Reference station network encryption method and system considering atmospheric delay empirical accuracy information

Abstract

The present invention discloses a reference station network encryption method and system that takes into account the empirical accuracy information of atmospheric delay. The method comprises the following steps: gridding the reference station encryption area according to geographic longitude and latitude at a certain interval; using the divided grid point positions as the positions of simulated users, and for each simulated user, selecting the existing reference station closest to the user in the encryption area to construct an observation model; calculating the empirical accuracy information of atmospheric delay and estimating the random error of the observation value based on the relative position relationship between the user and the reference station; determining the observation value error matrix from the random error of the observation value, and calculating the corresponding accuracy matrix; taking the sum of the diagonal elements related to the coordinate values ​​in the accuracy matrix as the accuracy index, and using several grid points with the largest accuracy index as the locations for constructing the encrypted reference stations.

Description

Technical Field

[0001] The present invention belongs to the field of global navigation systems and positioning measurement technology, and specifically relates to a reference station network encryption method that takes into account the empirical accuracy information of atmospheric delay. The method is used to calculate several areas where user positioning accuracy is easily affected by atmospheric delay as the construction sites of encryption stations, thereby maximizing the service accuracy of the entire network after the encryption stations are built. Background Art

[0002] A satellite navigation positioning base station (base station) is a fixed ground observation station that conducts long-term continuous observation of satellite navigation signals and transmits the observation data in real time or at scheduled intervals to a data center via communication facilities. Base stations are a core component of regional ground-based augmentation systems. By acquiring continuous, stable, high-precision satellite navigation observation data, they can provide high-precision positioning services to various types of users within the region. The current base station encryption method primarily relies on geographic, topographic, and geological information, selecting encryption sites through field surveys and testing. These methods only consider the base station construction environment and the quality of the base station's own data. Inadequate consideration is given to whether the base station site selection can effectively enhance the atmospheric modeling accuracy of the entire network and accurately improve the positioning performance of users in areas with weak base station network service accuracy. For example, building a base station in an area with relatively calm atmosphere has little effect on improving the base station network's service performance, resulting in a relative waste of resources. Summary of the Invention

[0003] In order to solve the problem that the existing encryption station site selection method in the process of base station network encryption ignores the degree of atmospheric enhancement of the base station network by the newly built base station, resulting in no obvious improvement in the service effect of the entire network, the present invention provides a base station network encryption method and system that takes into account the empirical accuracy information of atmospheric delay. By considering the regional atmospheric delay accuracy information in the process of selecting encryption base stations, several areas where user positioning accuracy is easily affected by atmospheric delay are calculated as encryption station construction sites, thereby maximizing the improvement of the service accuracy of the entire network after the encryption stations are built.

[0004] According to one aspect of the present invention, a reference station network encryption method taking into account atmospheric delay empirical accuracy information is provided, comprising:

[0005] Grid division is performed in the base station densification area according to the geographical longitude and latitude at the set intervals;

[0006] The divided grid point locations are used as the simulated user locations. For each simulated user, the nearest existing reference station in the encrypted area is selected to construct an observation model.

[0007] Based on the relative position relationship between the user and the reference station, the empirical accuracy information of atmospheric delay is calculated and the random error of the observation value is estimated;

[0008] Determine the observation error matrix from the random error of the observation value and calculate the corresponding precision matrix;

[0009] The sum of the diagonal elements related to the coordinate values ​​in the precision matrix is ​​taken as the precision index, and the grid points with the largest precision index are used as the locations for the construction of encrypted reference stations.

[0010] As a further technical solution, grid division is performed in the base station densification area according to the geographical longitude and latitude at the set intervals, including:

[0011] For the base station network coverage area where encrypted stations need to be built, the east-west direction is the X-axis and the north-south direction is the Y-axis. The regional grid is divided according to the set intervals. The grid point position coordinates are expressed as:

[0012]

[0013] in: Represents the coordinates of the grid point; (X0, Y0) represents the coordinates of the grid point in the southwest corner of the area; n, m represent the number of rows and columns, n, m = 1, 2, 3...; ΔEW represents the grid spacing in the east-west direction; ΔNS represents the grid spacing in the north-south direction.

[0014] As a further technical solution, the locations of the divided grid points are used as the locations of the simulated users. For each simulated user, the nearest existing reference station in the encrypted area is selected to construct an observation model, including:

[0015] Construct a user observation equation for each simulated user;

[0016] An indirect adjustment model is constructed based on the user observation equation.

[0017] As a further technical solution, calculate the empirical accuracy information of atmospheric delay and estimate the random error of the observation value for:

[0018]

[0019] Among them, D obs is the error of pseudorange or carrier observation value; is the inter-station ionospheric error, is the inter-station tropospheric error, and The accuracy information of the atmospheric delay together constitutes the empirical accuracy information of the atmospheric delay.

[0020] As a further technical solution, the observation error matrix is ​​determined by the random error of the observation value, and the corresponding accuracy matrix is ​​calculated as follows

[0021]

[0022] Where A=(B T PB) -1 B T P, D L is the observation error matrix.

[0023] According to one aspect of the present invention, there is provided a reference station network encryption system that takes into account empirical accuracy information of atmospheric delay, comprising:

[0024] The first processing module is used to perform grid division in the base station densification area according to the geographical longitude and latitude at the set interval;

[0025] The second processing module is used to use the divided grid point locations as the simulated user locations, and for each simulated user, select the existing reference station closest to the simulated user in the encrypted area to build an observation model;

[0026] The third processing module is used to calculate the atmospheric delay empirical accuracy information and estimate the random error of the observation value based on the relative position relationship between the user and the reference station;

[0027] A fourth processing module is used to determine an observation error matrix based on the random error of the observation value and calculate a corresponding precision matrix;

[0028] The fifth processing module is used to take the sum of the diagonal elements related to the coordinate values ​​in the precision matrix as the precision index, and several grid points with the largest precision index as the locations for constructing encrypted reference stations.

[0029] According to one aspect of the present invention, there is provided a reference station network encryption device that takes into account atmospheric delay empirical precision information, comprising a memory and a processor, wherein the memory stores program instructions executed by the processor, and the processor calls the program instructions to execute the steps of the reference station network encryption method that takes into account atmospheric delay empirical precision information.

[0030] According to one aspect of the present invention, a non-transitory computer-readable storage medium is provided, wherein the non-transitory computer-readable storage medium stores computer instructions, wherein the computer instructions enable the computer to execute the steps of the reference station network encryption method taking into account the atmospheric delay empirical accuracy information.

[0031] Compared with the prior art, the present invention has the following beneficial effects:

[0032] The present invention provides a base station network encryption method that takes into account the empirical accuracy information of atmospheric delay, so as to solve the problem that the existing encryption station site selection method in the process of base station network encryption ignores the degree of atmospheric enhancement of the base station network by the newly built base station, thereby resulting in an insignificant improvement in the service effect of the entire network. Specifically, the present invention divides the base station encryption area into grids according to a certain interval based on geographical longitude and latitude; uses the divided grid point positions as the positions of simulated users, and for each simulated user, selects the existing base station closest to it in the encryption area to build an observation model; calculates the empirical accuracy information of atmospheric delay and estimates the random error of the observation value based on the relative position relationship between the user and the base station; determines the observation value error matrix from the random error of the observation value, and calculates the corresponding accuracy matrix; takes the sum of the diagonal elements related to the coordinate value in the accuracy matrix as the accuracy index, and uses several grid points with the largest accuracy index as the locations for the construction of the encrypted base stations. The present invention takes into account the regional atmospheric delay accuracy information in the process of selecting the encrypted base stations, calculates several areas where the user positioning accuracy is easily affected by atmospheric delay as the construction sites of the encryption stations, thereby maximizing the improvement of the service accuracy of the entire network after the encryption stations are built. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, a brief introduction will be given below to the drawings used in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0034] Figure 1 A flowchart of a reference station network encryption method taking into account empirical accuracy information of atmospheric delay provided by an embodiment of the present invention.

[0035] Figure 2 A schematic diagram of grid division within a region provided by an embodiment of the present invention.

[0036] Figure 3 A schematic diagram of a reference station network encryption system that takes into account empirical accuracy information of atmospheric delays provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0037] It should be noted that:

[0038] Based on the relative positional relationship between the reference station and the user, a stochastic model of the user-side observation equation can be constructed. By introducing observation errors into the positioning model, an ex ante estimation of user-side positioning accuracy can be performed. Based on this, the present invention proposes a method for encrypting a reference station network that takes into account empirical accuracy information about atmospheric delays. During the encryption station site selection process, a user observation model covering the entire service range of the reference station network is established based on existing reference station distribution data and empirical models of the ionosphere, troposphere, and observation errors. This model extracts user accuracy information across the entire network, and this information is used as a basis for selecting encryption station locations.

[0039] The terms "including" and "having" and any variations thereof in the description and claims of the present invention and the above-mentioned drawings are intended to cover non-exclusive inclusions, for example, a process, method, system, product or apparatus that includes a series of steps or units is not necessarily limited to the steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to these processes, methods, products or apparatuses.

[0040] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. In addition, the technical features in the various embodiments or single embodiments provided by the present invention are arbitrarily combined with each other to form a new technical solution. This combination is not restricted by the sequence of steps and / or structural composition mode, but must be based on the ability of ordinary technicians in this field to implement it. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that this combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0041] An embodiment of the present invention provides a reference station network encryption method that takes into account the empirical accuracy information of atmospheric delay. First, grid division is performed in the reference station encryption area according to geographic longitude and latitude at a certain interval; then, the divided grid point positions are used as the positions of simulated users, and for each simulated user, the existing reference station closest to it in the encryption area is selected to construct an observation model; then, based on the relative position relationship between the user and the reference station, the atmospheric delay empirical accuracy information is calculated and the random error of the observation value is estimated; then, the observation value error matrix is ​​determined from the random error of the observation value, and the corresponding accuracy matrix is ​​calculated; finally, the sum of the diagonal elements related to the coordinate value in the accuracy matrix is ​​used as the accuracy index, and several grid points with the largest accuracy index are used as the locations for the construction of the encrypted reference stations.

[0042] This embodiment of the present invention considers regional atmospheric delay accuracy information during the selection of encrypted reference stations and calculates several areas where user positioning accuracy is susceptible to atmospheric delay as encryption station construction sites, thereby maximizing overall network service accuracy after the encryption stations are built. This solves the problem that existing encryption station site selection methods during the encryption of reference station networks ignore the degree of atmospheric enhancement of the reference station network by newly built reference stations, resulting in a lack of significant improvement in overall network service quality.

[0043] See also Figure 1 The reference station network encryption method taking into account the atmospheric delay empirical accuracy information provided by the embodiment of the present invention includes the following specific steps:

[0044] Step 1: Grid division is performed in the base station densification area according to the geographic longitude and latitude at a certain interval.

[0045] For the base station network coverage area where encrypted stations need to be built, the east-west direction is the X-axis and the north-south direction is the Y-axis. The regional grid is divided at a certain interval. The grid point position coordinates can be expressed as:

[0046]

[0047] in, Represents the coordinates of the grid point; (X0, Y0) represents the coordinates of the grid point in the southwest corner of the region; n, m represent the number of rows and columns, n, m = 1, 2, 3...; ΔEW represents the grid spacing in the east-west direction; ΔNS represents the grid spacing in the north-south direction. The schematic diagram of the grid division in the region is as follows Figure 2 shown.

[0048] Step 2: Use the divided grid point locations as the simulated user locations. For each simulated user, select the existing reference station closest to it in the encrypted area to build an observation model.

[0049] First, the user observation equation can be expressed as:

[0050]

[0051] in:

[0052] i and j represent satellite numbers, r and u represent receiver numbers, and λ represents the wavelength of satellite signals;

[0053] is the double-difference pseudorange observation between ij satellites and ru receivers;

[0054] is the double-difference carrier observation between the ij satellites and the ru receivers;

[0055] is the double-difference geometric distance between ij satellites and ru receivers;

[0056] is the tropospheric error between ij satellites and ru receivers, which is generally independent of the satellite number when calculated;

[0057] is the ionospheric error between the ij satellites and the ru receiver;

[0058] is the double-difference ambiguity between the ij satellites and the ru receivers.

[0059] Next, an indirect adjustment model is constructed based on the user observation equation:

[0060]

[0061] in:

[0062] v is the residual vector of the equation;

[0063] It is the geometric double-difference distance calculated from the a priori site coordinates;

[0064] is the sight vector of unit length;

[0065] Δx ru is the coordinate increment relative to the prior position.

[0066] The model can be simplified as:

[0067]

[0068] The P matrix can be calculated according to the altitude model or the signal-to-noise ratio model. B and L correspond to the corresponding parts in the indirect adjustment model, where B is the design matrix, P is the weight matrix, and L is the observation vector.

[0069] Step 3: Calculate the atmospheric delay empirical accuracy information and estimate the random error of the observation value based on the relative position relationship between the user and the reference station.

[0070]

[0071] Among them D obs is the error of pseudorange or carrier observation value; is the inter-station ionospheric error; It should be noted that the atmospheric delay empirical accuracy information mentioned in the present invention refers to the accuracy information of the inter-station ionospheric error and the inter-station tropospheric error.

[0072] The corresponding error is calculated as follows:

[0073] When the observation type is pseudorange, D obs The value of is 1. When the observation type is carrier, D obs The value is 0.001.

[0074] Inter-station ionospheric error Calculation is performed according to the following empirical model:

[0075]

[0076] Where exp(·) represents the logarithmic function, h ru Indicates the distance between the grid point user and the reference station, h0 is 200km, E i is the altitude angle of satellite i.

[0077] Inter-station tropospheric error Estimate as follows:

[0078]

[0079] Among them, std(·) represents the standard deviation calculation, ZTD u,Δt It represents the ZTD (zenith tropospheric delay) sequence within the time period Δt at the grid point u, calculated according to the empirical model (such as the UNB model, GZTD model, GPT model).

[0080] Step 4: Determine the observation error matrix based on the random error of the observations and calculate the corresponding precision matrix.

[0081] The observation error matrix is:

[0082]

[0083] n is the total number of pseudorange and carrier observation equations.

[0084] The corresponding precision matrix Calculate as follows:

[0085]

[0086] in:

[0087] A=(B T PB) -1 B T P.

[0088] Step 5: The sum of the diagonal elements related to the coordinate values ​​in the precision matrix is ​​used as the precision index, and the grid points with the largest precision index are used as the locations for the construction of encrypted reference stations.

[0089] It can be expressed as:

[0090]

[0091] Among them D Coor is the element matrix related to the coordinate value, D Coor The size is 3×3, D Others is the element matrix related to other quantities to be determined.

[0092]

[0093] D Coor Each element in is related to the coordinate value. Here we only consider the diagonal elements. The diagonal elements D xx 、D yy 、D zz To a certain extent, it can better reflect the accuracy.

[0094] The precision index R of the corresponding grid point grid Calculate as follows:

[0095] R grid =D xx +D yy +D zz

[0096] According to R grid Arrange the grid points from large to small, take the largest grid points as the probabilistic locations for the construction of encryption stations, and complete the encryption of the base station network.

[0097] The implementation of each embodiment of the present invention is based on programmed processing performed by a device with processor functionality. Therefore, in practical engineering, the technical solutions and functions of each embodiment of the present invention are packaged into various modules. Based on this reality, and in addition to the aforementioned embodiments, an embodiment of the present invention provides a reference station network encryption system that takes into account empirical atmospheric delay accuracy information. This system is used to implement the reference station network encryption method that takes into account empirical atmospheric delay accuracy information described in the aforementioned method embodiments.

[0098] See also Figure 3The system includes: a first processing module, which is used to perform grid division in the base station densification area according to the set intervals based on the geographical longitude and latitude; a second processing module, which is used to use the divided grid point positions as the positions of the simulated users, and for each simulated user, select the existing base station closest to it in the densification area to build an observation model; a third processing module, which is used to calculate the atmospheric delay empirical accuracy information and estimate the random error of the observation value based on the relative position relationship between the user and the base station; a fourth processing module, which is used to determine the observation value error matrix from the random error of the observation value and calculate the corresponding accuracy matrix; a fifth processing module, which is used to use the sum of the diagonal elements related to the coordinate values ​​in the accuracy matrix as the accuracy index, and use the grid points with the largest accuracy index as the locations for constructing the densified base stations.

[0099] The embodiment of the present invention provides a reference station network encryption system that takes into account the empirical accuracy information of atmospheric delay. It aims to solve the problem that the existing encryption station site selection method in the reference station network encryption process ignores the atmospheric enhancement degree of the new reference station to the reference station network, resulting in an insignificant improvement in the service effect of the entire network. Figure 3 Several modules in the system consider regional atmospheric delay accuracy information during the selection of encryption base stations, calculate several areas where user positioning accuracy is easily affected by atmospheric delay as encryption station construction locations, and thus maximize the overall network service accuracy after the encryption stations are built.

[0100] It should be noted that the system embodiments provided by the present invention are not only used to implement the methods in the above-mentioned method embodiments, but also used to implement the methods in other method embodiments provided by the present invention. The only difference is the setting of corresponding functional modules. The principles thereof are basically the same as those of the above-mentioned system embodiments provided by the present invention. As long as those skilled in the art refer to the specific technical solutions in other method embodiments on the basis of the above-mentioned system embodiments, obtain corresponding technical means and technical solutions composed of these technical means by combining technical features, and on the premise of ensuring the practicality of the technical solutions, improve the modules in the above-mentioned system embodiments to obtain corresponding system-type embodiments, which are used to implement the methods in other method-type embodiments. For example:

[0101] Based on the content of the above system embodiment, as a preferred embodiment, in an embodiment of the present invention, a reference station network encryption system that takes into account atmospheric delay empirical accuracy information is provided, wherein the first processing module is further configured to execute the following instructions:

[0102] For the base station network coverage area where encrypted stations need to be built, the east-west direction is the X-axis and the north-south direction is the Y-axis. The regional grid is divided according to the set intervals. The grid point position coordinates are expressed as:

[0103]

[0104] in: Represents the coordinates of the grid point; (X0, Y0) represents the coordinates of the grid point in the southwest corner of the area; n, m represent the number of rows and columns, n, m = 1, 2, 3...; ΔEW represents the grid spacing in the east-west direction; ΔNS represents the grid spacing in the north-south direction.

[0105] Based on the content of the above system embodiment, as a preferred embodiment, a reference station network encryption system that takes into account the empirical accuracy information of atmospheric delay is provided in the embodiment of the present invention, and the second processing module is also used to execute the following instructions: construct a user observation equation for each simulated user; and construct an indirect adjustment model based on the user observation equation.

[0106] Based on the content of the above system embodiment, as a preferred embodiment, a reference station network encryption system taking into account the atmospheric delay empirical accuracy information is provided in the embodiment of the present invention, and the third processing module is further used to execute the following instructions: calculate the atmospheric delay empirical accuracy information and estimate the random error of the observation value for:

[0107]

[0108] Among them, D obs is the error of pseudorange or carrier observation value; is the inter-station ionospheric error, is the inter-station tropospheric error, and The accuracy information of the atmospheric delay together constitutes the empirical accuracy information of the atmospheric delay.

[0109] Based on the content of the above system embodiment, as a preferred embodiment, a reference station network encryption system taking into account the atmospheric delay empirical accuracy information is provided in the embodiment of the present invention, wherein the fourth processing module is further used to execute the following instructions: determine the observation value error matrix from the random error of the observation value, and calculate the corresponding accuracy matrix in the following manner

[0110]

[0111] Where A=(B T PB) -1 B T P, D L is the observation error matrix.

[0112] Based on the same inventive concept as the above-mentioned embodiment, an embodiment of the present invention provides a reference station network encryption device that takes into account the empirical accuracy information of atmospheric delay, including a memory and a processor, wherein the memory stores program instructions executed by the processor, and the processor calls the program instructions to execute the steps of the reference station network encryption method that takes into account the empirical accuracy information of atmospheric delay.

[0113] In an embodiment of the present invention, the memory may be a non-volatile memory, such as a hard disk drive (HDD) or a solid-state drive (SSD), or a volatile memory (volatile memory), such as a random-access memory (RAM). The memory is any other medium that can be used to carry or store desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory in an embodiment of the present invention may also be a circuit or any other device that can implement a storage function, for storing program instructions and / or data.

[0114] In the embodiments of the present invention, the processor may be a general-purpose processor, a digital signal processor, an application-specific integrated circuit, a field-programmable gate array or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component, and may implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of the present invention. A general-purpose processor may be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of the present invention may be directly implemented and executed by a hardware processor, or by a combination of hardware and software modules within the processor.

[0115] Based on the same inventive concept as the above-mentioned embodiment, an embodiment of the present invention provides a non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium stores computer instructions, and the computer instructions enable the computer to execute the steps of the reference station network encryption method taking into account the atmospheric delay empirical accuracy information.

[0116] In summary, the present invention discloses a base station network encryption method that takes into account the empirical accuracy information of atmospheric delay, including grid division in the base station encryption area according to a certain spacing based on geographic longitude and latitude; using the divided grid point positions as the positions of simulated users, and for each simulated user, selecting the existing base station closest to it in the encryption area to build an observation model; calculating the atmospheric delay empirical accuracy information and estimating the random error of the observation value based on the relative position relationship between the user and the base station; determining the observation value error matrix from the random error of the observation value, and calculating the corresponding accuracy matrix; taking the sum of the diagonal elements related to the coordinate value in the accuracy matrix as the accuracy index, and using several grid points with the largest accuracy index as the locations for the construction of the encrypted base stations. The present invention takes into account the regional atmospheric delay accuracy information in the process of selecting the encrypted base stations, and calculates several areas where the user positioning accuracy is easily affected by the atmospheric delay as the construction sites of the encrypted stations, thereby maximizing the improvement of the service accuracy of the entire network after the encryption stations are built.

[0117] It should be understood that parts not elaborated in detail in this specification belong to the prior art.

[0118] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the technical solutions of the embodiments of the present invention.

Claims

1. A reference station network encryption method taking into account empirical accuracy information of atmospheric delay, characterized in that: include: Grid division is performed in the base station densification area according to the geographical longitude and latitude at the set intervals; The divided grid point locations are used as the simulated user locations. For each simulated user, the nearest existing reference station in the encrypted area is selected to construct an observation model. Based on the relative position relationship between the user and the reference station, the empirical accuracy of atmospheric delay is calculated and the random error of the observation value is estimated. Among them D obs is the error of pseudorange or carrier observation value; is the inter-station ionospheric error; is the inter-station tropospheric error; when the observation type is pseudorange, D obs The value of is 1. When the observation type is carrier, D obs The value of is 0.001; Inter-station ionospheric error Calculation is performed according to the following empirical model: Where exp(·) represents the logarithmic function, h ru Indicates the distance between the grid point user and the reference station, h0 is 200km, E i is the altitude angle of satellite i; Inter-station tropospheric error Estimate as follows: Among them, std(·) represents the standard deviation calculation, ZTD u,Δt It represents the ZTD sequence in the time period Δt calculated according to the empirical model at the grid point u; Determine the observation error matrix from the random error of the observation value and calculate the corresponding precision matrix; The observation error matrix is: n is the total number of pseudorange and carrier observation equations; The corresponding precision matrix Calculate as follows: in: A=(B T PB) —1 B T P, B are design matrices, and P is the weight matrix; The sum of the diagonal elements related to the coordinate values ​​in the precision matrix is ​​used as the precision index, and the grid points with the largest precision index are used as the locations for the construction of the encrypted reference stations. Expressed as: Among them D Coor is the element matrix related to the coordinate value, D Others is the element matrix related to other quantities to be determined.

2. The reference station network encryption method according to claim 1, wherein: Grid division is performed in the base station densification area according to the geographical longitude and latitude at the set intervals, including: For the base station network coverage area where encrypted stations need to be built, the east-west direction is the X-axis and the north-south direction is the Y-axis. The regional grid is divided according to the set intervals. The grid point position coordinates are expressed as: in: Represents the coordinates of the grid point; (X0, Y0) represents the coordinates of the grid point in the southwest corner of the area; n, m represent the number of rows and columns, n, m = 1, 2, 3...; ΔEW represents the grid spacing in the east-west direction; ΔNS represents the grid spacing in the north-south direction.

3. The reference station network encryption method taking into account the atmospheric delay empirical accuracy information according to claim 1, characterized in that: The divided grid point locations are used as the simulated user locations. For each simulated user, the nearest existing reference station in the encrypted area is selected to construct an observation model, including: Construct a user observation equation for each simulated user; An indirect adjustment model is constructed based on the user observation equation.

4. A reference station network encryption system taking into account atmospheric delay empirical accuracy information, used to implement the method according to any one of claims 1 to 3, characterized in that: include: The first processing module is used to perform grid division in the base station densification area according to the geographical longitude and latitude at the set interval; The second processing module is used to use the divided grid point locations as the simulated user locations, and for each simulated user, select the existing reference station closest to the simulated user in the encrypted area to build an observation model; The third processing module is used to calculate the atmospheric delay empirical accuracy information and estimate the random error of the observation value based on the relative position relationship between the user and the reference station; A fourth processing module is used to determine an observation error matrix based on the random error of the observation value and calculate a corresponding precision matrix; The fifth processing module is used to take the sum of the diagonal elements related to the coordinate values ​​in the precision matrix as the precision index, and several grid points with the largest precision index as the locations for constructing encrypted reference stations.

5. A reference station network encryption device that takes into account atmospheric delay empirical accuracy information, characterized in that: The invention comprises a memory and a processor, wherein the memory stores program instructions executed by the processor, and the processor calls the program instructions to execute the steps of the reference station network encryption method taking into account the atmospheric delay empirical accuracy information as described in any one of claims 1 to 3.

6. A non-transitory computer-readable storage medium, characterized in that The non-transitory computer-readable storage medium stores computer instructions, and the computer instructions enable the computer to execute the steps of the reference station network encryption method taking into account atmospheric delay empirical accuracy information according to any one of claims 1 to 3.

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