GNSS network RTK differential data broadcasting method and system based on user location sharing

Abstract

The application provides a GNSS network RTK differential data broadcasting method and system based on user position sharing, aiming to improve the resource utilization efficiency and positioning service accuracy of the network RTK system. After the user sends a differential data request, the method searches for existing broadcasting products within a certain range. If there is no differential data meeting the conditions, a new broadcasting source is dynamically generated according to the initial position of the user, and the range covered by the broadcasting source is determined by calculating the error related to the distance and height through the regional ionospheric and tropospheric error model. If there is differential data meeting the conditions, the broadcasting source is directly shared. The method avoids the resource waste caused by the non-user grid points in the traditional grid broadcasting, and solves the problem of inconsistent tropospheric correction caused by the height difference of users in the single-layer grid mode through dynamic adjustment of the generation and sharing of the broadcasting source.

Description

Technical Field

[0001] The present invention belongs to the field of satellite navigation and positioning technology, and specifically relates to a global navigation satellite system (GNSS) network real-time kinematic (RTK) positioning technology, and more particularly to a GNSS network RTK differential data broadcasting method based on dynamic generation and sharing of user positions. Background Art

[0002] GNSS network RTK technology generates differential correction data from joint observations across a network of base stations and transmits it to users in real time. This correction is used to correct for ionospheric and tropospheric delay errors, as well as satellite orbit and clock errors, achieving centimeter-level high-precision positioning. It is widely used in fields such as geographic information collection, unmanned driving, engineering surveying, and precision agriculture. However, traditional RTK differential data dissemination methods have significant limitations. The one-to-one user dissemination method requires individual differential data calculation for each user, resulting in a linear increase in system computational and communication load with the number of users, making it difficult to support large-scale users. The ground-based grid-based dissemination method generates virtual reference stations (VRS) using a fixed grid. While this reduces the need for individual computation, differential data still needs to be generated for grid points without users, resulting in wasted resources. Furthermore, a single-layer grid is not suitable for areas with significant elevation differences, which can lead to inconsistent tropospheric corrections. The layered grid dissemination method improves service performance in areas with varying elevations by using multiple layers of grids, but this increases computational and management complexity, and some low-elevation grids may still have no user coverage, wasting resources. In addition, although the regional broadcasting method based on inter-station interpolation reduces the amount of data, the interpolation accuracy decreases when the base stations are sparse or the user elevation changes significantly. It also lacks dynamic adjustment and data sharing mechanisms and cannot efficiently cope with complex environments and multi-user needs.

[0003] Existing methods as a whole lack the ability to adapt to the dynamic distribution of users and elevation differences, making it difficult to strike a balance between resource utilization efficiency and service performance. Summary of the Invention

[0004] This paper addresses the resource waste, poor adaptability to elevation differences, and inefficient service delivery issues inherent in existing GNSS network RTK differential data dissemination methods. By proposing a GNSS network RTK differential data dissemination method based on the dynamic generation and sharing of user locations, this method dynamically generates differential data dissemination sources by combining user locations with a regional error model and enables the sharing of existing differential data, effectively improving system resource utilization and positioning service performance.

[0005] The application provides a GNSS network RTK differential data broadcasting method based on dynamic generation and sharing of user positions, a dynamic generation broadcasting source is generated through a user position request, the correlation of errors and distances and elevations is calculated in combination with a regional ionosphere and a troposphere error model, and the coverage range of the broadcasting source is determined; meanwhile, if there is existing differential data meeting the conditions in a target range, the existing broadcasting source is directly shared, so as to avoid resource waste of no user grid points, solve the problem of inconsistent troposphere correction numbers caused by elevation differences, significantly improve the network RTK differential broadcasting service performance in a multi-user complex environment, and be suitable for large user quantity scenes in ground and low-altitude areas.

[0006] To solve the above problems, the technical scheme provided by the application comprises the following steps:

[0007] Step 1, receiving a user differential data request, and analyzing the position of the user;

[0008] Step 2, searching for whether there is a new user data source meeting the requirements in an existing differential data source list, and if so, directly sending the data of the data source to the user, and if not, entering step 3;

[0009] Judging whether the old user data source is in a valid range, and if so, directly connecting the user to the old user data source, and if not, processing the old user data source as a new user data source;

[0010] Step 3, calculating the total error correction number at the flow station according to the position of the user, broadcasting to the user through a communication network, correcting after receiving, and then obtaining a high-precision positioning result; calculating the coverage range of the differential data source based on the total error correction number, then adding the coordinates of the reference station, the coverage range of the differential data source and the latest user service time to the existing differential data source list, and sending the data to the current requesting user;

[0011] Step 4, updating the differential data source list and resource management, and recycling resources according to the time and space distribution law for the broadcasting source not covered by the user request.

[0012] Further, the position of the user comprises:

[0013] Analyzing the differential data request sent by the user to obtain the position of the user in a three-dimensional geocentric rectangular coordinate system , converting into geodetic coordinates :

[0014]

[0015] Wherein is the radius of the reference ellipsoid, and then the user plane coordinates and elevation are calculated by using the Gauss-Kruger projection formula .

[0016] Further, find if there is a new user data source that meets the requirements in the existing differential data source list, including:

[0017] Get the reference station position of each new user data source one by one And the horizontal distance of its coverage range And the height difference Calculate the horizontal distance between the user and the reference station And the height difference between the user and the reference station :

[0018]

[0019]

[0020] Determine whether the new user data source meets the following conditions:

[0021]

[0022] If the above conditions are met, send the data of the new user data source directly to the user, end the processing, if multiple new user data sources that meet the conditions are found, select the optimal one to send to the user, if no data source that meets the requirements is found, go to step 3.

[0023] Further, in step 3, first use the area-weighted linear interpolation method to calculate the error, which is based on the interpolation of the nearest three reference stations, divide the entire reference station network coverage area into several triangular sub-regions, each sub-region corresponds to a reference station, for a sub-region Directly use the triangular area formula to calculate its area Then the area weight can be obtained:

[0024]

[0025] Where , are the areas of the three reference station corresponding sub-regions and the total area, , , are the weights of the three sub-regions, then the error interpolation formula of the flow station is:

[0026]

[0027]

[0028]

[0029] Where, , , respectively ionospheric correction, tropospheric correction and satellite orbit correction of the user position of the rover station, , , respectively ionospheric correction of the three sub-regions, , , respectively tropospheric correction of the three sub-regions, , , respectively satellite orbit correction of the three sub-regions;

[0030] The total error correction of the rover station is :

[0031] .

[0032] Further, the coverage of the differential data source is calculated as follows:

[0033] First, the average value of the error correction of all satellites in the same group of corrections is calculated:

[0034]

[0035]

[0036] Wherein, n represents the number of satellites;

[0037] When the maximum allowed ionospheric error value and the tropospheric error value are determined, the effective plane range and the elevation range are calculated as:

[0038]

[0039]

[0040] is the maximum allowed ionospheric error, is the maximum allowed tropospheric error.

[0041] Further, the relationship between the error correction error and the plane distance and the elevation difference is:

[0042]

[0043]

[0044] Wherein, a horizontal distance difference from the differential data source, i.e., a difference between a horizontal distance of the mobile station user position and a corresponding coordinate of the differential data source, an elevation difference from the differential data source, i.e., a difference between an elevation of the mobile station user position and a corresponding coordinate of the differential data source; a horizontal distance from the differential data source an error value of the ionospheric error correction using the differential data source at the location, an elevation difference from the differential data source an error value of the tropospheric error correction using the differential data source at the location.

[0045] Further, in step 4, for each data source in the differential data source list, it is determined whether the data source is requested to be covered within a certain time, and a final time difference of the requested service is:

[0046]

[0047] wherein, represents a current time of the computer, is a latest user service time; if a maximum time difference is set as when the data source is recycled.

[0048] Further, the resource in step 4 refers to a resource consumed by interpolation calculation, encoding, and storage of the differential correction in step 3, including occupied memory and CPU occupation for generating the differential correction.

[0049] The application further provides a GNSS network RTK differential data broadcasting system based on user position sharing, comprising a memory and a processor, the memory stores a differential data broadcasting program capable of running on the processor, the differential data broadcasting program is a computer program, and the processor implements the GNSS network RTK differential data broadcasting method based on user position sharing as described in the above scheme when executing the differential data broadcasting program.

[0050] The application further provides a storage medium, which is a computer readable storage medium, and stores a differential data broadcasting program, the differential data broadcasting program is a computer program, and the differential data broadcasting program implements the GNSS network RTK differential data broadcasting method based on user position sharing as described in the above technical scheme when executed by a processor.

[0051] Compared with the prior art, the application has the following remarkable advantages:

[0052] 1) High-efficiency resource utilization: By dynamically generating and sharing the broadcast sources, the waste of grid point resources without user coverage is avoided, and the computing and storage efficiency is improved. Real-time updating is performed on the dynamically generated broadcast sources, including ionospheric and tropospheric correction numbers, satellite orbit errors and clock errors and other parameters. For broadcast sources that are not covered by user requests, the system can recycle resources according to the time and spatial distribution law to improve the overall resource utilization.

[0053] 2) Precise height adaptation: The broadcast range is calculated based on user location and height information, solving the problem of single-layer grid difficulty in dealing with height differences and ensuring positioning accuracy. The coverage range of the broadcast source is determined by combining the regional ionospheric and tropospheric error models to calculate the correlation between error and distance and height, to ensure that users within the coverage range can meet the positioning accuracy requirements.

[0054] 3) Dynamic and flexible: According to the real-time distribution and demand of users, difference data is generated to realize dynamic adaptation and precise service. When multiple users make requests in the same area, the system can share broadcast data without generating difference data for each user, significantly reducing computing and communication load. When users move dynamically, the system can adjust the coverage range of the broadcast source in real time and dynamically optimize the generation and sharing strategy of difference data.

[0055] 4) Large user support: It can support large-scale users on the ground and in low-altitude areas, significantly improving the GNSS network RTK service capability in a multi-user environment.

[0056] 5) Service efficiency improvement: By sharing broadcast sources and optimizing the difference data broadcast strategy, the computing and bandwidth overhead is reduced, meeting the real-time service needs of a large number of users. BRIEF DESCRIPTION OF DRAWINGS

[0057] Figure 1 The flowchart of the embodiment of the present application.

[0058] Figure 2 The technical flowchart of user shared difference data source generation in the embodiment of the present application.

[0059] Figure 3 The schematic diagram of software platform and site distribution in the embodiment of the present application.

[0060] Figure 4 The simulation user distribution diagram in the embodiment of the present application.

[0061] Figure 5 The schematic diagram of 10005 concurrent CPU occupancy of simulated terminals in the embodiment of the present application.

[0062] Figure 6 The schematic diagram of 10005 concurrent memory occupancy of simulated terminals in the embodiment of the present application. DETAILED DESCRIPTION

[0063] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0064] Existing technologies mainly use fixed grid, single-layer grid or layered grid broadcasting methods, which have the following problems:

[0065] 1) Waste of resources: In grid-based broadcasting, grid points without user coverage still need to generate and maintain differential data, resulting in a waste of computing and storage resources.

[0066] 2) Poor altitude adaptability: In areas with significant elevation differences, a single-layer grid cannot effectively resolve differences in user tropospheric corrections, affecting positioning accuracy.

[0067] 3) Insufficient dynamism: As user distribution changes dynamically, grid division and broadcast strategies are difficult to adapt in real time, resulting in reduced service efficiency.

[0068] 4) Insufficient support for large-scale users: The one-to-one broadcasting method cannot meet the real-time service needs of massive users, while the grid-based broadcasting method has bandwidth and computing load bottlenecks.

[0069] Based on the above problems, the present invention proposes a GNSS network RTK differential data broadcasting method and system based on dynamic generation and sharing of user positions, aiming to improve the resource utilization efficiency and positioning service accuracy of the network RTK system. Receive user differential data request and resolve the user's position (step 1); search the existing differential data source list to see if there is a source that meets the requirements. If it exists, it is sent directly; if not, a new source is generated. During the user's movement, the user will search the existing data source for a differential data source based on the position (step 2). If no data source that meets the requirements is found, step (3) is entered; according to the user's position, differential data is obtained, and the correlation between distance and elevation and error correction accuracy is calculated based on the ionosphere and troposphere error model, and the difference between ionosphere error and troposphere error is limited to within 1cm (an indicator that needs to be determined for network RTK positioning accuracy), and the coverage range of the differential data source is given and added to the existing differential data source list (step 3); update the differential data source list and resource management. For broadcast sources that are not covered by the user request, the system can recycle resources according to the time and space distribution rules to improve the overall resource utilization (step 4). See Figure 1 The present invention specifically comprises the following steps:

[0070] Step 1: Parsing user coordinate data and performing projection transformation

[0071] Parse the user issued differential data request, get its position in the three-dimensional geocentric rectangular coordinate system , converted to geodetic coordinates :

[0072]

[0073] Wherein is the radius of the reference ellipsoid. Then use the Gauss-Kruger projection formula to calculate the user plane coordinates and elevation .

[0074] Step 2: find existing data sources

[0075] Step 2.1 new user data source acquisition

[0076] In the existing differential data source list, get the reference station position of each data source And its coverage range plane distance And the elevation difference Calculate the plane distance between the user and the reference station And the elevation difference between the user and the reference station :

[0077]

[0078]

[0079] Determine whether the data source meets the following conditions:

[0080]

[0081] If only one data source is found that meets the requirements, send the data of the data source to the user directly, end the processing, if multiple are found, select the optimal one, wherein the data source with the shortest plane distance is the optimal data source. If no data source that meets the requirements is found, go to step 3.

[0082] Step 2.2 old user data source acquisition

[0083] Similar to step 2.1, compare the currently selected data source of the user, whether it is within the effective range, that is, the plane distance is less than , the height difference is less than , within the range, directly serve (that is, directly access the user to the old user data source), if not, go to step 2.1 like new user;

[0084] Step 3: generate new differential data source

[0085] Step 3.1 generate error correction number

[0086] According to the user position Calculate ionosphere correction , troposphere correction and satellite orbit correction The generation of error correction depends on the reference station observation data and its error model.

[0087]

[0088] The error is calculated in the invention using the area-weighted linear interpolation method (LIM, Linear Interpolation Method), which is based on the nearest three reference stations Interpolation. The entire reference station network coverage area is divided into several triangular sub-areas, each corresponding to a reference station. For a sub-area , directly use the triangular area formula to calculate its area . Then the area weight is calculated as follows:

[0089]

[0090] Where , are the areas of the three reference station sub-areas and the total area, , , are the weights of the three sub-areas, then the error interpolation formula of the rover station is:

[0091]

[0092]

[0093]

[0094] Where, , , are the ionosphere correction, troposphere correction and satellite orbit correction of the user position of the rover station, , , are the ionosphere correction of the three sub-areas, , , are the troposphere correction of the three sub-areas, , , are the satellite orbit correction of the three sub-areas;

[0095] Then the total error correction of the rover station is :

[0096]

[0097] The calculated error correction , broadcast to users through a communication network, after receiving the user to correct, and then get high-precision positioning results.

[0098] Step 3.2 Calculate the coverage of the differential data source

[0099] Ionosphere linear interpolation model is based on a certain range, the ionosphere gradient is basically the same. The consistency of the gradient and the absolute size of the ionosphere error correction is basically linear. In this invention, according to the absolute value of the ionosphere correction, the effective range of the ionosphere correction is determined. First, calculate the average value of the correction of all satellites (number n) in the same group of correction:

[0100]

[0101]

[0102] The error of the error correction and the distance is:

[0103]

[0104]

[0105] Wherein is the distance from the differential data source plane The error value of the ionosphere error correction using the differential data source at the place. The height difference from the differential data source The error value of the troposphere error correction using the differential data source at the place; is the plane distance from the differential data source (unit: km, each differential data source is a set of error correction calculated for a specific location, usually because of the spatial correlation of the error, but this spatial correlation will decrease with the increase of distance, with this specific location as the center, using the same error correction at other locations will introduce an inconsistent error, the radius is far away, that is, the farther the distance, the greater the error, when the error affects the positioning accuracy and performance, it cannot be used), is the elevation difference from the differential data source (that is, the difference between the elevation of the user position of the flow station and the elevation of the corresponding coordinate of the differential data source, unit: m).

[0106] When the maximum allowed ionosphere error value and the troposphere error value are determined, the effective plane range and the elevation range :

[0107]

[0108]

[0109] For the maximum allowed ionospheric error, For the maximum allowed tropospheric error. According to the accuracy requirement of network RTK positioning, the interpolation error of ionosphere and troposphere needs to be controlled within 1cm. Therefore, according to the above formula, the effective plane range of the data source can be calculated And the height range .

[0110] Step 3.3 Establish a list of differential data sources

[0111] According to the requirements of differential data in the previous steps, the data source needs to include the coordinates of the reference station, the effective plane range And the height range , the latest user service time . Therefore, the data source is defined as follows:

[0112]

[0113] Then the new data source is added to the differential data source list, and the data is sent to the current requesting user.

[0114] Step 4: Update the differential data source list and resource management

[0115] For each data source in the differential data source list, determine whether it is covered by user requests within a certain time, and the difference in the last request service time is:

[0116]

[0117] Where, Indicates the current time of the computer; if the maximum time difference is set to This value can be set according to actual needs, which can be set to 300 seconds. When Recycle the data source and release resources, where resources refer to resources consumed by differential corrections in step 3.1, including memory usage and CPU usage for generating differential corrections.

[0118] Through the GNSS network RTK system deployed in a certain city, the effect of the method of the present application is verified by simulating users to broadcast services. Under the condition of the same number of users, the broadcast service system is compared and analyzed in terms of resource occupation and correction effectiveness:

[0119] 1) Software platform and site distribution see Figure 3 ;

[0120] 2) The server is as follows:

[0121] Table 1 server condition explanation

[0122]

[0123] 3) User end simulation software see Figure 4 :

[0124] 10005 user positions are simulated, and then the positions are used as the user connection server of the flow station to check the CPU and memory occupation.

[0125] The test uses a server, and the user concurrency is 10005 users to check the CPU occupation (as shown in Figure 5 ) and the memory occupation (as shown in Figure 6 ).

[0126] 4) The comparison of methods is as follows:

[0127] Table 2 comparison of each method

[0128]

[0129] As can be seen from the table, when the number of users is 1000, the server end of the conventional VRS broadcast method must generate 10000 difference data sources, and the CPU and interpolation are the highest. The conventional grid broadcast method only needs to generate 2000 grid stores, and the CPU and memory are significantly reduced. When the method is used, since the difference data source is shared according to the user position, only 200 difference data sources need to be generated, only 1 / 10 of the equidistant grid, and the memory and CPU occupation are also the least, almost 1 / 10 of the VRS broadcast method, and the saving effect of server resources is remarkable.

[0130] In summary, the present application significantly reduces the resource consumption of difference data generation and broadcast, improves the positioning service performance in complex terrain and multi-user environment, and is suitable for large user quantity network RTK difference broadcast service in ground and low altitude area.

[0131] In specific implementation, the above process can be realized by computer software technology to automatically run the process, and the system device running the method process of the present application should also be within the protection scope of the present application.

[0132] In a second aspect, the embodiments of the present application also provide a GNSS network RTK differential data broadcasting system based on user position sharing, comprising a memory and a processor, the memory has a differential data broadcasting program stored thereon and executable on the processor, the differential data broadcasting program is a computer program, and the processor implements the GNSS network RTK differential data broadcasting method based on user position sharing as described in the above solution when executing the differential data broadcasting program.

[0133] In a third aspect, the embodiments of the present application also provide a storage medium, which is a computer readable storage medium, and has a differential data broadcasting program stored thereon, the differential data broadcasting program is a computer program, and the differential data broadcasting program implements the GNSS network RTK differential data broadcasting method based on user position sharing as described in the above technical solution when executed by a processor.

[0134] The specific embodiments described herein merely illustrate the spirit of the present application. Those skilled in the art of the present application can make various modifications or supplements to the described specific embodiments or replace them with similar ways, without departing from the spirit of the present application or exceeding the scope defined by the appended claims.

Claims

1. A method for broadcasting GNSS network RTK differential data based on user location sharing, characterized in that: The steps include: Step 1: Receive user differential data request and resolve user location; Step 2: Check the existing differential data source list to see if there is a new user data source that meets the requirements. If so, directly send the data of the data source to the user. If not, proceed to step 3. Determine whether the old user data source is within the valid range. If so, directly connect the user to the old user data source. If not, treat the old user data source as a new user data source. Step 3: Calculate the total error correction at the rover based on the user's position and broadcast it to the user via the communication network. The user makes corrections upon receiving the corrections, and thus obtains a high-precision positioning result. Calculate the coverage of the differential data source based on the total error correction. Then, add the coordinates of the base station, the coverage of the differential data source, and the latest user service time to the existing differential data source list, and send the data to the current requesting user. Step 4: Update the differential data source list and resource management. For the broadcast sources not covered by the user request, recycle the resources according to the temporal and spatial distribution rules.

2. The method for broadcasting GNSS network RTK differential data based on user location sharing according to claim 1, characterized in that: Resolving the user's location includes: Parse the differential data request sent by the user and obtain its position in the three-dimensional geocentric rectangular coordinate system , converted to geodetic coordinates : in is the radius of the reference ellipsoid, and then the Gauss-Krüger projection formula is used to calculate the user plane coordinates and elevation .

3. The method for broadcasting GNSS network RTK differential data based on user location sharing according to claim 1, characterized in that: Search the existing differential data sources list to see if there are any new user data sources that meet the requirements, including: Obtain the base station position for each new user data source one by one The distance between the plane and its coverage area and elevation difference , calculate the plane distance between the user and the reference station and the elevation difference between the user and the base station : Determine whether the new user data source meets the following conditions: If the above conditions are met, the data of the new user data source is directly sent to the user, and the processing ends. If multiple new user data sources that meet the conditions are found, the best one is selected and sent to the user. If no data source that meets the requirements is found, go to step 3.

4. The method for broadcasting GNSS network RTK differential data based on user location sharing according to claim 1, wherein: In step 3, the error is first calculated using the area-weighted linear interpolation method. This interpolation method is based on the three nearest reference stations and divides the entire reference station network coverage area into several triangular sub-areas. Each sub-area corresponds to a reference station. , directly use the triangle area formula to calculate its area , then the area weight can be obtained: in , are the areas of the sub-regions and the total area corresponding to the three reference stations respectively, , , are the weights of the three sub-regions, then the error interpolation formula of the mobile station is: in, , , are the ionospheric correction, tropospheric correction and satellite orbit correction of the mobile station user position, , , are the ionospheric corrections for the three sub-regions, , , are the tropospheric corrections for the three sub-regions, , , are the satellite orbit correction numbers for the three sub-areas respectively; The total error correction at the mobile station is : 。 5. The method for broadcasting GNSS network RTK differential data based on user location sharing according to claim 4, characterized in that: The coverage of the differential data source is calculated as follows: First, calculate the average of the error corrections for all satellites in the same set of corrections: Where n represents the number of satellites; Once the maximum allowable ionospheric error and tropospheric error are determined, the effective plane range is calculated. and elevation range for: is the maximum allowable ionospheric error, is the maximum allowable tropospheric error.

6. The method for broadcasting GNSS network RTK differential data based on user location sharing according to claim 5, characterized in that: Error correction number and plane distance and elevation difference The relationship is: in, is the plane distance from the differential data source, that is, the difference between the plane distances of the mobile station user position and the corresponding coordinates of the differential data source, is the elevation difference from the differential data source, i.e., the elevation difference between the rover user position and the corresponding coordinates of the differential data source; is the plane distance from the differential data source The error value of the ionospheric error correction number using the differential data source is Height difference from differential data source The error value of the tropospheric error correction number using this differential data source.

7. The method for broadcasting GNSS network RTK differential data based on user location sharing according to claim 1, characterized in that: In step 4, for each data source in the differential data source list, determine whether it is covered by the user request within a certain period of time. The time difference of the final request service is: in, Indicates the current time of the computer. The latest user service time; if the maximum time difference is set to ,when The data source is recycled.

8. The method for broadcasting GNSS network RTK differential data based on user location sharing according to claim 1, characterized in that: The resources mentioned in step 4 refer to the resources consumed for interpolation calculation, encoding, and storage of the differential correction numbers in step 3, including memory usage and CPU usage for generating the differential correction numbers.

9. A GNSS network RTK differential data broadcasting system based on user location sharing, comprising a memory and a processor, wherein the memory stores a differential data broadcasting program executable on the processor, the differential data broadcasting program being a computer program, characterized in that: When the processor executes the differential data broadcasting program, the GNSS network RTK differential data broadcasting method based on user position sharing according to any one of claims 1 to 8 is implemented.

10. A storage medium, wherein the storage medium is a computer-readable storage medium and stores a differential data broadcasting program, wherein the differential data broadcasting program is a computer program, characterized in that: When the differential data broadcasting program is executed by a processor, the GNSS network RTK differential data broadcasting method based on user position sharing according to any one of claims 1 to 8 is implemented.

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