Positioning result stability monitoring method and system, storage medium and program product

Abstract

The invention provides a positioning result stability monitoring method and system, a storage medium and a program product, and relates to the technical field of satellite navigation. The monitoring method comprises the steps that according to an RTK positioning result within preset time, a spatial change rate index value at the current moment is calculated, and the spatial change rate index value at the current moment is used for describing the spatial position jump degree of the RTK positioning result at the current moment; and forming a decision tree model according to the RTK positioning state, the spatial change rate index value, the differential age, the number of satellites and the PDOP, wherein the decision tree model is used for determining the stability of the RTK positioning result at the current moment. According to the invention, the defect that the conventional RTK depends on PDOP and cannot capture the instantaneous error can be overcome, and a millisecond decision basis is provided for observation quantity switching of multi-sensor fusion or a control system.

Description

Technical Field

[0001] The present disclosure relates to the field of satellite navigation technology, and in particular to a method, system, storage medium, and program product for monitoring the stability of positioning results. Background Art

[0002] RTK (Real-time kinematic) technology, a core component of high-precision GNSS (Global Navigation Satellite System) positioning, has been widely used in surveying and mapping, autonomous driving, and drone navigation. RTK utilizes carrier phase differential technology to eliminate common errors such as satellite orbit errors and ionospheric / tropospheric delays in real time, enabling the mobile station to achieve centimeter-level positioning accuracy within seconds. The core of RTK is the real-time transmission of error corrections from the base station to the mobile station, which uses dual-frequency observations to resolve integer ambiguities to achieve high-precision dynamic positioning.

[0003] In related technologies, the application of RTK technology is accompanied by the characteristics of insufficient dynamic stability, complex error coupling, and lagging monitoring mechanism. This makes the positioning results face the problems of outlier interference or low reliability of positioning results when used as observation quantities of control systems or fused with other sensors. Summary of the Invention

[0004] A technical problem to be solved by the present disclosure is to provide a method, system, storage medium and program product for monitoring the stability of positioning results, which can make up for the defect that traditional RTK relies on PDOP (Position Dilution of Precision) and cannot capture instantaneous errors, and monitor the stability of the positioning system operation in semi-obstructed scenarios or signal loss scenarios in real time.

[0005] According to one aspect of the present disclosure, a method for monitoring the stability of positioning results is proposed, including: calculating a spatial change rate index value at the current moment based on the real-time dynamic carrier phase difference technology RTK positioning results within a predetermined time, the spatial change rate index value at the current moment being used to describe the degree of spatial position jump of the RTK positioning result at the current moment; forming a decision tree model based on the RTK positioning state, the spatial change rate index value, the difference age, the number of satellites and the positioning precision degradation factor PDOP, for determining the stability of the RTK positioning result at the current moment.

[0006] In some embodiments, calculating the spatial change rate index value at the current moment based on the RTK positioning results within the predetermined time includes: calculating the spatial position change rate of adjacent moments within the predetermined time based on the RTK positioning results; calculating the spatial change rate index value at the current moment based on the spatial position change rate of adjacent moments within the predetermined time.

[0007] In some embodiments, calculating the spatial change rate index value at the current moment based on the spatial position change rate of adjacent moments within the predetermined time includes: determining the minimum spatial position change rate, the maximum spatial position change rate, and the spatial position change rate at the current moment within the predetermined time based on the spatial position change rate of adjacent moments within the predetermined time; determining the spatial change rate index value at the current moment through normalization based on the minimum spatial position change rate, the maximum spatial position change rate, and the spatial position change rate at the current moment.

[0008] In some embodiments, forming a decision tree model based on the RTK positioning status, spatial change rate index value, differential age, number of satellites and PDOP includes: determining the first-level stability level based on the RTK positioning status; determining the second-level stability level based on the spatial change rate index value and the differential age; determining the third-level stability level based on the number of satellites and PDOP; determining the fourth-level stability level of the decision tree model based on the first-level stability level, the second-level stability level and the third-level stability level of the decision tree model, the fourth-level stability level corresponding to the stability of the RTK positioning result at the current moment.

[0009] In some embodiments, determining the fourth-level stability level of the decision tree model based on the first-level stability level, the second-level stability level, and the third-level stability level of the decision tree model includes: in response to the first-level stability level being a stable state, determining the fourth-level stability level based on the second-level stability level and the third-level stability level; in response to the first-level stability level being a failure state, determining the fourth-level stability level as a failure state.

[0010] In some embodiments, determining the fourth-level stability level based on the second-level stability level and the third-level stability level includes: taking the lowest evaluation state of the second-level stability level and the third-level stability level as the fourth-level stability level, and the stability level of each of the second-level stability level, the third-level stability level and the fourth-level stability level includes one of a stable state, a risky state and a failure state, and the evaluation states of the stable state, the risky state and the failure state decrease in sequence.

[0011] In some embodiments, determining the first layer stability level according to the RTK positioning state includes: in response to the RTK positioning state being a fixed solution, the first layer stability level is a stable state; in response to the RTK positioning state being a non-fixed solution, the first layer stability level is an invalid state.

[0012] In some embodiments, determining the second-layer stability level based on the spatial change rate index value and the differential age includes: in response to the spatial change rate index value being less than a first threshold and the differential age being less than a third threshold, determining the second-layer stability level to be a stable state; in response to the spatial change rate index value being greater than the second threshold or the differential age being greater than the fourth threshold, determining the second-layer stability level to be a failure state; in response to other values of the spatial change rate and the differential age, determining the second-layer stability level to be a risky state.

[0013] In some embodiments, determining the third-layer stability level based on the number of satellites and PDOP includes: determining that the third-layer stability level is a stable state in response to the number of satellites being greater than a fifth threshold and the PDOP being less than a seventh threshold; determining that the third-layer stability level is a risky state in response to the number of satellites being less than a sixth threshold or the PDOP being greater than an eighth threshold; and determining that the third-layer stability level is a failure state in response to other values of the number of satellites and PDOP.

[0014] According to another aspect of the present disclosure, a monitoring system for the stability of positioning results is also proposed, including: a calculation module, configured to calculate the spatial change rate index value at the current moment based on the real-time dynamic carrier phase difference technology RTK positioning result within a predetermined time, the spatial change rate index value at the current moment is used to describe the degree of spatial position jump of the RTK positioning result at the current moment; a determination module, configured to form a decision tree model based on the RTK positioning status, spatial change rate index value, differential age, number of satellites and positioning precision degradation factor PDOP, for determining the stability of the RTK positioning result at the current moment.

[0015] According to another aspect of the present disclosure, a monitoring system for positioning result stability is provided, comprising: a memory; and a processor coupled to the memory, wherein the processor is configured to execute the above-mentioned monitoring method based on instructions stored in the memory.

[0016] According to another aspect of the present disclosure, a computer-readable storage medium is provided, on which computer instructions are stored. When the instructions are executed by a processor, the monitoring method described above is implemented.

[0017] According to another aspect of the present disclosure, a computer program product is also provided, comprising computer instructions, which implement the above-mentioned monitoring method when executed by a processor.

[0018] In the disclosed embodiment, a multi-source stability level index is used to judge the stability of the RTK positioning results, which can make up for the defect that traditional RTK relies on PDOP and cannot capture instantaneous errors, and improve the stability of the positioning system operation in semi-obstructed scenarios or signal loss scenarios.

[0019] Other features and advantages of the present disclosure will become apparent from the following detailed description of exemplary embodiments of the present disclosure with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0021] The present disclosure can be more clearly understood from the following detailed description with reference to the accompanying drawings, in which:

[0022] Figure 1 A schematic diagram illustrating a flow chart of a method for monitoring the stability of positioning results according to some embodiments of the present disclosure;

[0023] Figure 2 A schematic diagram of an RTK positioning system according to some embodiments of the present disclosure is shown;

[0024] Figure 3 A schematic diagram of a process for determining a spatial change rate index value according to some embodiments of the present disclosure is shown;

[0025] Figure 4 A schematic diagram of a decision tree model according to some embodiments of the present disclosure is provided;

[0026] Figure 5 A block diagram illustrating a system for monitoring positioning result stability according to some embodiments of the present disclosure;

[0027] Figure 6 A block diagram illustrating a system for monitoring the stability of positioning results according to other embodiments of the present disclosure. DETAILED DESCRIPTION

[0028] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that unless otherwise specifically stated, the relative arrangement of components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present disclosure.

[0029] At the same time, it should be understood that for the convenience of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship.

[0030] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the present disclosure, its application, or uses.

[0031] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0032] In all examples shown and discussed herein, any specific values should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0033] It should be noted that like reference numerals and letters refer to like items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0034] In order to make the objectives, technical solutions and advantages of the present disclosure more clearly understood, the present disclosure is further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

[0035] As the application scenarios extend to complex environments such as urban canyons and underground spaces, the application of related RTK technologies in semi-obstructed or fully obstructed environments has encountered some bottlenecks. For example, when the mobile station of the RTK system moves at high speed or the satellite is continuously obstructed for more than 5 seconds, the carrier phase ambiguity is prone to jump, resulting in decimeter-level sudden errors in the positioning results; the coupling of ionospheric delay, multipath effect and base station clock drift will increase the failure rate of whole-cycle ambiguity resolution by more than 40%; the current mainstream positioning equipment only provides static indicators such as PDOP, and lacks continuous evaluation of positioning stability. Therefore, a method for monitoring the stability of positioning results is needed, which can evaluate the stability of RTK positioning in real time. The following will introduce the solution of the present disclosure with reference to specific embodiments as an example.

[0036] Figure 1 A flow chart illustrating a method for monitoring the stability of positioning results according to some embodiments of the present disclosure is provided, including steps S1 to S2.

[0037] In step S1, based on the RTK positioning results within a predetermined time, a spatial change rate index value at the current moment is calculated. The spatial change rate index value at the current moment is used to describe the degree of spatial position jump of the RTK positioning results at the current moment.

[0038] In some embodiments, the spatial position change rate of adjacent moments within the predetermined time is calculated based on the RTK positioning results within the predetermined time; and the spatial change rate index value at the current moment is determined based on the spatial position change rate of adjacent moments within the predetermined time.

[0039] For example, the RTK positioning results within a fixed window time are pre-stored in a sliding manner and converted into coordinate values in the local navigation system ENU (East-North-Up) coordinate system. Then, the spatial position change rate between two adjacent points is calculated, and the spatial change rate index value at the current time point is calculated.

[0040] In step S2, a decision tree model is formed according to the RTK positioning state, the spatial change rate index value, the difference age, the number of satellites and the PDOP to determine the stability of the RTK positioning result at the current moment.

[0041] like Figure 2 As shown, Figure 2 A schematic diagram of an RTK positioning system according to some embodiments of the present disclosure is shown. The RTK positioning system includes a base station 21, a rover 22, and a GNSS, wherein the GNSS includes a plurality of satellites 23. Factors affecting positioning accuracy in the GNSS portion include: the number of observed satellites, satellite elevation angles, multipath effects, etc.; factors affecting user positioning accuracy in the base station portion include: the distance from the base station to the user end, network link data delay; factors affecting positioning accuracy in the user end of the rover station include: environmental shielding conditions in the user's environment, and carrier motion speed. When a user uses the RTK positioning result, it can be considered that the influence of error terms such as ionosphere and tropospheric propagation errors, satellite orbit errors and clock errors, and receiver errors on positioning accuracy has been eliminated through the RTK double-difference positioning method. In an ideal application scenario, a horizontal positioning accuracy of up to ±1 cm can be achieved.

[0042] To adapt the monitoring method to the positioning output methods of different boards or satellite navigation devices, when used for RTK positioning result stability monitoring, the data sources used can include positioning results, positioning status, differential age, number of visible satellites, PDOP, etc. In actual applications, positioning results, positioning status, differential age, number of visible satellites, and PDOP can be selected as the judgment parameters for RTK positioning result stability.

[0043] In this embodiment, the multi-source stability level index is used to judge the stability of the RTK positioning results, which can make up for the defect that traditional RTK relies on PDOP and cannot capture instantaneous errors, and monitor the stability of the positioning system operation in semi-obstructed scenarios or signal loss scenarios in real time.

[0044] Figure 3 A schematic flow chart of determining a spatial change rate index value in some embodiments of the present disclosure is provided. The embodiment includes steps S11 to S13.

[0045] In step S11, based on the RTK positioning results, the spatial position change rate at adjacent moments within the sliding window time is calculated.

[0046] For example, the user terminal receives the RTK positioning result, which is in the longitude of the geographic coordinate system ( ),latitude( ) and height ( ) as output. Convert the longitude, latitude, and altitude in the geographic coordinate system to XYZ in the ECEF (Earth-Centered-Earth-Fixed) coordinate system.

[0047]

[0048] in, is the eccentricity of the ellipsoid, is the radius of curvature of the reference ellipsoid.

[0049]

[0050] For example, in the WGS-84 coordinate system, the major axis of the reference ellipsoid a = 6378137m; the minor axis of the reference ellipsoid b = 6356752.31424517m; the square of the eccentricity of the ellipsoid =0.0066943799013.

[0051] Select a location near the user's location As the origin of the ENU coordinate system, convert the XYZ in the ECEF system to the xyz in the ENU coordinate system:

[0052]

[0053] The RTK positioning results within the previous t seconds are stored in a sliding window manner and converted into coordinate values in the ENU coordinate system. For example, according to the formula , and obtain the spatial position change rate of adjacent moments , where f is the output frequency of the RTK positioning result, To calculate the Euclidean distance between two points.

[0054] In step S12, the minimum spatial position change rate, the maximum spatial position change rate, and the spatial position change rate at the current moment are determined based on the spatial position change rates between adjacent moments in the sliding window.

[0055] For example, determining the minimum spatial position change rate , maximum spatial position change rate , the spatial position change rate at the current moment .

[0056] In step S13, the spatial position change rate index value at the current moment is determined by normalization according to the minimum spatial position change rate, the maximum spatial position change rate, and the spatial position change rate at the current moment.

[0057] For example, according to the formula , calculate the spatial change rate index value , represents the minimum spatial position change rate, represents the maximum spatial position change rate, Indicates the rate of change of spatial position at the current moment.

[0058] In the above embodiment, the spatial change rate index value is determined through the RTK positioning result, and the stability level corresponding to the spatial change rate index value is used as one of the indicators for evaluating the stability of the RTK positioning result, providing a basis for the positioning effectiveness under complex error coupling.

[0059] In some embodiments, the stability levels of each layer of the decision tree model may include a first-layer stability level corresponding to the positioning state, a second-layer stability level corresponding to the spatial change rate index value and the differential age, a third-layer stability level corresponding to the number of satellites and PDOP, and an output fourth-layer stability level, which is the stability of the RTK positioning result at the current moment.

[0060] In the above example, the spatial rate of change index and the differential age are assigned the same priority level, and the number of satellites and the PDOP are assigned the same priority level. For multiple parameters within the same priority level, the lowest evaluation level within that priority level is used as the output. For example, if parameter A is determined to be "risky" and parameter B is determined to be "stable," the output is "risky."

[0061] In some embodiments, a first level of stability is determined according to the RTK positioning state, where the first level of stability includes a stable state and an unstable state.

[0062] For example, in response to the RTK positioning state being a fixed solution, the first layer stability level is a stable state; in response to the RTK positioning state being an unfixed solution, the first layer stability level is an unstable state.

[0063] In the above embodiment, the values of the positioning status include, for example, 0, 1, 2, 3, 4, and 5. 0 indicates an unpositioned state; 1 corresponds to a single-point solution, indicating an error of approximately 1 m or more; 2 corresponds to a pseudorange differential, indicating an error within 3 m; 4 corresponds to a fixed solution, indicating an error of 3-5 cm; and 5 corresponds to a floating-point solution, indicating an error within 50 cm.

[0064] In some embodiments, a second level of stability level is determined based on the spatial change rate index value and the differential age.

[0065] For example, in response to the spatial change rate index value being less than the first threshold and the differential age being less than the third threshold, the second-layer stability level is determined to be in a stable state; in response to the spatial change rate index value being greater than the second threshold or the differential age being greater than the fourth threshold, the second-layer stability level is determined to be in a failure state; in response to other values of the spatial change rate and the differential age, the second-layer stability level is determined to be in a risky state.

[0066] For example, if the spatial change rate index value is less than the first threshold value of 0.8, it indicates that the displacement at the current moment meets the movement speed within the pre-stored time; if If it is greater than the second threshold value of 1.2, it indicates that the positioning result output by the current RTK has undergone a large position jump compared to the previous moment, and the output positioning result is abnormal. When the value is less than the first threshold value 0.8, it is marked as a stable state. If the value is greater than or equal to the first threshold 0.8 and less than or equal to the second threshold 1.2, it is marked as a risk state. If the value is greater than the second threshold value 1.2, it is marked as a failure state.

[0067] In the above embodiment, the time delay for the satellite board located at the mobile station to receive the differential data of the fixed station is usually measured in seconds. In real-time positioning, the differential age is the failure of the mobile station to receive the fixed station information at the current moment due to time delay or network failure. The larger the differential age, the lower the positioning accuracy. Under normal conditions, if the differential age is less than the third threshold 2, the accuracy of the RTK positioning result is ±1cm; if the differential age is >30s, the accuracy of the RTK positioning result will be reduced to the decimeter level. Therefore, if the differential age is less than the third threshold 2, it is marked as a stable state; if the differential age is greater than or equal to the third threshold 2 and less than or equal to the fourth threshold 30, it is marked as a risky state; if the differential age is greater than the fourth threshold 40, it is marked as an invalid state.

[0068] Furthermore, the lowest evaluation level among the stability state obtained from the spatial change rate index value and the stability state obtained from the difference age is used as the stability state corresponding to the second-level stability level.

[0069] Those skilled in the art should understand that the first threshold, the second threshold, the third threshold and the fourth threshold here can be set according to the actual requirements for RTK positioning accuracy, and the above values are only for example.

[0070] In some embodiments, the third tier stability level is determined based on the number of satellites and the PDOP.

[0071] For example, in response to the number of satellites being greater than the fifth threshold and the PDOP being less than the seventh threshold, the third-layer stability level is determined to be in a stable state; in response to the number of satellites being less than the sixth threshold or the PDOP being greater than the eighth threshold, the third-layer stability level is determined to be in a risky state; in response to other values of the number of satellites and the spatial change rate, the third-layer stability level is determined to be in a failure state.

[0072] In the above embodiment, the number of satellites refers to the number of satellites from positioning satellite systems such as the GPS (Global Positioning System) and the BDS (Beidou Navigation Satellite System) received at the receiver's location. In a single system, at least four satellites are required for positioning. In a multi-mode system, decimeter-level positioning is possible when the number of available satellites exceeds the fifth threshold of 20. When the number of satellites is less than the sixth threshold of 10, the mobile station user terminal may be in a semi-obscured area, significantly reducing the accuracy of the positioning results. Therefore, a satellite number greater than the fifth threshold of 20 is marked as stable; a satellite number less than or equal to the fifth threshold of 20 and greater than or equal to the sixth threshold of 10 is marked as risky; and a satellite number less than the sixth threshold of 10 is marked as failed.

[0073] In the above embodiment, PDOP represents a unitless number representing the relationship between the user position error and the satellite position error, reflecting the factor by which positioning accuracy is degraded, which is related to the spatial geometric distribution of the measured satellites. Generally, a PDOP value less than the seventh threshold of 3 is considered ideal. In complex environments (such as urban canyons or forested areas), the PDOP value may be in the range of [3, 5], resulting in a decrease in positioning accuracy, but still meeting general requirements. When the surrounding environment is severely obstructed, the PDOP value will exceed the eighth threshold, making the positioning results difficult to meet usage requirements. Therefore, a PDOP value less than the seventh threshold of 3 is marked as stable; a PDOP greater than or equal to the seventh threshold of 3 and less than or equal to the eighth threshold of 5 is marked as a risky state; and a PDOP greater than the eighth threshold of 5 is marked as an invalid state.

[0074] Furthermore, the lowest evaluation level among the stability status obtained based on the number of satellites and the stability status obtained based on PDOP is used as the stability status corresponding to the third-tier stability level.

[0075] Those skilled in the art should understand that the fifth threshold, the sixth threshold, the seventh threshold and the eighth threshold here can be set according to the actual requirements for RTK positioning accuracy, and the above values are only for example.

[0076] The fourth stability level of the decision tree model is determined based on the first stability level, the second stability level, and the third stability level of the decision tree model. The fourth stability level corresponds to the stability of the RTK positioning result at the current moment.

[0077] The following will take a specific embodiment as an example to introduce the output result of judging the stability of the RTK positioning result according to the stability level of each layer in the decision tree model.

[0078] For example, Figure 4 As shown, Figure 4 A schematic diagram of the decision tree model of some embodiments of the present disclosure is shown. In this embodiment, the positioning status is divided into the first level. Since the spatial position change rate index value and the differential age can more directly reflect the stability of the current positioning and have a strong linear relationship with the stability of the RTK positioning result, the spatial position change rate index value and the differential age are divided into the second level. The number of satellites or PDOP does not have a linear relationship with the stability of the RTK positioning result. Therefore, the number of satellites and PDOP are divided into the third level.

[0079] Through the division of the above-mentioned priority hierarchical structure, the decision tree model is used to synthesize the stability level in real time. Since the decision tree model uses three-layer judgment, it is faster than judging multiple parameters in sequence, and can achieve millisecond-level status updates and rapid response of the control system.

[0080] In some embodiments, determining the fourth-level stability level of the decision tree model based on the first-level stability level, the second-level stability level, and the third-level stability level of the decision tree model includes: in response to the first-level stability level being a stable state, determining the fourth-level stability level based on the second-level stability level and the third-level stability level; in response to the first-level stability level being a failure state, determining the fourth-level RTK positioning result to be a failure state.

[0081] In the above embodiment, if the positioning state in the first stability level corresponds to an unfixed solution (i.e., status code ≠ 4), the RTK positioning result is directly judged as invalid, and no further analysis is performed. In other words, the parameter indicators corresponding to the positioning state have the highest priority. If the stability level corresponding to the positioning state identifies an unfixed state, the RTK positioning result is directly judged as invalid without considering other parameters. If the stability level corresponding to the positioning state identifies a stable state, further judgment is required based on the parameters in the second and third levels.

[0082] In some embodiments, in response to the lowest evaluation status among the second-level stability level and the third-level stability level, as the fourth-level stability level, the stability level of each of the second-level stability level, the third-level stability level and the fourth-level stability level includes one of a stable state, a risky state and a failure state, and the evaluation statuses of the stable state, the risky state and the failure state decrease in sequence.

[0083] In the above embodiment, if one stability level in each layer parameter corresponds to a failure state, the RTK positioning result is determined to be in a failure state; alternatively, if all stability levels correspond to a stable state, the RTK positioning result is determined to be in a stable state; alternatively, if none of the stability levels include a failure state, but at least one stability level corresponds to a risk state, the RTK positioning result is determined to be in a risk state. The output results of each layer are combined to determine the stability of the RTK positioning result.

[0084] For example, if the output result of the first stability level is an invalid state, the RTK positioning result is also an invalid state. If the output result of the first stability level is stable, the output result of the second stability level is stable, and the output result of the third stability level is also stable, the RTK positioning result is stable. If the output result of the second stability level is an invalid state, the RTK positioning result is also an invalid state regardless of the output result of the third stability level. If the output result of the second stability level is a risk state, and the output result of the third stability level is stable or risky, the RTK positioning result is a risk state. If the output result of the third stability level is an invalid state, the RTK positioning result is also an invalid state.

[0085] In this embodiment, multiple parameters are prioritized, facilitating subsequent identification of the stability of RTK positioning results through a decision tree model. By promptly monitoring abnormal RTK positioning results, timely resolution can be implemented. For example, if the RTK positioning result indicates a risk, auxiliary measures can be implemented for precise positioning; if the RTK positioning result indicates an invalid result, the result is no longer used.

[0086] In the above-mentioned embodiments, a hierarchical determination method based on the priority fusion of multiple source indicators is proposed to address the issues of dynamic error coupling and monitoring lag in complex environments. By combining dynamic threshold division and hierarchical degradation principles with a decision tree model to output a stability rating (stable / risky / failed) in real time, this method achieves millisecond-level response, provides reliability assurance for multi-sensor fusion and control system observation switching, and improves system operational stability in semi-occluded scenarios.

[0087] The above is a monitoring method for the stability of positioning results provided by the embodiment of the present disclosure. Figure 5A monitoring system for positioning result stability according to an embodiment of the present disclosure is described, which is used to execute any embodiment of the above-mentioned monitoring method.

[0088] Figure 5 A block diagram of a monitoring system for positioning result stability according to some embodiments of the present disclosure is shown. The detection system 5 includes a calculation module 510 and a determination module 520 .

[0089] The calculation module 510 is configured to calculate the spatial change rate index value at the current moment based on the RTK positioning results within a predetermined time. The spatial change rate index value at the current moment is used to describe the degree of spatial position jump of the RTK positioning results at the current moment.

[0090] In some embodiments, the calculation module 510 is configured to calculate the spatial position change rate of adjacent moments within the predetermined time based on the RTK positioning results within the predetermined time; and calculate the spatial change rate index value at the current moment based on the spatial position change rate of adjacent moments within the predetermined time.

[0091] In some embodiments, the minimum spatial position change rate, the maximum spatial position change rate, and the spatial position change rate at the current moment within the predetermined time are determined based on the spatial position change rate of adjacent moments within the predetermined time; the spatial change rate index value at the current moment is determined by normalization based on the minimum spatial position change rate, the maximum spatial position change rate, and the spatial position change rate at the current moment.

[0092] The determination module 520 is configured to form a decision tree model according to the RTK positioning state, the spatial change rate index value, the difference age, the number of satellites and the positioning precision dilution factor PDOP to determine the stability of the RTK positioning result at the current moment.

[0093] In some embodiments, the determination module 520 is configured to determine a first-level stability level based on the RTK positioning status; determine a second-level stability level based on the spatial change rate index value and the differential age; determine a third-level stability level based on the number of satellites and PDOP; and determine a fourth-level stability level of the decision tree model based on the first-level stability level, the second-level stability level, and the third-level stability level of the decision tree model, where the fourth-level stability level corresponds to the stability of the RTK positioning result at the current moment.

[0094] In some embodiments, the determination module 520 is configured to determine the fourth-layer stability level based on the second-layer stability level and the third-layer stability level in response to the first-layer stability level being in a stable state; and to determine the fourth-layer stability level as a failed state in response to the first-layer stability level being in a failed state.

[0095] In some embodiments, the determination module 520 is configured to take the lowest evaluation status of the second-level stability level and the third-level stability level as the fourth-level stability level, and the stability level of each level in the second-level stability level, the third-level stability level and the fourth-level stability level includes one of a stable state, a risky state and a failure state, and the evaluation statuses of the stable state, the risky state and the failure state decrease in sequence.

[0096] In some embodiments, the determination module 520 is configured to determine that the first layer stability level is a stable state in response to the RTK positioning state being a fixed solution; and determine that the first layer stability level is an invalid state in response to the RTK positioning state being a non-fixed solution.

[0097] In some embodiments, the determination module 520 is configured to determine that the second-layer stability level is a stable state in response to the spatial change rate index value being less than a first threshold and the differential age being less than a third threshold; to determine that the second-layer stability level is a failure state in response to the spatial change rate index value being greater than a second threshold or the differential age being greater than a fourth threshold; and to determine that the second-layer stability level is a risky state in response to other values of the spatial change rate and the differential age.

[0098] In some embodiments, the determination module 520 is configured to determine that the third-layer stability level is a stable state in response to the number of satellites being greater than a fifth threshold and the PDOP being less than a seventh threshold; to determine that the third-layer stability level is a risky state in response to the number of satellites being less than a sixth threshold or the PDOP being greater than an eighth threshold; and to determine that the third-layer stability level is a failure state in response to other values of the number of satellites and PDOP.

[0099] In the above embodiment, the effectiveness of RTK positioning results under complex error coupling is judged by integrating multiple information, which can make up for the defect that traditional RTK relies on PDOP and cannot capture instantaneous errors, and provide millisecond-level decision-making basis for multi-sensor fusion or observation switching of control systems.

[0100] It should be noted that the aforementioned modules are merely logical modules divided according to the specific functions they implement, and are not intended to limit specific implementation methods. For example, they may be implemented in software, hardware, or a combination of software and hardware. In actual implementation, the aforementioned modules may be implemented as independent physical entities, or they may be implemented by a single entity (e.g., a processor (CPU or DSP, etc.), an integrated circuit, etc.). Furthermore, the aforementioned modules are depicted with dashed lines in the accompanying drawings to indicate that these modules may not actually exist, and that the operations / functions they implement may be implemented by the processing circuit itself.

[0101] Figure 6A block diagram of a system for monitoring positioning result stability according to another embodiment of the present disclosure is shown. The monitoring system 600 includes a memory 610 and a processor 620. The memory 610 can be a disk, flash memory, or any other non-volatile storage medium. The memory is used to store instructions described in the above embodiments. The processor 620 is coupled to the memory 610 and can be implemented as one or more integrated circuits, such as a microprocessor or microcontroller. The processor 620 is used to execute the instructions stored in the memory.

[0102] In some embodiments, the processor 620 is coupled to the memory 610 via a BUS 630. The monitoring system 600 can also be connected to an external storage system 660 via a storage interface 640 to access external data, and can also be connected to a network or another computer system (not shown) via a network interface 660. A detailed description is omitted here.

[0103] In this embodiment, the memory stores data instructions and the processor processes the instructions, thereby overcoming the defect that the traditional RTK relies on PDOP and cannot capture instantaneous errors.

[0104] In other embodiments, a computer-readable storage medium stores computer program instructions, which, when executed by a processor, implement the steps of the method in the above-described embodiment. It should be understood by those skilled in the art that the embodiments of the present disclosure can be provided as methods, apparatus, or computer program products. Therefore, the present disclosure can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present disclosure can take the form of a computer program product implemented on one or more computer-usable non-transitory storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0105] In some embodiments, a computer program product is protected, including a computer program or instructions that implement the above-mentioned method when executed by a processor. The computer program product includes a computer program carried on a computer-readable medium, and the computer program contains program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via a communication device, or installed from a storage device, or installed from a ROM. When the computer program is executed by a CPU, the above-mentioned functions defined in the method of the embodiment of the present disclosure are performed.

[0106] The present disclosure is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present disclosure. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0107] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0108] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 The steps for the function specified in one or more boxes.

[0109] The present disclosure has been described in detail so far. To avoid obscuring the concept of the present disclosure, some details known in the art have not been described. Based on the above description, those skilled in the art can fully understand how to implement the technical solutions disclosed herein.

[0110] The methods and apparatus of the present disclosure may be implemented in many ways. For example, the methods and apparatus of the present disclosure may be implemented by software, hardware, firmware, or any combination of software, hardware, and firmware. The above order of steps for the method is for illustration only, and the steps of the method of the present disclosure are not limited to the order specifically described above, unless otherwise specifically stated. In addition, in some embodiments, the present disclosure may also be implemented as programs recorded in a recording medium, which include machine-readable instructions for implementing the methods according to the present disclosure. Therefore, the present disclosure also covers recording media that store programs for executing the methods according to the present disclosure.

[0111] Although some specific embodiments of the present disclosure have been described in detail by way of examples, those skilled in the art will appreciate that the above examples are for illustrative purposes only and are not intended to limit the scope of the present disclosure. Those skilled in the art will appreciate that modifications may be made to the above embodiments without departing from the scope and spirit of the present disclosure. The scope of the present disclosure is defined by the appended claims.

Claims

1. A method for monitoring the stability of positioning results, comprising: Calculate the spatial change rate index value at the current moment based on the real-time dynamic carrier phase difference RTK positioning result within a predetermined time, wherein the spatial change rate index value at the current moment is used to describe the degree of spatial position jump of the RTK positioning result at the current moment; A decision tree model is formed according to the RTK positioning state, the spatial change rate index value, the differential age, the number of satellites and the positioning precision degradation factor PDOP to determine the stability of the RTK positioning result at the current moment.

2. The monitoring method according to claim 1, wherein: Calculating the spatial change rate index value at the current moment based on the RTK positioning results within the predetermined time includes: Calculate the spatial position change rate of adjacent moments within the predetermined time based on the RTK positioning results within the predetermined time; The spatial change rate index value at the current moment is calculated according to the spatial position change rate of adjacent moments within the predetermined time.

3. The monitoring method according to claim 2, wherein: Calculating the spatial change rate index value at the current moment based on the spatial position change rate of adjacent moments within the predetermined time includes: Determining a minimum spatial position change rate, a maximum spatial position change rate, and a spatial position change rate at a current moment within the predetermined time based on the spatial position change rates at adjacent moments within the predetermined time; The spatial position change rate index value at the current moment is determined by normalization according to the minimum spatial position change rate, the maximum spatial position change rate, and the spatial position change rate at the current moment.

4. The monitoring method according to any one of claims 1 to 3, wherein: The forming of a decision tree model according to the RTK positioning state, the spatial change rate index value, the differential age, the number of satellites and the positioning precision degradation factor PDOP includes: Determining a first layer stability level according to the RTK positioning state; determining a second layer stability level according to the spatial change rate index value and the differential age; determining a third layer stability level according to the number of satellites and the PDOP; The fourth stability level of the decision tree model is determined based on the first stability level, the second stability level and the third stability level of the decision tree model, and the fourth stability level corresponds to the stability of the RTK positioning result at the current moment.

5. The monitoring method according to claim 4, wherein: Determining the fourth level stability level of the decision tree model according to the first level stability level, the second level stability level, and the third level stability level of the decision tree model includes: In response to the first layer stability level being in a stable state, determining the fourth layer stability level according to the second layer stability level and the third layer stability level; In response to the first layer stability level being in a failed state, the fourth layer stability level is determined to be in a failed state.

6. The monitoring method according to claim 5, wherein: Determining the fourth-layer stability level according to the second-layer stability level and the third-layer stability level includes: The lowest evaluation state among the second-level stability level and the third-level stability level is taken as the fourth-level stability level. The stability level of each of the second-level stability level, the third-level stability level and the fourth-level stability level includes one of a stable state, a risky state and a failure state, and the evaluation states of the stable state, the risky state and the failure state decrease in sequence.

7. The monitoring method according to claim 4, wherein: Determining the first layer stability level according to the RTK positioning state includes: In response to the RTK positioning state being a fixed solution, the first layer stability level is a stable state; In response to the RTK positioning state being a non-fixed solution, the first layer stability level is in an invalid state.

8. The monitoring method according to claim 4, wherein: Determining the second layer stability level according to the spatial change rate index value and the differential age includes: In response to the spatial change rate index value being less than a first threshold and the differential age being less than a third threshold, determining that the second layer stability level is in a stable state; In response to the spatial change rate index value being greater than a second threshold or the differential age being greater than a fourth threshold, determining that the second layer stability level is in a failure state; In response to other values of the spatial change rate and the differential age, the second layer stability level is determined to be a risky state.

9. The monitoring method according to claim 4, wherein: Determining the third layer stability level according to the number of satellites and the PDOP includes: In response to the number of satellites being greater than a fifth threshold and the PDOP being less than a seventh threshold, determining that the third layer stability level is a stable state; In response to the number of satellites being less than a sixth threshold or the PDOP being greater than an eighth threshold, determining that the third layer stability level is a risk state; In response to the number of satellites and other values of the PDOP, the third layer stability level is determined to be in a failure state.

10. A system for monitoring the stability of positioning results, comprising: a calculation module configured to calculate a spatial change rate index value at a current moment based on a real-time dynamic carrier phase difference RTK positioning result within a predetermined time, wherein the spatial change rate index value at the current moment is used to describe a degree of spatial position jump of the RTK positioning result at the current moment; The determination module is configured to form a decision tree model based on the RTK positioning state, the spatial change rate index value, the differential age, the number of satellites and the positioning precision degradation factor PDOP to determine the stability of the RTK positioning result at the current moment.

11. A system for monitoring the stability of positioning results, comprising: Memory; as well as A processor coupled to the memory, wherein the processor is configured to execute the monitoring method according to any one of claims 1 to 9 based on instructions stored in the memory.

12. A computer-readable storage medium having computer instructions stored thereon, wherein when the instructions are executed by a processor, the monitoring method according to any one of claims 1 to 9 is implemented.

13. A computer program product comprising computer instructions, wherein when the computer instructions are executed by a processor, the monitoring method according to any one of claims 1 to 9 is implemented.

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