms "comprises," "includes," "has," or any other variation thereof, are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0025] The terms "one embodiment", "as an example", "in one implementation", etc. mean that the steps, structures, materials or features described in conjunction with the embodiment or example may be included in at least one embodiment or example of the present application. Schematic representations of such terms do not necessarily refer to the same embodiment, nor are they independent or alternative embodiments that are mutually exclusive with other embodiments. In the absence of conflict, the embodiments in the present application and the features in the embodiments may be combined in a suitable manner.

[0026] Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

[0027] The data care method provided in this application can be applied to Figure 1 In the application environment shown, the application environment involves the server and user of the PPP-RTK positioning service. Before executing the data processing method of this embodiment, the communication interaction process between the server and the user is as follows: the user sends a region list request to the server (through HTTPS authentication); after receiving the region list request, the server broadcasts information about the service area and grid definition to the user (through the HTTPS protocol); the user uses this information to calculate the user's local approximate location, and determines the current area through the user's local approximate location, and then feeds back to the server; after receiving the feedback from the user, the server broadcasts the corresponding regional product data to the user (through the MQTT protocol).

[0028] The service area refers to the geographical scope of the PPP-RTK positioning service provided by the server to the user. A grid is a network of evenly spaced horizontal and vertical lines, usually used to identify locations on a map. The grid definition is a specific description and regulation of such a network, including the type, size, shape, and numbering of the grid. The regional product data that the server broadcasts unidirectionally to the user includes but is not limited to SSR (State Space Representation) correction products.

[0029] Furthermore, the user end receives the SSR correction products broadcast by the PPP-RTK server, decodes the SSR correction products, uses the decoded data to correct the satellite position and satellite clock obtained from the broadcast ephemeris, generates atmospheric correction products using the decoded data and the user's local approximate position, generates virtual observation quantities using the user's starting position, the corrected satellite position and satellite clock, and the atmospheric correction products, performs RTK solution using the virtual observation quantities, and finally obtains high-precision position information.

[0030] It should be noted that the server is the background server of the navigation and positioning system, which can be an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN (Content Delivery Network), and big data and artificial intelligence platforms. Optionally, the server can be a computing server belonging to the main control station or a computing server belonging to the monitoring station. The user end can be, but is not limited to, various personal computers, laptops, smart phones, tablets, Internet of Things devices and portable wearable devices. Internet of Things devices can be smart speakers, smart TVs, smart air conditioners, smart car-mounted devices, etc. Portable wearable devices can be smart watches, smart bracelets, head-mounted devices, etc.

[0031] The following describes a specific embodiment of a data processing method of the present application. Figure 2 It is a flowchart of a data processing method provided by an embodiment of the present application. This specification provides the operating steps of the method as in the embodiment or flowchart, but may include more or fewer operating steps based on conventional or non-creative labor. The order of steps listed in the embodiment is only one way of executing the steps among many orders, and does not represent the only order of execution. When the actual system or server product is executed, it can be executed in sequence or in parallel (for example, in a parallel processor or multi-threaded processing environment) according to the method shown in the embodiment or the drawings. Specifically, Figure 2 As shown, this method is applied to Figure 1 The user end in FIG. 1 is taken as an example to illustrate, and the following steps are included: Step S101, receiving the SSR correction product broadcasted by the PPP-RTK server.

[0032] In one embodiment, the SSR correction product includes GAD, OCB, STEC, and GTROP data. GAD is the abbreviation of Geographic Area Definitiond, which means the geographical area division table. After decoding the GAD data, the geographical area information such as the area ID, the longitude and latitude of the origin of the area (longitude, latitude and altitude), and the grid division of the area can be obtained. OCB is the abbreviation of Orbit, Clock, Bias (code bias and phase bias), which means orbit, clock, bias (code bias and phase bias). After decoding the OCB data, the satellite orbit correction, clock correction, code bias correction, and phase bias correction can be obtained. STEC stands for Slant ionosphere correction, which means GNSS slant path ionosphere correction. After decoding the STEC data, the ionosphere polynomial coefficients and grid ionosphere residuals can be obtained. GTROP stands for Grid Troposphere Wet Correction, which means grid troposphere wet delay correction. After decoding the GTROP data, the troposphere polynomial coefficients and grid troposphere residuals can be obtained.

[0033] It should be noted that OCB, STEC, and GTROP data are directly related to SSR correction numbers. Although GAD data does not directly provide correction numbers, it plays an auxiliary and definitional role in the application of SSR correction numbers.

[0034] It should be noted that, since this embodiment is implemented in the user end, the SDK (Software Development Kit) interface in the user end can be used to receive the regional product data broadcasted by the server end.

[0035] In one embodiment, before receiving the SSR correction number broadcast by the PPP-RTK server, the data processing method also includes the following steps: calculating the user's local approximate position based on the service area and grid definition broadcast by the server according to the user's area list request; determining the current area based on the user's local approximate position, and feeding back to the server to obtain corresponding regional product data, which includes SSR correction number products.

[0036] Step S102, decoding the SSR correction product.

[0037] In one embodiment, Figure 3As shown, the SSR correction product is decoded, including: decoding the GAD data to obtain the geographical area information of the current area including the area ID, the longitude and latitude (longitude, latitude and altitude) of the area origin, and the grid division of the area; decoding the OCB data to obtain the satellite orbit correction, clock correction, code deviation correction, and phase deviation correction; decoding the STEC data to obtain the ionospheric polynomial coefficients and grid ionospheric residuals; decoding the GTROP data to obtain the tropospheric polynomial coefficients and grid tropospheric residuals.

[0038] Step S103: using the decoded data to correct the satellite position and satellite clock obtained from the broadcast ephemeris.

[0039] In one embodiment, the orbit correction vector is calculated using the orbit correction number obtained by decoding the OCB data, and the satellite position obtained by the broadcast ephemeris is corrected by the orbit correction vector to obtain an accurate satellite position, wherein the orbit correction number includes the orbit radial correction number, the orbit tangential correction number, and the orbit normal correction number. The specific calculation process is as follows: Orbit correction vector Calculate using formula (1): (1) in, represents the orbital radial unit vector, represents the orbital tangent unit vector, represents the orbital normal unit vector, Indicates the orbit radial correction number, represents the orbit tangential correction number, Indicates the orbit normal correction number.

[0040] Orbital tangent unit vector , orbital normal unit vector , orbital radial unit vector Calculation is performed using formulas (2), (3), and (4). Formulas (2), (3), and (4) are: (2) (3) (4) Where r is the satellite position obtained from the broadcast ephemeris, t is the time, represents the satellite position vector, represents the satellite velocity vector.

[0041] Satellite positions after orbit correction Calculate using formula (5): (5) Where r represents the satellite position obtained from the broadcast ephemeris, Represents the orbit correction vector.

[0042] In one embodiment, the satellite clock obtained from the broadcast ephemeris is corrected using the satellite clock correction number obtained by decoding the OCB data to obtain an accurate satellite clock.

[0043] Satellite clock after clock error correction Calculate using formula (6): (6) in, represents the satellite clock correction number, represents the satellite clock obtained from the broadcast ephemeris, and c represents the speed of light.

[0044] Step S104: Generate an atmospheric correction product using the decoded data and the user's local approximate position.

[0045] Atmospheric correction products include ionospheric products and tropospheric products. In one embodiment, atmospheric correction products are generated using decoded data and a user's local approximate position, including: generating ionospheric products using ionospheric polynomial coefficients and grid ionospheric residuals and a user's local approximate position obtained by decoding STEC data; generating tropospheric products using tropospheric polynomial coefficients and grid tropospheric residuals and a user's local approximate position obtained by decoding GTROP data.

[0046] Among them, the ionospheric polynomial coefficients and grid ionospheric residuals obtained by decoding STEC data and the user's local approximate position are used to generate ionospheric products. The specific calculation process is as follows: The slant path ionospheric delay of the pseudorange measurement is calculated using formula (7), which is: (7) The slant path ionospheric delay of the carrier phase measurement is calculated using formula (8), which is: (8) in, represents the slant path ionospheric delay of the pseudorange measurement value of satellite i at grid point k at time t, in meters; represents the slant path ionospheric delay of the carrier phase measurement of satellite i at grid point k at time t, in meters; Indicates the signal frequency corresponding to the pseudorange or carrier observation value, in Hz; Indicates satellite The slant path ionospheric delay residual is in TECU. Indicates satellite The slant path ionospheric delay is in TECU.

[0047] Furthermore, the slant path ionospheric delay residual of satellite i is Obtained by grid interpolation. When the decoded STEC data does not contain grid ionospheric residuals, The value is 0; when the decoded STEC data contains grid ionospheric residuals, the formula (9) is used for calculation: (9) in, The weight of the grid point k involved in the interpolation calculation can be obtained by the inverse distance method; represents the slant path ionospheric delay residual of satellite i at grid point k, in TECU; Indicates the number of grids involved in the interpolation calculation, and the value is 1-4.

[0048] Furthermore, satellite Slant path ionospheric delay It is related to the longitude and latitude of the user's local approximate position P1 and the longitude and latitude of the grid center point, and can be calculated by the ionospheric polynomial equation. Therefore, it can be calculated using formulas (10), (11), and (12). Formulas (10), (11), and (12) are: (10) (11) (12) in, represents a polynomial function, Indicates the longitude difference between the user's local approximate location P1 and the center point of the grid. Indicates the latitude difference between the user's local approximate location P1 and the center point of the grid. Indicates the longitude of the user's local approximate location P1, Indicates the latitude of the user's local approximate location P1, Indicates the longitude of the center point of the grid, Indicates the latitude of the center point of the grid.

[0049] in, Determined by the ionospheric correction type: When the ionospheric correction type is 0 (0th order correction), ; When the ionospheric correction type is 1 (1st order correction), ; When the ionospheric correction type is 2 (second-order correction), .in, , , , are the ionospheric polynomial coefficients.

[0050] In one embodiment, the tropospheric polynomial coefficients obtained by decoding the GTROP data, the grid tropospheric residuals and the user's local approximate position are used to generate tropospheric products. The specific calculation process is as follows: The correction value of the wet component of the tropospheric delay on the slant path is calculated using formula (13): (13) in, Indicates the user's local approximate location P1 on the satellite The slant path tropospheric wet delay correction value; represents the projection function of the wet component of tropospheric delay at the user's local approximate position P1, Indicates the satellite altitude angle; It represents the zenith tropospheric wet delay residual of the user's local approximate position P1, in meters; Indicates satellite Zenith tropospheric wet delay in metres.

[0051] Furthermore, the zenith tropospheric wet delay residual of the user's local approximate position P1 is It is obtained by grid interpolation and can be calculated using formula (14), which is: (14) in, The weight of the grid point k involved in the interpolation calculation can be obtained by the inverse distance method; represents the zenith tropospheric wet delay residual of the user's local approximate position P1 on the grid point k; Indicates the number of grids involved in the interpolation calculation, and the value is 1-4.

[0052] Furthermore, satellite Zenith tropospheric wet delay It is related to the longitude and latitude of the user's local approximate position P1 and the longitude and latitude of the grid center point, and can be calculated by the tropospheric wet delay polynomial equation. Therefore, it can be calculated by combining formula (15) with formula (11) and (12). Formula (15) is: (15) in, Indicates the longitude difference between the user's local approximate location P1 and the center point of the grid. Indicates the latitude difference between the user's local approximate location P1 and the center point of the grid. Determined by the tropospheric wet delay correction type: When the tropospheric wet delay correction type is 0 (0th order correction), ; When the tropospheric wet delay correction type is 1 (1st order correction), ; When the tropospheric wet delay correction type is 2 (second-order correction), .in, , , , are the tropospheric polynomial coefficients.

[0053] Step S105, generating virtual observations using the user's starting position, the corrected satellite position and satellite clock, and the atmospheric correction product.

[0054] In one embodiment, the virtual observation quantity includes the observation equation of the user's local approximate position to satellite i, the observation equation of the user's local accurate position to satellite i, the observation equation of the user's local approximate position to satellite j, and the observation equation of the user's local accurate position to satellite j.

[0055] Specifically, Figure 4 As shown, for satellite i, at time t, the observation equation (16) of the user's local approximate position P1 to satellite i is: (16) in, represents the pseudo-range observation value of the user's local approximate position P1 to satellite i, represents the carrier phase observation value of the user's local approximate position P1 to satellite i, represents the geometric distance from the user's starting position P0 to satellite i, represents the clock error of satellite i, represents the ionospheric product calculated from the user's local approximate position P1 and satellite i data, represents the tropospheric product calculated from the user's local approximate position P1 and satellite i data, represents the code deviation of satellite i, represents the phase deviation of satellite i.

[0056] At time t, the observation equation (17) of the user's local accurate position P2 to satellite i is: (17) in, represents the pseudo-range observation value of the user's local accurate position P2 to satellite i, represents the carrier phase observation value of the user's local accurate position P2 to satellite i, It represents the geometric distance from the user's local accurate position P2 to satellite i, dtr represents the receiver (referring to the user end) clock error, represents the clock error of satellite i, represents the ionospheric product calculated from the user's local accurate position P2 and satellite i data, represents the tropospheric product calculated from the user's local accurate position P2 and satellite i data, represents the code deviation of satellite i, represents the phase deviation of satellite i, represents the integer ambiguity of satellite i.

[0057] Similarly, for satellite j, at time t, the observation equation (18) of the user's local approximate position P1 to satellite j is: (18) in, represents the pseudo-range observation value of the user's local approximate position P1 to satellite j, represents the carrier phase observation value of the user's local approximate position P1 to satellite j, represents the geometric distance from the user's starting position P0 to satellite j, represents the clock error of satellite j, represents the ionospheric product calculated from the user's local approximate position P1 and satellite j data, represents the tropospheric product calculated from the user's local approximate position P1 and satellite j data, represents the code bias of satellite j, represents the phase deviation of satellite j.

[0058] At time t, the observation equation (19) of the user's local accurate position P2 to satellite j is: (19) in, represents the pseudo-range observation value of the user's local accurate position P2 to satellite j, represents the carrier phase observation value of the user's local accurate position P2 to satellite j, It represents the geometric distance from the user's local accurate position P2 to satellite j, dtr represents the receiver (referring to the user end) clock error, represents the clock error of satellite j, represents the ionospheric product calculated from the user's local accurate position P2 and satellite j data, represents the tropospheric product calculated from the user's local accurate position P2 and satellite j data, represents the code bias of satellite j, represents the phase deviation of satellite j, represents the integer ambiguity of satellite j.

[0059] Step S106, using virtual observations to perform RTK solution.

[0060] In one embodiment, RTK solution is performed using virtual observations, including: based on the observation equations of the user's local approximate position and the user's local accurate position for satellite i, and the observation equations of the user's local approximate position and the user's local accurate position for satellite j, respectively calculating the inter-station single difference between the user's local approximate position and the user's local accurate position for satellite i and satellite j, and then calculating the inter-satellite single difference between satellite i and satellite j; based on the user's starting position, linearizing the equations obtained by the inter-station single difference and the inter-satellite single difference; using Kalman filtering to solve the linearized equations to obtain a state vector; and based on the state vector, calculating the high-precision coordinates of the user's local accurate position.

[0061] Specifically, the inter-station single difference between the user's local approximate position P1 and the user's local accurate position P2 is calculated for satellite i and satellite j respectively to eliminate the satellite clock error, code bias, phase bias, ionospheric error and tropospheric error, and then the inter-satellite single difference between satellite i and satellite j is calculated to eliminate the clock error, code bias and phase bias of the receiver (referring to the user end). Equation (20) can be obtained: (20) in, It represents the residual of the pseudo-range observation value after making the inter-station single difference and inter-satellite single difference between the user's local approximate position P1 and the user's local accurate position P2 for satellite i and satellite j, It represents the residual of the carrier phase observation value after making the inter-station single difference and inter-satellite single difference between the user's local approximate position P1 and the user's local accurate position P2 for satellite i and satellite j, and Respectively represent the geometric distances from the user's local approximate position P1 to satellite i and satellite j, and Respectively represent the geometric distances from the user's local accurate position P2 to satellite i and satellite j, represents the error term containing other unknown errors, represents the integer ambiguity of satellite i, represents the integer ambiguity of satellite j.

[0062] Furthermore, based on the user's starting position P0, equation (18) is linearized to obtain equation (21): (twenty one) in, represents the residual of the pseudorange observation after linearization, represents the residual of the carrier phase observation after linearization, Represents the partial derivative matrix of the geometric distance from the user's local accurate position P2 to satellite i with respect to the position vector, Represents the partial derivative matrix of the geometric distance from the user's local accurate position P2 to satellite j with respect to the position vector, The correction value of the position vector representing the user's local accurate position P2, represents the error term containing other unknown errors, The difference between the integer ambiguity of satellite i and satellite j representing the user's local accurate position P2. , is the position vector of the user's local accurate position P2, The position vector representing the user's starting position P0.

[0063] Then, the state vector can be obtained by solving equation (21) using the Kalman filter.

[0064] Furthermore, based on the state vector, the high-precision coordinates of the user's local accurate position P2 can be obtained through calculation.

[0065] From the above calculation process, it can be obtained that after the observation equation is simplified, only the intersatellite ambiguity parameters of the user's local accurate position P2 remain. Because the ambiguity parameters are stable, in theory, as long as the relative position relationship between the user's local accurate position and the satellite remains unchanged, no matter how the base station coordinates, grid area ID, etc. are switched, the RTK program should not reset the ambiguity parameters. However, for NRTK network services, when the physical station ID is switched, the ambiguity parameters may change due to the position differences and atmospheric conditions between base stations, and the RTK program should reset the ambiguity. Therefore, this data processing method uses the user's local approximate position coordinates close to the user's current position (i.e., the user's local accurate position) to calculate the atmospheric correction product, and uses the user's starting position coordinates to calculate the virtual observation amount, which can adapt to the RTK algorithm based on the NRTK strategy. Because the user's local approximate position P1 coordinates are closer to the user's current position, the calculated atmospheric correction product is more accurate. The advantage of doing this is that the user-side RTK algorithm no longer has to consider the ambiguity parameter update problem caused by the base station coordinate switching, and the accuracy of the atmospheric correction product will not be attenuated due to the increase in baseline distance, thereby ensuring the accuracy of the atmospheric correction product and improving the fixation rate and stability of the user side.

[0066] Based on the same inventive concept, the embodiment of the present application also provides a data processing device for implementing the data processing method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more device embodiments provided below can refer to the limitations on the method above, and will not be repeated here.

[0067] In one embodiment, Figure 5 As shown, a data processing device is provided, the device comprising: The data receiving module 201 is used to receive the SSR correction product broadcasted by the PPP-RTK server; The data decoding module 202 is used to decode the SSR correction product; A first data calculation module 203 is used to correct the satellite position and satellite clock obtained from the broadcast ephemeris using the decoded data; The second data calculation module 204 is used to generate an atmospheric correction product using the decoded data and the user's local approximate position; A third data calculation module 205 is used to generate virtual observations using the user's starting position, the corrected satellite position and satellite clock, and the atmospheric correction product; and The RTK solution module 206 is used to perform RTK solution using virtual observations.

[0068] Each module in the above data processing device can be implemented in whole or in part by software, hardware or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each module.

[0069] In one embodiment, a computer device is provided. The computer device may be an intelligent vehicle-mounted device, and its internal structure may be as follows: Figure 6 As shown. The computer device includes a processor, a memory, a communication interface, and a database connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be achieved through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. The database of the computer device is used to store and process data. When the computer program is executed by the processor, a data processing method is implemented.

[0070] Those skilled in the art will understand that Figure 6 The structure shown in the figure is only a block diagram of a part of the structure related to the present request scheme, and does not constitute a limitation on the computer device to which the present request scheme is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0071] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above-mentioned method embodiments when executing the computer program.

[0072] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0073] In one embodiment, a computer program product is provided, the computer program product comprising computer instructions, the computer instructions being stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device performs the steps in the above-mentioned method embodiments.

[0074] For specific definitions of the steps, please refer to the definitions of the data processing methods in the above method embodiments, which will not be repeated here.

[0075] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink), DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0076] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A data processing method, characterized in that: The method comprises: Receive SSR correction products broadcast by PPP-RTK server; Decoding the SSR correction product; The decoded data is used to correct the satellite position and satellite clock obtained from the broadcast ephemeris; Generate atmospheric correction products using decoded data and the user's local approximate position; Generate virtual observations using the user's starting position, the corrected satellite position and satellite clock, and the atmospheric correction product; The virtual observation quantity is used to perform RTK solution.

2. The method according to claim 1, characterized in that: The virtual observation quantity includes the observation equation of the user's local approximate position to satellite i, the observation equation of the user's local accurate position to satellite i, the observation equation of the user's local approximate position to satellite j, and the observation equation of the user's local accurate position to satellite j.

3. The method according to claim 2, characterized in that The method of using the virtual observation quantity to perform RTK solution includes: Calculate the inter-station single difference between the user's local approximate position and the user's local accurate position for satellite i and satellite j respectively, and then calculate the inter-satellite single difference between satellite i and satellite j; Based on the user's starting position, the equations obtained by inter-station single difference and inter-satellite single difference are linearized; Use Kalman filtering to solve the linearized equations and obtain the state vector; Based on the state vector, the high-precision coordinates of the user's local exact location are calculated.

4. The method according to claim 1, characterized in that: The atmospheric correction products include ionospheric products and tropospheric products; The method of generating an atmospheric correction product using the decoded data and the user's local approximate position includes: Generate ionospheric products using the decoded ionospheric polynomial coefficients, grid ionospheric residuals and the user's local approximate position; The decoded tropospheric polynomial coefficients, the grid tropospheric residuals and the user's local approximate position are used to generate tropospheric products.

5. The method according to claim 1, characterized in that The SSR correction products include GAD, OCB, STEC, and GTROP data; The decoding process of the SSR correction number product includes: Decode the GAD data to obtain the geographical area information of the current area, including the area ID, the longitude and latitude of the area origin, and the grid division of the area; Decode the OCB data to obtain the satellite's orbit correction, clock correction, code deviation correction, and phase deviation correction; Decode STEC data to obtain ionospheric polynomial coefficients and gridded ionospheric residuals; Decode the GTROP data to obtain the tropospheric polynomial coefficients and gridded tropospheric residuals.

6. The method according to claim 1, characterized in that Before receiving the SSR correction product broadcasted by the PPP-RTK server, the method further includes: Calculate the user's local approximate location based on the service area and grid definition broadcasted by the server; The current area is determined based on the user's local approximate location, and feedback is sent to the server to obtain corresponding regional product data including the SSR correction number product.

7. A data processing device, characterized in that: The device comprises: Data receiving module, used to receive SSR correction products broadcasted by PPP-RTK server; A data decoding module, used for decoding the SSR correction number product; A first data calculation module is used to correct the satellite position and satellite clock obtained from the broadcast ephemeris using the decoded data; The second data calculation module is used to generate an atmospheric correction product using the decoded data and the user's local approximate position; A third data calculation module is used to generate virtual observations using the user's starting position, the corrected satellite position and satellite clock, and the atmospheric correction product; The RTK solution module is used to perform RTK solution using the virtual observation quantity.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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