Real-time position acquisition method and system based on Beidou satellite positioning

Abstract

The invention discloses a real-time position obtaining method and system based on Beidou satellite positioning, and relates to the technical field of high-precision positioning, and the method comprises the steps: receiving a Beidou satellite signal, obtaining an original observation value, obtaining precise ephemeris, clock correction information and error correction parameters, carrying out the decoding and preprocessing of the obtained data, and carrying out the decoding and preprocessing of the obtained data; and carrying out position calculation according to the preprocessed data and the error correction parameters to obtain real-time position coordinates, transmitting the real-time position coordinates to a remote monitoring center, continuously updating the satellite signals and the error correction parameters, and carrying out dynamic monitoring. Through the steps of receiving Beidou satellite signals, acquiring precise ephemeris and error information, decoding and preprocessing the signals, resolving the position, dynamically monitoring and the like, high-precision and stable real-time positioning is realized, the influence of ionosphere and troposphere errors and a multi-path effect is effectively reduced, and the positioning precision and reliability are improved.

Description

Technical Field

[0001] The present invention relates to the field of high-precision positioning technology, and in particular to a real-time position acquisition method and system based on Beidou satellite positioning. Background Art

[0002] With the rapid development of satellite navigation technology, global navigation satellite systems (GNSS) such as the Beidou Navigation Satellite System (BDS) are increasingly being used across various industries. In particular, accurate location information is crucial for improving work efficiency, ensuring personnel safety, and providing disaster prediction and early warning. However, existing positioning devices generally have limitations.

[0003] First, while traditional positioning systems are widely used worldwide, they are costly, lack integration, and suffer from low positioning accuracy. However, positioning technology based on the Beidou satellite navigation system has rapidly developed. As China's independently developed global satellite navigation system, the Beidou system has gradually improved its positioning accuracy, stability, and anti-interference capabilities, offering significant advantages, particularly in domestic applications.

[0004] Secondly, while existing positioning devices can achieve basic positioning functions, their real-time positioning capabilities, positioning accuracy, and device stability remain limited in complex environments, especially in specific scenarios such as disasters, underground monitoring, and subsidence monitoring. Many traditional positioning devices are unable to provide reliable real-time positioning data in harsh environmental conditions and lack efficient data transmission and processing capabilities. This often leads to untimely or inaccurate data in critical applications such as post-disaster recovery and geological monitoring. Summary of the Invention

[0005] In view of the above-mentioned problems, the present invention is proposed.

[0006] Therefore, the technical problem solved by the present invention is: the existing traditional satellite positioning system has low positioning accuracy, poor real-time performance and insufficient stability due to factors such as ionosphere and troposphere errors, multipath effects and clock deviations in complex environments.

[0007] To solve the above technical problems, the present invention provides the following technical solutions: a real-time position acquisition method based on Beidou satellite positioning, comprising: receiving Beidou satellite signals, obtaining original observation values, and obtaining precise ephemeris, clock information, and error correction parameters; decoding and preprocessing the acquired data, performing position calculation based on the preprocessed data and error correction parameters to obtain real-time position coordinates; transmitting the real-time position coordinates to a remote monitoring center, continuously updating the satellite signals and error correction parameters, and performing dynamic monitoring.

[0008] As a preferred solution of the real-time position acquisition method based on Beidou satellite positioning described in the present invention, wherein: the receiving of Beidou satellite signals includes: the satellite receiver front end down-converting the captured signals, performing pseudo code stripping and carrier tracking, outputting pseudo range observation values ​​and carrier phase observation values, encapsulating the output data, and adding a time tag and receiver status information;

[0009] The carrier-to-noise ratio and pseudorange change rate of the satellite signal are calculated in real time. When a cycle slip or signal loss is detected, the recapture mechanism is immediately triggered.

[0010] As a preferred solution of the real-time position acquisition method based on Beidou satellite positioning according to the present invention, wherein: the original observation value includes a pseudorange measurement value and a carrier phase measurement value;

[0011] The error correction parameters include signal decoding of the original observation value, removing noise interference, setting a signal-to-noise ratio threshold, and eliminating satellite data with a signal-to-noise ratio lower than the set threshold.

[0012] As a preferred solution of the real-time position acquisition method based on Beidou satellite positioning described in the present invention, the preprocessing includes parsing the original data stream, extracting the pseudorange and carrier phase observation values ​​of each frequency point, correlating them with satellite ephemeris parameters, detecting and eliminating gross error observation values, and using a three-frequency geometry-free combination to detect cycle slips;

[0013] The preprocessing also includes calculating the differential code deviation correction at the satellite end and the receiver end, using a dual-frequency ionospheric elimination combination to reduce the influence of ionospheric delay, establishing a combined observation equation of pseudorange and carrier phase, and forming a design matrix and observation vector.

[0014] As an optimal solution of the real-time position acquisition method based on Beidou satellite positioning described in the present invention, the position solution includes performing precise single-point positioning solution based on processed observation data and precise ephemeris, clock difference file and error file to obtain the real-time position coordinates of the current device.

[0015] As a preferred embodiment of the real-time position acquisition method based on Beidou satellite positioning described in the present invention, the positioning solution includes calculating the initial position and clock error of the receiver based on pseudorange observations, using the initial values ​​of the iterative calculation as the initial values, and solving the real-time high-precision position coordinates of the device through non-difference and non-combination processing of the carrier phase observations;

[0016] The non-differenced and non-combined processing includes establishing equations for the pseudorange and carrier phase observations of each frequency point, retaining the frequency characteristics of the original observations, dynamically adjusting the observation weights according to the satellite elevation angle and signal quality, adopting an elevation-related exponential function model, and using a sequential least squares adjustment method to estimate the position parameters, clock error parameters, and atmospheric delay parameters in steps. The wide-lane ambiguity is fixed using the MW combination, and the narrow-lane ambiguity is fixed using a geometrically independent combination.

[0017] As a preferred solution of the real-time position acquisition method based on Beidou satellite positioning described in the present invention, the dynamic monitoring includes uploading the position information obtained by positioning solution to a remote monitoring center or terminal device, performing real-time monitoring and status update of the observation location, and the user viewing the current coordinate position, monitoring historical trajectory and displacement trend at the remote monitoring end, providing a decision-making basis for disaster warning and subsidence monitoring.

[0018] Another object of the present invention is to provide a real-time position acquisition system based on Beidou satellite positioning.

[0019] To solve the above technical problems, the present invention provides the following technical solutions: a real-time position acquisition system based on Beidou satellite positioning, comprising: a Beidou satellite receiving module, a data processing module, a network module and a power management module.

[0020] The BeiDou satellite receiving module is used to receive BeiDou satellite signals in real time, obtain pseudorange and carrier phase observation information, perform pseudocode stripping and carrier tracking, output high-precision raw observation data, calculate the carrier-to-noise ratio and pseudorange change rate in real time, detect cycle slips or signal loss, and trigger a recapture mechanism.

[0021] The data processing module is used to parse raw data, extract observation values, associate ephemeris parameters, establish an error model, apply a non-differential non-combined precise point positioning algorithm and ambiguity processing, and realize the whole process from raw data to high-precision coordinates.

[0022] The network module is used to access the network through the protocol to obtain real-time error correction parameters, and use the mobile network to upload the solved location information to the remote monitoring center in real time, while dynamically interacting with the regional enhancement server to optimize the positioning model parameters.

[0023] The power management module is used to provide a stable and sustainable energy supply for the device.

[0024] The present invention provides a computer device, comprising a memory and a processor, wherein the memory stores a computer program, and is characterized in that when the processor executes the computer program, the steps of the method for real-time position acquisition based on Beidou satellite positioning are implemented.

[0025] The present invention provides a computer-readable storage medium having a computer program stored thereon, characterized in that when the computer program is executed by a processor, the steps of the method for real-time position acquisition based on Beidou satellite positioning are implemented.

[0026] The beneficial effects of the present invention are as follows: the present invention realizes real-time, high-precision position acquisition by receiving Beidou satellite signals, obtaining original observation values ​​and precise ephemeris, clock information and error correction parameters; performs down-conversion processing, pseudo-code stripping and carrier tracking on satellite signals, outputs pseudo-range and carrier phase observation values, and calculates the carrier-to-noise ratio and pseudo-range change rate of satellite signals in real time, thereby ensuring the stability and accuracy of signal processing; performs signal decoding on the original observation values, removes noise interference, and sets a signal-to-noise ratio threshold to eliminate low-quality data, thereby realizing preliminary purification of the observation data; and performs pre-processing steps such as parsing the original data stream, extracting pseudo-range and carrier phase observation values, associating satellite ephemeris parameters, detecting and eliminating gross error observation values, and using a three-frequency geometry-free combination to detect cycle slips. The system further improves the accuracy and reliability of the data; and performs precise single-point positioning solution based on the processed observation data and precise ephemeris, clock error file and error file to obtain the real-time position coordinates of the current device, realizing the conversion from observation data to position coordinates; calculates the initial position and clock error of the receiver through pseudo-range observation values, which are used as the initial values ​​of the iterative calculation, and adopts non-difference and non-combination processing of carrier phase observation values ​​to solve the real-time high-precision position coordinates of the device, and fixes the wide-lane and narrow-lane ambiguities, which greatly improves the accuracy and efficiency of positioning solution; and uploads the position information obtained by positioning solution to the remote monitoring center or terminal device for real-time monitoring and status update of the observation site, providing decision-making basis for disaster warning, subsidence monitoring, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0028] Figure 1 This is an overall flow chart of a real-time position acquisition method based on Beidou satellite positioning provided by the first embodiment of the present invention.

[0029] Figure 2 A schematic diagram of the module structure of a real-time position acquisition method based on Beidou satellite positioning provided by the first embodiment of the present invention. DETAILED DESCRIPTION

[0030] To make the above-mentioned objects, features, and advantages of the present invention more clearly understood, the following detailed description of the specific embodiments of the present invention is given in conjunction with the accompanying drawings. It is obvious that the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary persons in this field without creative work should fall within the scope of protection of the present invention.

[0031] Example 1, reference Figure 1 , as an embodiment of the present invention, provides a real-time position acquisition method based on Beidou satellite positioning, comprising:

[0032] S1: Receive BeiDou satellite signals, obtain original observation values, and obtain precise ephemeris, clock information, and error correction parameters.

[0033] Furthermore, receiving Beidou satellite signals includes adopting a right-hand circular polarization design for the antenna array, and enhancing the ability to capture Beidou GEO / IGSO / MEO satellite signals through adaptive beamforming technology; the receiver front end down-converts the B1, B2, and B3 signals, and the digital baseband unit completes pseudo-code stripping and carrier tracking, outputting pseudo-range and carrier phase observation values ​​with a sampling rate of 1Hz; and calculating the carrier-to-noise ratio and pseudo-range change rate of each satellite signal in real time. When a cycle slip or signal loss of lock is detected, the recapture mechanism is triggered, and the observation data is encapsulated in the RTCM3.3 protocol format, and a time tag and receiver status information are added.

[0034] The multi-band design significantly improves signal redundancy, enabling continuous observation even in ionospheric disturbances or obstruction environments, ensuring the stability and reliability of positioning data.

[0035] Furthermore, obtaining raw observation values ​​involves accessing the CORS reference station network through the NTRIP protocol, receiving real-time precise ephemeris and clock correction streams at a frequency of 1 Hz, and extracting satellite orbit corrections, clock corrections, and code bias parameters from the SSR correction information. Based on the approximate position of the receiver, grid ionospheric delay corrections and tropospheric zenith delay forecasts are obtained from the regional augmentation server, and all types of corrections are unified to the same time reference to establish a complete error correction model that includes orbit error, clock error, ionospheric delay, and tropospheric delay.

[0036] Acquire high-precision auxiliary data in real time, shorten the convergence time of positioning solution, and avoid the dependence of traditional differential positioning on base stations.

[0037] In an embodiment of the present application, the receiving of Beidou satellite signals includes: the satellite receiver front end down-converts the captured signal, performs pseudo-code stripping and carrier tracking, outputs pseudo-range observation values ​​and carrier phase measurement observation values, encapsulates the output data, and adds time tags and receiver status information; calculates the carrier-to-noise ratio and pseudo-range change rate of the satellite signal in real time, and immediately triggers the recapture mechanism when a cycle slip or signal loss is detected.

[0038] In an optional embodiment, the receiving of Beidou satellite signals includes pre-setting 6 fixed beam directions according to the Beidou satellite orbit type, covering an elevation angle range of 15° to 75°, detecting the satellite signal carrier-to-noise ratio received by each beam every 10 seconds, selecting the beam corresponding to the maximum value as the current receiving direction, rescanning all predefined beams every 5 minutes, updating the optimal beam direction, and suppressing multipath signals in non-main beam directions through the spatial selectivity of the beam pattern.

[0039] In another optional embodiment, the receiving of Beidou satellite signals includes dividing the satellite elevation angle into three regions: high (elevation angle > 45°), medium (elevation angle of 20°~45°), and low (elevation angle <20°). A narrow beam is used in the high elevation angle area, and a wide beam is used in the medium and low elevation angles. The corresponding beam mode is automatically switched according to the real-time elevation angle of the satellite, and the signals of the same satellite under different beams are weighted and combined, and the weights are allocated according to the signal-to-noise ratio.

[0040] S2: Decode and preprocess the acquired data, and perform position calculation based on the preprocessed data and error correction parameters to obtain real-time position coordinates.

[0041] In an embodiment of the present application, the preprocessing includes parsing the original data stream, extracting the pseudorange and carrier phase observation values ​​of each frequency point, and associating the corresponding satellite ephemeris parameters, using the robust estimation method to detect and eliminate gross error observation values, using a three-frequency geometry-free combination to detect cycle slips, and calculating the differential code deviation correction at the satellite and receiver ends, applying a dual-frequency ionospheric elimination combination to reduce the impact of ionospheric delay, establishing a combined observation equation containing pseudorange and carrier phase, and forming a design matrix and observation vector.

[0042] In an optional embodiment, the preprocessing includes fixing the window length to 8, not dynamically adjusting with the signal quality, taking the arithmetic mean of the pseudorange observations within the window, and marking the observations as invalid when they deviate from the mean by more than 3 times the standard deviation. The unremoved observations are retained and directly input into the positioning solution step.

[0043] In another optional embodiment, the preprocessing includes disabling filtering and directly using the original data when the signal-to-noise ratio is greater than 40 dB / Hz; enabling a sliding window mean filter with a length of 5 when the signal-to-noise ratio is less than or equal to 40 dB / Hz, marking potential multipath data by the rate of change of pseudoranges between adjacent epochs, applying filtering only to the marked data, and retaining the original value of the remaining data.

[0044] Furthermore, the position solution includes calculating the initial position and clock error of the receiver based on the pseudorange observation value as the initial value of the iterative calculation, and performing precise single-point positioning solution based on the processed observation data and precise ephemeris, clock error file and error file to obtain the real-time position coordinates of the current device.

[0045] Positioning solution includes calculating the initial position and clock error of the receiver based on the pseudo-range observation value, which is used as the initial value for iterative calculation. The real-time high-precision position coordinates of the device are solved through non-difference and non-combination processing of the carrier phase observation value.

[0046] It should be noted that the non-difference and non-combination processing includes establishing equations for the pseudorange and carrier phase observations of each frequency point respectively, retaining the frequency characteristics of the original observations, dynamically adjusting the observation weights according to the satellite elevation angle and signal quality, adopting an elevation-related exponential function model, and using the sequential least squares adjustment method to estimate the position parameters, clock error parameters and atmospheric delay parameters in steps, using the MW combination to fix the wide lane ambiguity, and using the geometrically independent combination to fix the narrow lane ambiguity.

[0047] The non-difference non-combinatorial formula is expressed as:

[0048]

[0049]

[0050] in, and The geometric distance of the phase center of the antenna at the receiver, and is the carrier phase observation value of the receiver antenna, is the geometric distance from the satellite to the phase center of the receiver antenna, c is the speed of light in vacuum, dt r is the receiver clock error, D r is the receiver pseudorange hardware delay based on the ionosphere-free combination, M·zwd is the tropospheric zenith wet delay, M is the projection function of zwd, λ1 is the scaling factor for frequency 1, λ2 is the scaling factor for frequency 2, and is the slant ionospheric delay including the DCB effect between P1 and P2 code frequencies at the receiver, and is the cycle slip detected by the three-frequency geometry-free combination, and is the measurement noise and the residual unmodeled error.

[0051] S3: Transmit the real-time location coordinates to the remote monitoring center, continuously update the satellite signals and error correction parameters, and conduct dynamic monitoring.

[0052] The location information obtained by positioning solution is uploaded to the remote monitoring center or terminal device (such as PC, server, mobile terminal) to realize real-time monitoring and status update of the observation location.

[0053] Users can view the current coordinate position, monitoring history trajectory and displacement trend on the remote monitoring terminal, providing decision-making basis for disaster warning, subsidence monitoring or other applications.

[0054] The device continuously receives Beidou satellite signals and obtains the latest precision products (precision ephemeris, clock error, DCB, ionospheric and tropospheric errors, etc.) through the network module to maintain the real-time nature of the observation data.

[0055] The positioning results are continuously corrected and output based on the updated error correction parameters to ensure that high-precision and stable positioning solutions can be obtained even in long-term monitoring or unmanned environments.

[0056] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

[0057] Embodiment 2 is an embodiment of the present invention, which provides a real-time position acquisition system based on Beidou satellite positioning, including: a Beidou satellite receiving module, a data processing module, a network module and a power management module.

[0058] The BeiDou satellite receiving module is used to receive BeiDou satellite signals in real time, obtain pseudorange and carrier phase observation information, perform pseudocode stripping and carrier tracking, output high-precision raw observation data, calculate the carrier-to-noise ratio and pseudorange change rate in real time, detect cycle slips or signal loss, and trigger a recapture mechanism.

[0059] The data processing module is used to parse raw data, extract observation values, associate ephemeris parameters, establish an error model, apply a non-differential non-combined precise point positioning algorithm and ambiguity processing, and realize the whole process from raw data to high-precision coordinates.

[0060] The network module is used to access the network through the protocol to obtain real-time error correction parameters, and use the mobile network to upload the solved location information to the remote monitoring center in real time, while dynamically interacting with the regional enhancement server to optimize the positioning model parameters.

[0061] The power management module is used to provide a stable and sustainable energy supply for the device.

[0062] Example 3, an embodiment of the present invention, is different from the previous two embodiments in that:

[0063] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, 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. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0064] The logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing the logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (e.g., a computer-based system, a system including a processor, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device). For purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by, or in conjunction with, an instruction execution system, apparatus, or device.

[0065] More specific examples (a non-exhaustive list) of computer-readable media include the following: an electrical connection with one or more wires (electronic devices), a portable computer disk cartridge (magnetic devices), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disc read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, deciphering, or processing in another suitable manner as necessary, and then stored in a computer memory.

[0066] It should be understood that various parts of the present invention can be implemented using hardware, software, firmware, or a combination thereof. In the above-described embodiments, multiple steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application-specific integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0067] Example 4 is an embodiment of the present invention, which provides a real-time position acquisition method and system based on Beidou satellite positioning. In order to verify the beneficial effects of the present invention, scientific demonstration is carried out through simulation experiments.

[0068] The test was conducted in various geographical environments, including open areas, mountainous areas, and densely built-up urban areas. These diverse environments can simulate satellite signal reception and positioning error variations under various complex conditions.

[0069] The experimental equipment consists of a Beidou satellite receiver module, a network module, and a data processing module. The Beidou satellite receiver module can receive signals from multiple satellites, obtain pseudorange and carrier phase measurements, and supports dual-frequency signal reception. The network module connects to an external server to receive high-precision auxiliary data such as precise ephemeris, satellite clock error, and differential code bias (DCB) in real time. The data processing module includes a signal decoding unit, a filtering unit, an error correction unit, and a precise single-point positioning solution unit to ensure that errors in the positioning process can be effectively corrected.

[0070] Satellite signal reception: The BeiDou satellite receiving module receives signals from different BeiDou satellites and records pseudorange and carrier phase measurements.

[0071] Precision ephemeris and error data reception: Through the network module, precise ephemeris, satellite clock error, differential code bias (DCB), ionospheric and tropospheric error correction data provided by external servers are obtained in real time.

[0072] Signal decoding and preprocessing: The data processing module decodes the received raw satellite signals, removes noise from the signals, and filters outliers. It uses the Kalman filter algorithm to dynamically estimate the signals and correct errors caused by multipath effects.

[0073] Ionospheric and tropospheric error correction: Ionospheric and tropospheric delays are corrected by establishing an ionospheric model and a Saastamoinen model, respectively. Ionospheric correction uses dual-frequency signal differential processing to reduce ionospheric errors. Tropospheric errors are corrected using real-time meteorological data and a tropospheric model.

[0074] Precise Point Positioning (PPP): Preprocessed and error-corrected satellite signal data is used to calculate the device's real-time location using PPP. This calculation utilizes a non-differential, non-combined model to ensure high-precision and stable positioning results.

[0075] The trial sites were set up in three typical geographical environments:

[0076] Open areas: In areas without obstructions from tall buildings and trees, satellite signal reception is stable and positioning error is small.

[0077] Mountainous areas: Some areas in mountainous areas are subject to satellite signal obstruction and multipath effects, resulting in degraded signal quality and reduced positioning accuracy.

[0078] Urban areas with dense buildings: Cities are densely populated with tall buildings, which may cause signal reflections and multipath effects, thus affecting positioning accuracy.

[0079] During the test, the method of the present invention was compared with the traditional positioning method (based on single-frequency GPS), and the following data results were obtained.

[0080] In tests in open areas, the positioning method of the present invention achieves a positioning accuracy of 0.65 meters, while the traditional method achieves 1.20 meters, a difference of 0.55 meters.

[0081] In tests in mountainous areas, the positioning accuracy of the method of the present invention is 1.10 meters, while the positioning accuracy of the traditional method is 3.50 meters, with a difference of 2.40 meters.

[0082] In tests in urban areas with dense buildings, the positioning accuracy of the method of the present invention is 1.45 meters, while that of the traditional method is 5.00 meters, with a difference of 3.55 meters.

[0083] Under comprehensive conditions, the average positioning accuracy of the method of the present invention is 1.05 meters, while the average positioning accuracy of the traditional method is 3.23 meters, with an improvement of 2.18 meters.

[0084] Through the analysis of the experimental data, it can be clearly seen that the method of the present invention has shown significant advantages in all test scenarios.

[0085] Open Areas: Traditional positioning methods perform relatively well in open areas due to low signal interference. However, even in these areas, the proposed method still achieves a 0.55-meter improvement in positioning accuracy. This is primarily due to the proposed method's dynamic correction of ionospheric and tropospheric errors, which effectively reduces the impact of these error sources on satellite signals, thereby improving positioning accuracy.

[0086] Mountainous areas: Due to complex terrain and signal obstruction, traditional positioning methods suffer from large errors, reaching as high as 3.50 meters. However, the proposed method, through multipath suppression and the application of a precise point positioning algorithm, reduces positioning error to 1.10 meters, an improvement of 2.40 meters. This demonstrates that by employing ionospheric and tropospheric corrections, as well as dynamic multipath estimation, the proposed method can provide higher positioning accuracy in complex environments, addressing the shortcomings of traditional methods in mountainous environments.

[0087] Urban built-up areas: The multipath effect in urban environments significantly impacts traditional positioning methods, resulting in positioning errors as high as 5.00 meters. The proposed method, through real-time detection and correction of multipath signal errors, reduces the impact of reflected signals and reduces positioning error to 1.45 meters, an improvement of 3.55 meters. This demonstrates that the proposed method can effectively address the multipath effect in the complex environments of densely built-up areas, improving positioning accuracy.

[0088] Comprehensive Environment: Across all scenarios, the average positioning accuracy using the proposed method was 1.05 meters, compared to 3.23 meters using the traditional method, an improvement of 2.18 meters. This demonstrates that by utilizing ionospheric and tropospheric corrections, precise point positioning, and multipath mitigation techniques, the proposed method significantly improves positioning accuracy and stability, particularly in complex environments, where it offers advantages over traditional methods.

[0089] Experimental data and analysis results show that the real-time position acquisition method and system based on Beidou satellite positioning of the present invention have significant advantages in various complex environments, especially in the presence of ionospheric and tropospheric errors and multipath effects, and can provide higher-precision positioning results, significantly improving the shortcomings of traditional positioning methods in these environments.

Claims

1. A real-time position acquisition method based on Beidou satellite positioning, characterized in that: include: Receive BeiDou satellite signals, obtain original observation values, and obtain precise ephemeris, clock information, and error correction parameters; Decode and preprocess the acquired data, and perform position calculation based on the preprocessed data and error correction parameters to obtain real-time position coordinates; The real-time location coordinates are transmitted to the remote monitoring center, and satellite signals and error correction parameters are continuously updated for dynamic monitoring.

2. The method for obtaining a real-time position based on Beidou satellite positioning according to claim 1, wherein: The receiving of Beidou satellite signals includes: the satellite receiver front end performs down-conversion processing on the captured signal, performs pseudo code stripping and carrier tracking, outputs pseudo range observation values ​​and carrier phase measurement observation values, encapsulates the output data, and adds a time tag and receiver status information; The carrier-to-noise ratio and pseudorange change rate of the satellite signal are calculated in real time. When a cycle slip or signal loss is detected, the recapture mechanism is immediately triggered.

3. The method for obtaining a real-time position based on Beidou satellite positioning according to claim 2, wherein: The original observation values ​​include pseudorange measurement values ​​and carrier phase measurement values; The error correction parameters include signal decoding of the original observation value, removing noise interference, setting a signal-to-noise ratio threshold, and eliminating satellite data with a signal-to-noise ratio lower than the set threshold.

4. The method for obtaining a real-time position based on Beidou satellite positioning according to claim 3, wherein: The preprocessing includes parsing the original data stream, extracting the pseudorange and carrier phase observations of each frequency point, correlating them with satellite ephemeris parameters, detecting and eliminating gross error observations, and detecting cycle slips using a three-frequency geometry-free combination; The preprocessing also includes calculating the differential code deviation correction at the satellite end and the receiver end, using a dual-frequency ionospheric elimination combination to reduce the influence of ionospheric delay, establishing a combined observation equation of pseudorange and carrier phase, and forming a design matrix and observation vector.

5. The method for obtaining a real-time position based on Beidou satellite positioning according to claim 4, wherein: The position calculation includes performing precise single-point positioning calculation based on the processed observation data and precise ephemeris, clock error files, and error files to obtain the real-time position coordinates of the current device.

6. The method for obtaining a real-time position based on Beidou satellite positioning according to claim 5, wherein: The positioning solution includes calculating the initial position and clock error of the receiver based on the pseudorange observation value, which is used as the initial value of the iterative calculation, and solving the real-time high-precision position coordinates of the device through non-difference and non-combination processing of the carrier phase observation value; The non-differenced and non-combined processing includes establishing equations for the pseudorange and carrier phase observations of each frequency point, retaining the frequency characteristics of the original observations, dynamically adjusting the observation weights according to the satellite elevation angle and signal quality, adopting an elevation-related exponential function model, and using a sequential least squares adjustment method to estimate the position parameters, clock error parameters, and atmospheric delay parameters in steps. The wide-lane ambiguity is fixed using the MW combination, and the narrow-lane ambiguity is fixed using a geometrically independent combination.

7. The method for obtaining a real-time position based on Beidou satellite positioning according to claim 6, wherein: The dynamic monitoring includes uploading the location information obtained by positioning solution to a remote monitoring center or terminal device, performing real-time monitoring and status updates of the observation location, and users viewing the current coordinate position, monitoring historical trajectory and displacement trend at the remote monitoring terminal to provide decision-making basis for disaster warning and subsidence monitoring.

8. A real-time position acquisition system based on Beidou satellite positioning, applying the real-time position acquisition method based on Beidou satellite positioning according to any one of claims 1 to 7, characterized in that: include: Beidou satellite receiving module, data processing module, network module and power management module; The BeiDou satellite receiving module is used to receive BeiDou satellite signals in real time, obtain pseudorange and carrier phase observation information, perform pseudocode stripping and carrier tracking, output high-precision raw observation data, calculate the carrier-to-noise ratio and pseudorange change rate in real time, detect cycle slips or signal loss, and trigger a recapture mechanism; The data processing module is used to parse the raw data, extract observation values, associate ephemeris parameters, establish an error model, apply the non-differential non-combined precise point positioning algorithm and ambiguity processing, and realize the whole process from raw data to high-precision coordinates; The network module is used to access the network through the protocol to obtain real-time error correction parameters, and upload the calculated location information to the remote monitoring center in real time using the mobile network, while dynamically interacting with the regional enhancement server to optimize the positioning model parameters; The power management module is used to provide a stable and sustainable energy supply for the device.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of a real-time position acquisition method based on Beidou satellite positioning according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of a real-time position acquisition method based on Beidou satellite positioning according to any one of claims 1 to 7 are implemented.

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