PPP-RTK high-precision positioning method and device based on elasticity non-difference and non-combination

Abstract

The invention provides an elastic non-difference and non-combination-based PPP-RTK high-precision positioning method and device, and belongs to the field of satellite navigation high-precision positioning, and the method comprises the steps: obtaining reference station data, and judging the validity of the reference station data; if the reference station data is valid, outputting satellite navigation positioning information based on a real-time dynamic positioning technology RTK; and if the reference station data is invalid, acquiring enhanced data of a non-difference and non-combination positioning technology PPP-RTK, and outputting satellite navigation positioning information based on a precision single point positioning technology PPP, a precision single point positioning ambiguity estimation technology PPP-AR or a PPP-RTK technology according to the PPP-RTK enhanced data, a preset positioning precision requirement and a resource occupation condition of the terminal equipment. According to the invention, by judging the validity of the reference station data and dynamically adjusting the positioning mode, the influence of the change of the environment where the terminal equipment is located on the reference station data is avoided, the precision of the positioning result can be always kept at a relatively high level, and a better high-precision positioning service result is obtained.

Description

Technical Field

[0001] The present invention relates to the field of satellite navigation high-precision positioning, and in particular to a PPP-RTK high-precision positioning method and device based on elastic non-difference non-combination. Background Art

[0002] In the field of satellite navigation and high-precision positioning, commonly used positioning technologies include real-time kinematic positioning technology (RTK), traditional precise point positioning technology (PPP), ambiguity estimation technology for precise point positioning (PPP-AR) and non-differential non-combined positioning technology (PPP-RTK). RTK technology uses the receivers of base stations and mobile stations to continuously receive satellite signals, and uses the difference elimination of inter-station observations to solve its own spatial coordinates, thereby completing high-precision positioning. PPP technology uses global or regional base stations to make real-time estimates of satellite orbits, clock errors, carrier pseudorange deviations, etc., and broadcasts them to end users through Internet links or satellite links. PPP-AR technology is an enhanced PPP technology that accelerates the convergence speed of PPP technology. PPP-RTK technology, based on PPP-AR technology, integrates the advantages of both PPP technology and RTK technology to achieve fast convergence and high-precision positioning. Compared with traditional non-differential ionosphere-eliminating combined PPP-RTK, non-differential non-combined PPP-RTK has the following advantages: (1) Directly using the original carrier phase / code observations, it avoids the noise amplification of combined observations and the loss of observation information. (2) The ionosphere-eliminating combined PPP-RTK server product adopts a step-by-step estimation strategy, while the non-differential non-combined PPP-RTK products are estimated synchronously, so the various products are more self-consistent. (3) It is more suitable for current multi-frequency and multi-system data processing. The enhanced information broadcast by PPP-RTK technology covers state domain corrections such as satellite orbit, clock error, phase pseudorange deviation, ionosphere and tropospheric delay, etc., to achieve rapid ambiguity fixation.

[0003] However, RTK technology eliminates atmospheric related errors through double differences. When the distance between the user and the base station increases to a certain distance, the spatial atmosphere is difficult to eliminate through the model. Therefore, this technology is heavily dependent on dense base station resources and cannot provide services in areas not covered by mobile networks. Compared with RTK, PPP technology cannot weaken the impact of atmospheric errors on positioning through differential methods, and its initialization time is relatively long due to the satellite space configuration. In addition, PPP ambiguity always contains the phase deviation of the satellite end that has not been eliminated and cannot be fixed, resulting in its positioning accuracy and reliability being lower than RTK. PPP-AR technology converges quickly under ideal conditions, but has certain difficulties in converging under complex dynamic scenarios. Non-differential non-combined PPP-RTK needs to broadcast a large number of correction items, which has a great impact on the system resources of the terminal and affects the stability of the terminal system. Summary of the invention

[0004] The present invention provides a PPP-RTK high-precision positioning method and device based on elastic non-difference non-combination, which can dynamically adjust the positioning mode to obtain a better high-precision positioning service result.

[0005] The present invention provides a PPP-RTK high-precision positioning method based on elastic non-difference non-combination, comprising: Acquiring reference station data and determining the validity of the reference station data; If the base station data is valid, the satellite navigation positioning information is output based on the real-time kinematic positioning technology RTK; If the base station data is invalid, obtain enhanced data of the non-differential non-combined positioning technology PPP-RTK, and output satellite navigation positioning information based on the precise point positioning technology PPP, the precise point positioning ambiguity estimation technology PPP-AR or PPP-RTK technology according to the PPP-RTK enhanced data, the preset positioning accuracy requirement and the resource usage of the terminal device.

[0006] As an embodiment, the output of satellite navigation positioning information based on the precise point positioning technology PPP, the ambiguity estimation technology PPP-AR or the PPP-RTK technology of precise point positioning according to the PPP-RTK enhanced data, the preset positioning accuracy requirement and the resource occupancy of the terminal device includes: If the PPP-RTK enhancement data includes satellite orbit and clock correction, the satellite navigation positioning information is output based on PPP technology to meet the sub-meter positioning requirements; If the PPP-RTK enhancement data contains satellite pseudorange and phase deviation correction, the satellite navigation positioning information is output based on the PPP-AR technology to meet the decimeter-level positioning requirements; If the PPP-RTK enhanced data includes ionospheric delay and tropospheric delay, the satellite navigation positioning information output based on the PPP-RTK technology can at least meet the centimeter-level positioning requirements.

[0007] As an embodiment, it also includes: Generate virtual base station data based on the received PPP-RTK enhanced data; According to the validity of the virtual reference station data, switching is performed between the RTK technology, the PPP technology and the PPP-RTK technology to output satellite navigation positioning information.

[0008] As an embodiment, it also includes: Acquire satellite signals, reference station data and PPP-RTK enhancement data; Based on satellite signals, reference station data, PPP-RTK enhancement data and preset switching mechanisms, real-time dynamic switching is performed between RTK technology, PPP technology and PPP-RTK technology to output satellite navigation positioning information.

[0009] As an embodiment, the preset switching mechanism is used to characterize the evaluation of satellite signals, reference station data, and PPP-RTK enhancement data, and the target positioning technology is selected between RTK technology, PPP technology, and PPP-RTK technology according to the evaluation result. Correspondingly, according to the satellite signal, reference station data, PPP-RTK enhancement data, and the preset switching mechanism, real-time dynamic switching is performed between RTK technology, PPP technology, and PPP-RTK technology to output satellite navigation positioning information, including: The quality and availability of satellite signals, reference station data, and PPP-RTK enhanced data are evaluated respectively, and the evaluation results are obtained; If the evaluation results indicate that the quality and availability of satellite signals, reference station data, and PPP-RTK enhancement data have changed, the technology corresponding to the evaluation results is selected from RTK technology, PPP technology, and PPP-RTK technology as the target positioning technology; Switch to the target positioning technology based on a preset smooth transition strategy, wherein the smooth transition strategy is used to ensure positioning accuracy and stability during the technology switching process.

[0010] As an embodiment, the smooth transition strategy includes preset boundary judgment conditions, an adaptive filtering algorithm and a weight smoothing adjustment algorithm. The boundary judgment conditions are used to characterize whether the terminal device is in a non-switchable area. The adaptive filtering algorithm is used to perform real-time state estimation of satellite navigation positioning information during the switching process. The weight smoothing adjustment algorithm is used to adjust the respective weights of satellite signals, reference station data, and PPP-RTK enhanced data during the switching process.

[0011] The present invention also provides a PPP-RTK high-precision positioning device based on elastic non-difference non-combination, comprising: An acquisition module, used to acquire reference station data and determine the validity of the reference station data; A first positioning module is used to output satellite navigation positioning information based on real-time dynamic positioning technology RTK if the base station data is valid; The second positioning module is used to obtain the enhanced data of the non-difference non-combined positioning technology PPP-RTK if the base station data is invalid, and output satellite navigation positioning information based on the precise single point positioning technology PPP, the precise single point positioning ambiguity estimation technology PPP-AR or PPP-RTK technology according to the PPP-RTK enhanced data, the preset positioning accuracy requirement and the resource occupancy of the terminal device.

[0012] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the PPP-RTK high-precision positioning method based on elastic non-difference and non-combination as described in any one of the above is implemented.

[0013] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the PPP-RTK high-precision positioning method based on elastic non-difference and non-combination as described in any one of the above is implemented.

[0014] The present invention also provides a computer program product, comprising a computer program, which, when executed by a processor, implements any of the above-mentioned elastic non-difference non-combination-based PPP-RTK high-precision positioning methods.

[0015] The PPP-RTK high-precision positioning method, device, equipment, medium and product based on elastic non-difference and non-combination provided by the present invention can judge the validity of the base station data, dynamically adjust the positioning mode, avoid the influence of the environmental changes in the terminal device on the base station data, and can always keep the accuracy of the positioning result at a high level, thereby obtaining a better high-precision positioning service result. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use 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 creative work.

[0017] Figure 1It is one of the flow charts of the PPP-RTK high-precision positioning method based on elastic non-difference and non-combination provided by the present invention.

[0018] Figure 2 This is the second flow chart of the PPP-RTK high-precision positioning method based on elastic non-difference and non-combination provided by the present invention.

[0019] Figure 3 It is a flow chart of the switching mechanism provided by the present invention.

[0020] Figure 4 It is a structural schematic diagram of the PPP-RTK high-precision positioning device based on elastic non-differential non-combination provided by the present invention.

[0021] Figure 5 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings 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 creative work are within the scope of protection of the present invention.

[0023] It should be noted that all actions of acquiring signals, information or data in the present invention are performed in compliance with the corresponding data protection laws and policies of the country where the device is located and with the authorization given by the owner of the corresponding device.

[0024] Base stations and reference stations are often mentioned in measurement and positioning, especially in GNSS (Global Navigation Satellite System) applications.

[0025] The base station is usually a fixed station with known precise coordinates, which can directly provide differential data for real-time kinematic positioning (RTK); the reference station is usually a fixed station with long-term operation and highly stable coordinates, which mainly serves the maintenance of the earth reference frame and data calibration. For the positioning terminal, the base station and the reference station can be uniformly regarded as the base station. In this invention, the "base station" will be uniformly used as the data correction basis for high-precision positioning.

[0026] Figure 1 This is one of the flow charts of the PPP-RTK high-precision positioning method based on elastic non-difference non-combination provided by the present invention, such as Figure 1As shown, the present invention provides a PPP-RTK high-precision positioning method based on elastic non-difference and non-combination, which is applicable to a terminal device. The terminal device can also be understood as a receiver in a positioning system. The method includes steps S100 to S300.

[0027] Step S100, obtaining reference station data and determining the validity of the reference station data.

[0028] The validity criteria of base station data include signal strength, signal quality, delay and delay variation.

[0029] Signal strength: Checks the signal strength provided by the base station. The stronger the signal strength, the more effective the base station is. In GNSS, good signal strength improves positioning accuracy.

[0030] Signal quality: Examines signal quality indicators such as signal-to-noise ratio (SNR) and the number of available satellites. High-quality signals generally mean better positioning performance.

[0031] Latency and delay variation: Analyze the latency and variation of the base station. Low and stable latency usually indicates that the base station is operating normally.

[0032] Step S200: If the base station data is valid, the satellite navigation positioning information is output based on the real-time dynamic positioning technology RTK. The RTK technology uses the difference elimination of the observation values ​​between stations based on the base station data and the satellite signals received by the terminal device to solve the spatial coordinates of the terminal device and use the spatial coordinates as the satellite navigation positioning information. If the environment where the terminal device is located does not have a sufficient number of base stations or is not covered by the mobile network, the base station data is invalid or inaccurate, resulting in the inability to use the RTK technology or insufficient positioning accuracy.

[0033] Step S300: If the base station data is invalid, obtain enhanced data of the non-difference non-combined positioning technology PPP-RTK, and output satellite navigation positioning information based on the precise point positioning technology PPP, the precise point positioning ambiguity estimation technology PPP-AR or the PPP-RTK technology according to the PPP-RTK enhanced data, the preset positioning accuracy requirement and the resource occupancy of the terminal device.

[0034] Specifically, PPP-RTK enhanced data is obtained from the PPP-RTK server, and the resource occupancy of the terminal device includes the computing resource occupancy parameters of the terminal device. Outputting satellite navigation positioning information based on the precise point positioning technology PPP, the ambiguity estimation technology PPP-AR or the PPP-RTK technology according to the PPP-RTK enhanced data, the preset positioning accuracy requirements and the resource occupancy of the terminal device means that according to the positioning accuracy requirements and the resource occupancy of the terminal device, part of the PPP-RTK enhanced data required by the PPP technology and the PPP-AR technology is used to solve the spatial coordinates of the terminal device, or all the PPP-RTK enhanced data required by the PPP-RTK technology is used to solve the spatial coordinates of the terminal device, so as to avoid placing a heavy burden on the system resources of the terminal device and affecting the stability of the system while meeting the positioning accuracy requirements required by the user.

[0035] It can be understood that the present invention determines the validity of the base station data, dynamically adjusts the positioning mode, and avoids the impact of changes in the environment in which the terminal device is located on improper use of the base station data. This can ensure that the accuracy of the positioning results is always maintained at a high level, thereby obtaining better high-precision positioning service results.

[0036] The enhancement information required by PPP technology includes precise satellite orbit and precise satellite clock correction, the enhancement information required by PPP-AR technology includes precise satellite orbit, precise satellite clock correction, satellite pseudorange and satellite phase deviation correction, and the enhancement information required by PPP-RTK technology includes precise satellite orbit, precise satellite clock correction, satellite pseudorange, satellite phase deviation correction, ionospheric delay and tropospheric delay. Correspondingly, the computing resources required by PPP technology, PPP-AR technology and PPP-RTK technology will increase as the types of enhancement information required increase.

[0037] Figure 2 This is the second flow chart of the PPP-RTK high-precision positioning method based on elastic non-difference non-combination provided by the present invention, such as Figure 2 As shown, optionally, according to the PPP-RTK enhanced data, the preset positioning accuracy requirement and the resource occupancy of the terminal device, the satellite navigation positioning information is output based on the precise point positioning technology PPP, the precise point positioning ambiguity estimation technology PPP-AR or the PPP-RTK technology, including steps S310 to S330.

[0038] Step S310: If the PPP-RTK augmented data includes satellite orbit and clock correction, the satellite navigation positioning information is output based on the PPP technology to meet the sub-meter positioning requirements. Users can subscribe only to satellite orbit and clock correction, which has the lowest subscription cost and can switch between RTK technology and PPP technology.

[0039] Step S320: If the PPP-RTK enhanced data contains satellite pseudorange and phase deviation correction, the satellite navigation positioning information is output based on the PPP-AR technology to meet the decimeter-level positioning requirements. Users can subscribe to precise satellite orbits, precise satellite clock corrections, satellite pseudoranges and satellite phase deviation corrections. The subscription cost is moderate, and they can switch between RTK technology, PPP technology and PPP-AR technology, which improves positioning accuracy.

[0040] Step S330: If the PPP-RTK enhanced data contains ionospheric delay and tropospheric delay, the satellite navigation positioning information is output based on the PPP-RTK technology to at least meet the centimeter-level positioning requirements. If the user chooses to subscribe to all information and the computing resources of the terminal device are sufficient, it can switch between RTK technology, PPP technology, PPP-AR technology and PPP-RTK technology.

[0041] Based on the positioning model algorithm of the terminal user, the pseudo-range carrier observation model can be expressed as follows: in, r, j, s Respectively represent the receiver number, frequency point number and satellite number; P and denote the pseudorange and carrier phase observation values ​​respectively, Indicates the geometric distance from the satellite to the receiver; and They represent the pseudorange deviations caused by the receiver clock and satellite clock errors respectively; and represent the pseudorange deviations of the receiver and satellite respectively; and Represent the phase deviation of the receiver and the satellite respectively; m is the tropospheric projection function; represents the zenith tropospheric delay; is the ionospheric delay conversion coefficient between different frequency points; Indicates the ionospheric slant delay of the first frequency point; Indicates j The carrier wavelength of each frequency point; represents the integer ambiguity; and denote the modeled errors and measurement noise in the pseudorange and carrier, respectively.

[0042] For RTK technology, the errors between the satellite and the receiver, as well as the tropospheric errors and ionospheric errors in the above observation model are eliminated or weakened through double differences, leaving only a position parameter related to the baseline and a double-difference ambiguity parameter.

[0043] As for other positioning technologies, considering that the corrections broadcast by the PPP-RTK server include precise satellite orbits, clock errors, satellite pseudoranges and phase deviations, ionospheric delays and tropospheric delays, it can provide users with differentiated services to minimize user costs, which can be specifically manifested as follows: 1) When the terminal device receives satellite orbit and clock correction, the satellite orbit and clock error terms in the model can be eliminated, and floating-point ambiguity can be obtained based on PPP technology to meet the user's sub-meter positioning needs; 2) Further, when the terminal device receives satellite pseudo-range and phase deviation correction, the satellite pseudo-range and phase deviation in the model can be eliminated, and the ambiguity has integer characteristics, which can achieve ambiguity fixation and meet the user's decimeter-level positioning needs; 3) Furthermore, the terminal device receives various service products containing atmospheric corrections. With accurate atmospheric correction information, the two major atmospheric error terms of tropospheric and ionospheric errors in the model can be eliminated, which will greatly accelerate the fixation of ambiguity, thereby achieving the user's fast or even instantaneous centimeter-level high-precision positioning goals. Based on a unified positioning model, flexible switching can be performed according to the user's positioning accuracy requirements and resource occupancy.

[0044] It can be understood that the present invention can dynamically adjust the positioning mode according to the dynamic changes of observation resources, is compatible with traditional PPP positioning and its ambiguity fixed (PPP-AR) enhanced positioning mode, and can be extended to RTK mode, and is suitable for diverse working environments.

[0045] On the basis of the above embodiment, as an optional embodiment, the elastic non-differential non-combined PPP-RTK high-precision positioning method provided by the present invention also includes the following steps.

[0046] Step S400: Generate virtual base station data based on the received PPP-RTK enhanced data. Specifically, the PPP-RTK enhanced data can be received in real time. When the RTK base station is invalid, it is necessary to keep receiving the enhanced data and determine its availability.

[0047] Step S500: According to the validity of the virtual reference station data, switching is performed between RTK technology, PPP technology and PPP-RTK technology to output satellite navigation positioning information. The method for determining the validity of the virtual reference station data can refer to step S100 and will not be repeated here.

[0048] It can be understood that the terminal device can collect all the state domain correction information, namely PPP-RTK enhanced data, and adopt a suitable error model. The error model includes model interpolation of tropospheric and ionospheric enhancement data, earth tide correction, phase winding, and antenna phase center model of navigation satellites, etc., to locally generate a virtual observation based on PPP-RTK server-side enhanced data for use as base station data, thereby realizing the conversion from state domain to space domain (SSR2OSR) and achieving high-precision positioning of the terminal.

[0049] On the basis of the above embodiment, as an optional embodiment, the elastic non-differential non-combined PPP-RTK high-precision positioning method provided by the present invention also includes the following steps.

[0050] Step S600, acquiring satellite signals, reference station data and PPP-RTK enhancement data.

[0051] Step S700, according to satellite signals, reference station data, PPP-RTK enhancement data and a preset switching mechanism, real-time dynamic switching is performed between RTK technology, PPP technology and PPP-RTK technology to output satellite navigation positioning information. It should be noted that the execution order of step S600 and step S400 can be adjusted.

[0052] Optionally, the preset switching mechanism is used to characterize the evaluation of satellite signals, reference station data, and PPP-RTK enhancement data, and select the target positioning technology between RTK technology, PPP technology, and PPP-RTK technology based on the evaluation results. Specifically, the preset switching mechanism refers to the dynamic evaluation of the availability and quality of observation resources (such as the strength of the reference station signal, the integrity of the correction data, and the motion state of the receiver, etc.), and the selection of the appropriate positioning mode (PPP, RTK, or PPP-RTK) based on the evaluation results, while ensuring a flexible and smooth transition during the switching process.

[0053] Correspondingly, the method performs real-time dynamic switching between RTK technology, PPP technology and PPP-RTK technology according to satellite signals, reference station data, PPP-RTK enhancement data and a preset switching mechanism to output satellite navigation positioning information, including steps S710 to S730.

[0054] Step S710, respectively evaluate the quality and availability of satellite signals, reference station data, and PPP-RTK enhanced data to obtain evaluation results.

[0055] Step S720: If the evaluation result indicates that the quality and availability of satellite signals, reference station data, and PPP-RTK enhanced data have changed, a technology corresponding to the evaluation result is selected from RTK technology, PPP technology, and PPP-RTK technology as the target positioning technology.

[0056] Step S730: Switch to the target positioning technology based on a preset smooth transition strategy, where the smooth transition strategy is used to ensure positioning accuracy and stability during the technology switching process.

[0057] As an embodiment, the smooth transition strategy includes preset boundary judgment conditions, an adaptive filtering algorithm and a weight smoothing adjustment algorithm. The boundary judgment conditions are used to characterize whether the terminal device is in a non-switchable area. The adaptive filtering algorithm is used to perform real-time state estimation of satellite navigation positioning information during the switching process. The weight smoothing adjustment algorithm is used to adjust the respective weights of satellite signals, reference station data, and PPP-RTK enhanced data during the switching process.

[0058] Optionally, before step S600, one of the RTK technology or the PPP-RTK technology can be selected as the initial positioning technology based on initial observation resources such as initial satellite signals, initial reference station data, and initial PPP-RTK enhancement data. Correspondingly, in step S700, it is necessary to switch from the initial positioning technology to the target positioning technology.

[0059] The preferred embodiments of the present invention are described below with reference to the accompanying drawings.

[0060] Figure 3 FIG. 1 is a flow chart of a preferred embodiment of the switching mechanism provided by the present invention. Figure 3 As shown, the elastic switching process based on observed resource changes includes the following steps.

[0061] Determine the initial state: Select the positioning mode (such as RTK or PPP-RTK) based on the initial observation resources.

[0062] Real-time monitoring: Real-time monitoring of satellite signal quality, base station data availability and changes in multi-frequency and multi-mode satellite navigation system data. The multi-frequency and multi-mode satellite navigation system data includes multi-frequency and multi-mode data of satellite navigation systems such as BDS, GPS, GAL and GLO.

[0063] Satellite signal quality assessment: Use indicators such as signal-to-noise ratio (SNR) and multipath effects to assess satellite signal quality and detect signal loss or new signal addition.

[0064] Base station data evaluation: Check the availability and quality of base station data, and evaluate the accuracy and reliability of differential correction data.

[0065] PPP-RTK server-side enhanced data evaluation: evaluates the availability and quality of satellite precise orbit clock correction, code phase deviation and atmospheric correction products.

[0066] Quality control: Perform real-time quality control on observation values ​​and correction data (including observation data from the base station and enhanced data from PPP-RTK), eliminate outliers, and ensure data reliability and consistency during the switching process.

[0067] Switching trigger: When a change in the observed resource is detected, the switching mechanism is triggered.

[0068] When the base station data is unavailable or of poor quality, switch to PPP mode, which relies on precise orbit and clock data and is suitable for single-receiver scenarios. When the base station data is available and of high quality, switch to RTK mode, which provides centimeter-level accuracy and is suitable for short baseline scenarios. When the base station data is available and regional correction data (such as ionosphere and troposphere corrections) is available, switch to PPP-RTK mode, which combines the advantages of PPP and RTK and is suitable for medium and long baseline scenarios.

[0069] Flexible and smooth transition: During the switching process, if the positioning mode is switched, a suitable smooth transition strategy needs to be adopted. The smooth transition strategy is as follows: 1) Boundary judgment: Set strict boundary judgment conditions to ensure that switching is not frequent in the edge area.

[0070] 2) Adaptive filtering: During the switching process, the continuity of state estimation (such as position, velocity, clock error) is maintained, and adaptive filtering (such as Kalman filtering) is used to update the state estimation in real time.

[0071] 3) Weight smoothing adjustment: During the switching process, the weights of observations and correction data are gradually adjusted to avoid sudden changes in positioning results. For example, when switching from RTK to PPP, the weight of differential correction data is gradually reduced, while the weight of precise orbit and clock data is increased.

[0072] Output results: Output smooth positioning results to ensure positioning accuracy and stability during the switching process.

[0073] It can be understood that when the observed resources change, the present invention can adaptively change the positioning technology weight factor through boundary judgment, adaptive filtering, and weight smoothing adjustment, so as to greatly reduce the probability of step changes in the positioning results and improve the continuity of the positioning service.

[0074] In summary, the present invention proposes a PPP-RTK high-precision positioning method based on elastic non-difference non-combination, which adopts a flexible combination and application of elastic enhanced positioning unified model according to the parameters such as the signal observation quality of the high-precision satellite navigation receiver, the integrity of the navigation system state space domain information, the ground-based enhanced information receiving communication bandwidth and the computing resource occupation, and dynamically adjusts the positioning mode to obtain a better high-precision positioning service result. The present invention can be used for Beidou high-precision satellite navigation terminal products, improve the application scope, positioning accuracy and positioning availability of Beidou high-precision satellite navigation terminal products, and provide better high-precision positioning services for mobile carriers such as vehicles, ships and aircraft when they move in a large area.

[0075] The following is a description of the elastic non-differential non-combined PPP-RTK high-precision positioning device provided by the present invention. The elastic non-differential non-combined PPP-RTK high-precision positioning device described below and the elastic non-differential non-combined PPP-RTK high-precision positioning method described above can be referenced to each other.

[0076] Figure 4 : is a timing diagram of the PPP-RTK high-precision positioning device based on elastic non-difference non-combination provided by the present invention, such as Figure 4 As shown, the present invention also provides a PPP-RTK high-precision positioning device based on elastic non-difference and non-combination, including the following modules.

[0077] An acquisition module 410 is used to acquire reference station data and determine the validity of the reference station data; The first positioning module 420 is used to output satellite navigation positioning information based on real-time kinematic positioning technology RTK if the base station data is valid; The second positioning module 430 is used to obtain enhanced data of the non-difference non-combined positioning technology PPP-RTK if the base station data is invalid, and output satellite navigation positioning information based on the precise point positioning technology PPP, the precise point positioning ambiguity estimation technology PPP-AR or the PPP-RTK technology according to the PPP-RTK enhanced data, the preset positioning accuracy requirement and the resource occupancy of the terminal device.

[0078] As an embodiment, the second positioning module 430 is further configured to: If the PPP-RTK enhancement data includes satellite orbit and clock correction, the satellite navigation positioning information is output based on PPP technology to meet the sub-meter positioning requirements; If the PPP-RTK enhancement data contains satellite pseudorange and phase deviation correction, the satellite navigation positioning information is output based on the PPP-AR technology to meet the decimeter-level positioning requirements; If the PPP-RTK enhanced data includes ionospheric delay and tropospheric delay, the satellite navigation positioning information output based on the PPP-RTK technology can at least meet the centimeter-level positioning requirements.

[0079] As an embodiment, the second positioning module 430 is further configured to: Generate virtual base station data based on the received PPP-RTK enhanced data; According to the validity of the virtual reference station data, switching is performed between the RTK technology, the PPP technology and the PPP-RTK technology to output satellite navigation positioning information.

[0080] As an embodiment, the second positioning module 430 is further configured to: Acquire satellite signals, reference station data and PPP-RTK enhancement data; Based on satellite signals, reference station data, PPP-RTK enhancement data and preset switching mechanisms, real-time dynamic switching is performed between RTK technology, PPP technology and PPP-RTK technology to output satellite navigation positioning information.

[0081] As an embodiment, the second positioning module 430 is further configured to: The preset switching mechanism is used to characterize the evaluation of satellite signals, reference station data, and PPP-RTK enhanced data, and select the target positioning technology between RTK technology, PPP technology, and PPP-RTK technology according to the evaluation results. Correspondingly, according to the satellite signals, reference station data, PPP-RTK enhanced data, and the preset switching mechanism, real-time dynamic switching is performed between RTK technology, PPP technology, and PPP-RTK technology to output satellite navigation positioning information, including: The quality and availability of satellite signals, reference station data, and PPP-RTK enhanced data are evaluated respectively, and the evaluation results are obtained; If the evaluation results indicate that the quality and availability of satellite signals, reference station data, and PPP-RTK enhancement data have changed, the technology corresponding to the evaluation results is selected from RTK technology, PPP technology, and PPP-RTK technology as the target positioning technology; Switch to the target positioning technology based on a preset smooth transition strategy, wherein the smooth transition strategy is used to ensure positioning accuracy and stability during the technology switching process.

[0082] As an embodiment, the smooth transition strategy includes preset boundary judgment conditions, an adaptive filtering algorithm and a weight smoothing adjustment algorithm. The boundary judgment conditions are used to characterize whether the terminal device is in a non-switchable area. The adaptive filtering algorithm is used to perform real-time state estimation of satellite navigation positioning information during the switching process. The weight smoothing adjustment algorithm is used to adjust the respective weights of satellite signals, reference station data, and PPP-RTK enhanced data during the switching process.

[0083] It should be noted that the elastic non-differential non-combined PPP-RTK high-precision positioning device provided by the present invention can execute the video ringback tone interaction method described in any of the above embodiments during specific operation, and has the technical effect corresponding to the method, which will not be elaborated in this embodiment.

[0084] Figure 5 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 5 As shown, the electronic device may include: a processor 510, a communication interface 520, a memory 530 and a communication bus 540, wherein the processor 510, the communication interface 520 and the memory 530 complete mutual communication through the communication bus 540. The processor 510 may call the logic instructions in the memory 530 to execute the PPP-RTK high-precision positioning method based on elastic non-differential non-combined, the method comprising: obtaining base station data, judging the validity of the base station data; if the base station data is valid, outputting satellite navigation positioning information based on the real-time dynamic positioning technology RTK; if the base station data is invalid, obtaining the enhanced data of the non-differential non-combined positioning technology PPP-RTK, and outputting satellite navigation positioning information based on the precise point positioning technology PPP, the ambiguity estimation technology PPP-AR of precise point positioning or the PPP-RTK technology according to the PPP-RTK enhanced data, the preset positioning accuracy requirement and the resource occupancy of the terminal device.

[0085] In addition, the logic instructions in the above-mentioned memory 530 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0086] On the other hand, the present invention also provides a computer program product, which includes a computer program, and the computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the elastic non-difference non-combined PPP-RTK high-precision positioning method provided by the above methods, and the method includes: obtaining base station data and judging the validity of the base station data; if the base station data is valid, outputting satellite navigation positioning information based on the real-time dynamic positioning technology RTK; if the base station data is invalid, obtaining enhanced data of the non-difference non-combined positioning technology PPP-RTK, and outputting satellite navigation positioning information based on the precise single point positioning technology PPP, the precise single point positioning ambiguity estimation technology PPP-AR or the PPP-RTK technology according to the PPP-RTK enhanced data, the preset positioning accuracy requirements and the resource occupancy of the terminal device.

[0087] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the elastic non-difference non-combined PPP-RTK high-precision positioning method provided by the above-mentioned methods, the method comprising: obtaining base station data, and judging the validity of the base station data; if the base station data is valid, outputting satellite navigation positioning information based on the real-time dynamic positioning technology RTK; if the base station data is invalid, obtaining enhanced data of the non-difference non-combined positioning technology PPP-RTK, and outputting satellite navigation positioning information based on the precise point positioning technology PPP, the precise point positioning ambiguity estimation technology PPP-AR or the PPP-RTK technology according to the PPP-RTK enhanced data, the preset positioning accuracy requirement and the resource occupancy of the terminal device.

[0088] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0089] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0090] 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 make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A PPP-RTK high-precision positioning method based on elastic non-difference non-combination, characterized in that: Applicable to terminal equipment, including: Acquiring reference station data and determining the validity of the reference station data; If the base station data is valid, the satellite navigation positioning information is output based on the real-time kinematic positioning technology RTK; If the base station data is invalid, obtain enhanced data of the non-differential non-combined positioning technology PPP-RTK, and output satellite navigation positioning information based on the precise point positioning technology PPP, the precise point positioning ambiguity estimation technology PPP-AR or PPP-RTK technology according to the PPP-RTK enhanced data, the preset positioning accuracy requirement and the resource usage of the terminal device.

2. The PPP-RTK high-precision positioning method based on elastic non-difference non-combination according to claim 1 is characterized in that: The output of satellite navigation positioning information based on the precise point positioning technology PPP, the precise point positioning ambiguity estimation technology PPP-AR or the PPP-RTK technology according to the PPP-RTK enhanced data, the preset positioning accuracy requirement and the resource occupancy of the terminal device includes: If the PPP-RTK enhancement data includes satellite orbit and clock correction, the satellite navigation positioning information is output based on PPP technology to meet the sub-meter positioning requirements; If the PPP-RTK enhancement data contains satellite pseudorange and phase deviation correction, the satellite navigation positioning information is output based on the PPP-AR technology to meet the decimeter-level positioning requirements; If the PPP-RTK enhanced data includes ionospheric delay and tropospheric delay, the satellite navigation positioning information output based on the PPP-RTK technology can at least meet the centimeter-level positioning requirements.

3. The PPP-RTK high-precision positioning method based on elastic non-difference non-combination according to claim 1 is characterized in that: Also includes: Generate virtual base station data based on the received PPP-RTK enhanced data; According to the validity of the virtual reference station data, switching is performed between the RTK technology, the PPP technology and the PPP-RTK technology to output satellite navigation positioning information.

4. The PPP-RTK high-precision positioning method based on elastic non-difference non-combination according to any one of claims 1 to 3, characterized in that: Also includes: Acquire satellite signals, reference station data and PPP-RTK enhancement data; Based on satellite signals, reference station data, PPP-RTK enhancement data and preset switching mechanisms, real-time dynamic switching is performed between RTK technology, PPP technology and PPP-RTK technology to output satellite navigation positioning information.

5. The PPP-RTK high-precision positioning method based on elastic non-difference non-combination according to claim 4 is characterized in that: The preset switching mechanism is used to characterize the evaluation of satellite signals, reference station data, and PPP-RTK enhanced data, and select the target positioning technology between RTK technology, PPP technology, and PPP-RTK technology according to the evaluation results. Correspondingly, according to the satellite signals, reference station data, PPP-RTK enhanced data, and the preset switching mechanism, real-time dynamic switching is performed between RTK technology, PPP technology, and PPP-RTK technology to output satellite navigation positioning information, including: The quality and availability of satellite signals, reference station data, and PPP-RTK enhanced data are evaluated respectively, and the evaluation results are obtained; If the evaluation results indicate that the quality and availability of satellite signals, reference station data, and PPP-RTK enhancement data have changed, the technology corresponding to the evaluation results is selected from RTK technology, PPP technology, and PPP-RTK technology as the target positioning technology; Switch to the target positioning technology based on a preset smooth transition strategy, wherein the smooth transition strategy is used to ensure positioning accuracy and stability during the technology switching process.

6. The PPP-RTK high-precision positioning method based on elastic non-difference non-combination according to claim 5 is characterized in that: The smooth transition strategy includes preset boundary judgment conditions, an adaptive filtering algorithm and a weight smoothing adjustment algorithm. The boundary judgment conditions are used to characterize whether the terminal device is in a non-switchable area. The adaptive filtering algorithm is used to perform real-time state estimation of satellite navigation positioning information during the switching process. The weight smoothing adjustment algorithm is used to adjust the respective weights of satellite signals, reference station data, and PPP-RTK enhanced data during the switching process.

7. A PPP-RTK high-precision positioning device based on elastic non-difference non-combination, characterized in that: include: An acquisition module, used to acquire reference station data and determine the validity of the reference station data; A first positioning module is used to output satellite navigation positioning information based on real-time dynamic positioning technology RTK if the base station data is valid; The second positioning module is used to obtain the enhanced data of the non-difference non-combined positioning technology PPP-RTK if the base station data is invalid, and output satellite navigation positioning information based on the precise single point positioning technology PPP, the precise single point positioning ambiguity estimation technology PPP-AR or PPP-RTK technology according to the PPP-RTK enhanced data, the preset positioning accuracy requirement and the resource occupancy of the terminal device.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, it implements the elastic non-difference non-combination PPP-RTK high-precision positioning method as described in any one of claims 1 to 6.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the PPP-RTK high-precision positioning method based on elastic non-difference and non-combination is implemented as described in any one of claims 1 to 6.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the PPP-RTK high-precision positioning method based on elastic non-difference and non-combination is implemented as described in any one of claims 1 to 6.

Images