Offshore positioning method and device and storage medium

Abstract

The invention provides an offshore positioning method and device and a storage medium, and relates to the technical field of offshore positioning. The method comprises the following steps: acquiring base station data and receiver data transmitted by a shipborne receiver, wherein the base station data and the receiver data comprise observation data and enhancement data; performing short baseline RTK positioning and PPP-B2b positioning according to the base station data and the receiver data; if it is determined that the short baseline RTK fast fixing condition is not met currently, long baseline RTK positioning or PPP-B2b single-station positioning is carried out based on PPP-B2b positioning information, offshore positioning can be achieved in the mode that RTK positioning and PPP-B2b are combined, the influence of the baseline distance and the atmospheric delay error is effectively avoided, the positioning precision is improved, the positioning real-time performance is kept, and the positioning efficiency is improved. And technical support can be provided for offshore precise real-time positioning and continuous and efficient offshore monitoring.

Description

Technical Field

[0001] The present application relates to the field of maritime positioning technology, and in particular to a maritime positioning method, device, and storage medium. Background Art

[0002] RTK (Real-time kinematic) carrier phase differential technology uses real-time differential processing of carrier phase observations between two measurement stations. The carrier phase data collected by the base station is transmitted to the user receiver for coordinate calculation. This is a new and commonly used satellite positioning measurement method. Previous static, rapid static, and kinematic measurements required post-processing to achieve centimeter-level accuracy. RTK, however, is a measurement method capable of achieving centimeter-level positioning accuracy in the field in real time. It utilizes a real-time carrier phase differential method and is a major milestone in GPS application. Its emergence has brought new measurement principles and methods to engineering stakeout, topographic mapping, and various control measurements, significantly improving operational efficiency.

[0003] Because RTK positioning technology has the above advantages, it is also used in fields that require positioning at sea, such as maritime search and rescue and marine exploration. However, during the maritime positioning process, as the baseline distance between the base station and the shipborne receiver increases, it is easy to be limited by the spatial correlation attenuation characteristics of the atmospheric delay error. The success rate of integer constraint solution of ambiguity parameters will drop significantly, which will eventually affect the convergence speed and reliability of the positioning results, and thus lead to reduced positioning accuracy or even positioning failure. Summary of the Invention

[0004] The present invention provides a method, device, and storage medium for maritime positioning, which can address the problem that existing maritime positioning methods are easily affected by baseline distance and atmospheric delay, resulting in reduced positioning accuracy or even positioning failure. To achieve this goal, the present invention provides the following solutions.

[0005] According to one aspect of an embodiment of the present application, a method for offshore positioning is provided, including: Acquiring reference station data and receiver data transmitted by a shipborne receiver, wherein the reference station data and the receiver data include observation data and enhancement data; Performing short baseline RTK positioning and PPP-B2b positioning according to the reference station data and the receiver data; If it is determined that the short baseline RTK rapid fix conditions are not met, long baseline RTK positioning or PPP-B2b single-station positioning is performed based on the PPP-B2b positioning information.

[0006] In one possible implementation, the short baseline RTK positioning includes: Preprocessing the observation data, and establishing RTK inter-satellite single-difference and inter-station double-difference observation equations based on the preprocessed observation data; Positioning information is obtained based on the RTK inter-satellite single-difference and inter-station double-difference observation equations.

[0007] In one possible implementation, the RTK inter-satellite single-difference and inter-station double-difference observation equations are:

[0008] Where, represents the double difference operator, s and Indicates the numbers of the two satellites, represents the frequency of the i-th signal, Indicates a shipborne receiver, Indicates the base station corresponding to the base station data, represents the carrier wavelength, represents the carrier phase observation value corresponding to the i-th signal frequency of satellite s and satellite n, represents the geometric distance between satellite s and the reference station at the i-th signal frequency, The geometric distance between satellite n and the reference station when the signal of the i-th signal frequency is represented, The geometric distance between satellite s and the shipborne receiver when the signal of the i-th signal frequency is expressed as, The geometric distance between satellite n and the shipborne receiver when the signal of the i-th signal frequency is expressed as, It represents the carrier phase integer ambiguity when the shipborne receiver and the base station receive the signal of the i-th frequency of satellite s and satellite n, It represents the carrier phase integer ambiguity when the shipborne receiver receives the signal of frequency i transmitted by satellite s. It represents the carrier phase integer ambiguity when the shipborne receiver receives the signal of frequency i transmitted by satellite n. It represents the carrier phase integer ambiguity corresponding to the signal of frequency i transmitted by satellite s when the base station receives it. It represents the integer ambiguity of the carrier phase when the base station receives the signal of frequency i transmitted by satellite n.

[0009] In one possible implementation, obtaining positioning information based on the RTK inter-satellite single-difference and inter-station double-difference observation equations includes: Obtaining a relative positioning observation value residual equation corresponding to the signal of the i-th frequency based on the RTK inter-satellite single difference and inter-station double difference observation equations; Obtaining positioning information of the shipborne receiver according to the relative positioning observation value difference equation; The relative positioning observation residual equation is:

[0010] Where V represents the relative positioning observation residual corresponding to the signal of frequency i, is the correction vector, represents the coordinates of the shipborne receiver r, , ( , , ) represents the coordinates of the satellite labeled p, It represents the distance between the satellite labeled p and the shipborne receiver r, B is a p-order square matrix, .

[0011] In one possible implementation, the PPP-B2b positioning includes: Acquire satellite position information and satellite clock error information according to the receiver data, and establish a PPP-B2b positioning model based on the satellite position information and the satellite clock error information; The expression of the PPP-B2b positioning model is:

[0012] Where, represents the frequency of the i-th signal, Indicates a shipborne receiver, The unit vector representing the line of sight from the shipborne receiver to the satellite, represents the three-dimensional coordinates of the shipborne receiver, represents the pseudorange of the BDS-3 satellite at the i-th signal frequency, It represents the difference between the carrier phase observation value and the calculated value of the BDS-3 satellite at the i-th signal frequency, represents the pseudorange of GPS satellite at the i-th signal frequency, It represents the difference between the carrier phase observation value and the calculated value of the GPS satellite at the i-th signal frequency. Indicates the receiver clock error parameters corresponding to the BDS-3 satellite, Indicates the receiver clock error parameters corresponding to the GPS satellite, represents the tropospheric projection coefficient, represents the wet delay in the tropospheric zenith direction of the shipborne receiver, represents the ionospheric conversion coefficient corresponding to the signal frequency i, Indicates the slant ionospheric delay corresponding to the first signal frequency of the BDS-3 satellite, Indicates the slant ionospheric delay corresponding to the first signal frequency of the GPS satellite, represents the carrier phase integer ambiguity corresponding to the i-th signal frequency of the BDS-3 satellite, Indicates the number of GPS satellites The carrier phase integer ambiguity corresponding to the signal frequency is represents the compensation parameter, and c represents the speed of light.

[0013] In one possible implementation, the PPP-B2b positioning further includes: Utilizing the BDGIM model to obtain an ionospheric delay correction value, constructing an atmospheric constraint equation and a coordinate virtual constraint equation based on the ionospheric delay correction value, and converging the PPP-B2b positioning model using the atmospheric constraint equation and the coordinate virtual constraint equation; If it is determined that the short baseline RTK positioning has been completed, the PPP-B2b positioning model is converged according to the positioning information of the short baseline RTK positioning.

[0014] In one possible implementation, performing long baseline RTK positioning based on PPP-B2b positioning information includes: Atmospheric information is acquired using the PPP-B2b positioning model, and long baseline RTK positioning is performed based on the atmospheric information and the atmospheric information in the reference station data.

[0015] In one possible implementation, the PPP-B2b single-station positioning includes: If it is determined that long baseline RTK positioning cannot be performed within the preset time period, the PPP-B2b positioning model is used to obtain the position information of the shipborne receiver.

[0016] According to one aspect of an embodiment of the present application, an embodiment of the present application provides an electronic device, including a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of any of the above methods.

[0017] According to one aspect of an embodiment of the present application, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, and the computer program implements the steps of the above-described method when executed.

[0018] The beneficial effects of the technical solution provided by the embodiments of the present application are: The maritime positioning method provided in the present application obtains reference station data and receiver data transmitted by a shipborne receiver, wherein the reference station data and receiver data include observation data and enhancement data; short baseline RTK positioning and PPP-B2b positioning are performed based on the reference station data and receiver data; if it is determined that the short baseline RTK rapid fixation conditions are not currently met, long baseline RTK positioning or PPP-B2b single-station positioning is performed based on the PPP-B2b positioning information. The embodiment of the present application can achieve maritime positioning by combining RTK positioning and PPP-B2b, and effectively avoid the influence of baseline distance and atmospheric delay errors, improve positioning accuracy and maintain real-time positioning, and can provide technical support for precise real-time positioning at sea and continuous and efficient maritime monitoring. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following is a brief introduction to the drawings required for describing the embodiments of the present application.

[0020] Figure 1 A flowchart of the offshore positioning method provided in an embodiment of the present application; Figure 2 A flowchart of the implementation process of the offshore positioning method provided in an embodiment of the present application; Figure 3 A schematic diagram of receiver data acquisition provided in an embodiment of the present application; Figure 4 A schematic diagram of offshore positioning provided by an embodiment of the present application; Figure 5 This is a structural diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0021] The following describes the embodiments of the present application in conjunction with the accompanying drawings. It should be understood that the embodiments described below in conjunction with the accompanying drawings are exemplary descriptions for explaining the technical solutions of the embodiments of the present application and do not constitute a limitation on the technical solutions of the embodiments of the present application.

[0022] Those skilled in the art will understand that, unless otherwise stated, the singular forms "a," "an," "said," and "the" used herein may also include plural forms. It should be further understood that the terms "including" and "comprising" used in the embodiments of the present application mean that the corresponding features can be implemented as the presented features, information, data, steps, operations, elements, and / or components, but do not exclude implementation as other features, information, data, steps, operations, elements, components, and / or combinations thereof supported by the present technical field. It should be understood that when we refer to an element as being "connected" or "coupled" to another element, the element can be directly connected or coupled to the other element, or it can refer to the element and the other element establishing a connection relationship through an intermediate element. In addition, the "connection" or "coupling" used herein may include wireless connection or wireless coupling. The term "and / or" used herein indicates at least one of the items defined by the term, for example, "A and / or B" indicates implementation as "A," or implementation as "A," or implementation as "A and B."

[0023] In order to make the objectives, technical solutions and advantages of this application clearer, the implementation methods of this application will be further described in detail below with reference to the accompanying drawings.

[0024] The following describes several exemplary embodiments to illustrate the technical solutions of the embodiments of the present application and the technical effects produced by the technical solutions of the present application. It should be noted that the following embodiments can refer to, draw on, or combine with each other, and the same terms, similar features, and similar implementation steps in different embodiments will not be repeated.

[0025] The marine positioning method, device, and storage medium provided in this application are intended to solve at least one technical problem existing in the prior art.

[0026] Optionally, the device that executes the maritime positioning method of the present application may be a mobile phone, a tablet computer, a server, a ship control terminal, or other terminals that can achieve maritime positioning based on reference station data and receiver data.

[0027] Alternatively, as Figures 1-4 As shown, the marine positioning method of the present application includes: S101: Acquire base station data and receiver data transmitted by a shipborne receiver.

[0028] Optionally, the base station data and receiver data include observation data and augmentation data, wherein the base station and the shipborne receiver are connected to GPS satellites and BDS-3 satellites respectively, and obtain observation data and augmentation data based on satellite signals transmitted by these two satellites.

[0029] Optionally, the enhancement data may include PPP-B2b orbit correction products, PPP-B2b clock correction products, PPP-B2b DCB correction products, BDS-3 satellite precision correction products, BDGIM global ionospheric atmosphere enhancement products, and other enhancement data. Observation data may include carrier phase observations, ephemeris, pseudoranges, Doppler counts, time delays, clock biases, and other data used for positioning.

[0030] Optionally, a shipboard receiver is installed on a vessel requiring marine positioning. Receiver data can be acquired at all times while the vessel is in motion, along with reference station data. After acquiring the reference station and receiver data, the data is preprocessed. This preprocessing includes performing a series of data preprocessing operations on the observation data, such as gross error detection and cycle slip detection. It can also include signal filtering and other operations to improve data quality.

[0031] S102: Perform short baseline RTK positioning and PPP-B2b positioning based on the base station data and receiver data.

[0032] Optionally, when performing short baseline RTK positioning, the integer ambiguity is quickly fixed according to the base station data and the receiver data, and the positioning information is obtained using RTK dynamic differential positioning based on the fixed integer ambiguity.

[0033] Optionally, when fixing integer ambiguities, a series of data preprocessing operations, such as gross error detection and cycle slip detection, can be performed on the observation data from the receiver and reference station data. RTK inter-satellite single-difference and inter-station double-difference observation equations are then established based on the preprocessed observation data. Positioning information is then acquired based on these inter-satellite single-difference and inter-station double-difference observation equations. The inter-satellite single-difference and inter-station double-difference observation equations effectively eliminate the influence of common errors such as satellite clock errors, ship-borne receiver clock errors, ionospheric delay errors, and tropospheric delay errors.

[0034] Optionally, the RTK inter-satellite single-difference and inter-station double-difference observation equations are:

[0035] Where, represents the double difference operator, s and Indicates the numbers of the two satellites, represents the frequency of the i-th signal, Indicates a shipborne receiver, Indicates the base station corresponding to the base station data, represents the carrier wavelength, represents the carrier phase observation value corresponding to the i-th signal frequency of satellite s and satellite n, represents the geometric distance between satellite s and the reference station at the i-th signal frequency, The geometric distance between satellite n and the reference station when the signal of the i-th signal frequency is represented, The geometric distance between satellite s and the shipborne receiver when the signal of the i-th signal frequency is expressed as, The geometric distance between satellite n and the shipborne receiver when the signal of the i-th signal frequency is expressed as, It represents the carrier phase integer ambiguity when the shipborne receiver and the base station receive the signal of the i-th frequency of satellite s and satellite n, It represents the carrier phase integer ambiguity when the shipborne receiver receives the signal of frequency i transmitted by satellite s. It represents the carrier phase integer ambiguity when the shipborne receiver receives the signal of frequency i transmitted by satellite n. It represents the carrier phase integer ambiguity corresponding to the signal of frequency i transmitted by satellite s when the base station receives it. It represents the integer ambiguity of the carrier phase when the base station receives the signal of frequency i transmitted by satellite n.

[0036] Optionally, positioning information is obtained based on the RTK inter-satellite single difference and inter-station double difference observation equations, including: obtaining the relative positioning observation value residual equation corresponding to the signal of the i-th frequency based on the RTK inter-satellite single difference and inter-station double difference observation equations; obtaining the positioning information of the shipborne receiver according to the relative positioning observation value difference equation.

[0037] Specifically, after obtaining the RTK inter-satellite single-difference and inter-station double-difference observation equations, the satellite-to-ground distance (i.e., the geometric distance between the satellite and the reference station or ship-borne receiver) in the equation can be expanded to obtain the relative equation. The new relative positioning observation residual equation can be:

[0038] Where V represents the relative positioning observation residual corresponding to the signal of frequency i, is the correction vector, represents the coordinates of the shipborne receiver r, , ( , , ) represents the coordinates of the satellite labeled p, It represents the distance between the satellite labeled p and the shipborne receiver r, B is a p-order square matrix, The value of p can be determined based on the number of satellites whose signals can be received by the shipborne receiver.

[0039] The coordinates of the shipborne receiver are calculated based on the residual equation of the relative positioning observation value, thereby obtaining the positioning information of the ship and realizing short baseline RTK positioning.

[0040] Alternatively, short-baseline RTK positioning can be performed in real time while the vessel is docking or leaving the shore, and PPP-B2b positioning can be assisted based on the positioning results. During short-baseline RTK positioning, PPP-B2b positioning can be performed simultaneously to achieve PPP-B2b positioning.

[0041] Optionally, the PPP-B2b positioning includes: obtaining satellite position information and satellite clock error information according to receiver data, and establishing a PPP-B2b positioning model based on the satellite position information and the satellite clock error information; The expression of PPP-B2b positioning model is:

[0042] Where, represents the frequency of the i-th signal, Indicates a shipborne receiver, The unit vector representing the line of sight from the shipborne receiver to the satellite, represents the three-dimensional coordinates of the shipborne receiver, represents the pseudorange of the BDS-3 satellite at the i-th signal frequency, Indicates the carrier phase observation value and calculated value of BDS-3 satellite at the i-th signal frequency (i.e. ) difference, represents the pseudorange of GPS satellite at the i-th signal frequency, It represents the difference between the carrier phase observation value and the calculated value of the GPS satellite at the i-th signal frequency. Indicates the receiver clock error parameters corresponding to the BDS-3 satellite, Indicates the receiver clock error parameters corresponding to the GPS satellite, represents the tropospheric projection coefficient, represents the wet delay in the tropospheric zenith direction of the shipborne receiver, represents the ionospheric conversion coefficient corresponding to the signal frequency i, Indicates the slant ionospheric delay corresponding to the first signal frequency of the BDS-3 satellite, Indicates the slant ionospheric delay corresponding to the first signal frequency of the GPS satellite, represents the carrier phase integer ambiguity corresponding to the i-th signal frequency of the BDS-3 satellite, Indicates the number of GPS satellites The carrier phase integer ambiguity corresponding to the signal frequency is represents the compensation parameter, c represents the speed of light, in meters. It absorbs the pseudo-range hardware delay of the shipborne receiver and the uncorrected pseudo-range hardware delay of the satellite end. and The hardware delays for pseudorange and phase on the satellite side, as well as those on the receiver side, are absorbed. D is the compensation parameter corresponding to the initial systematic deviation of the clock error. Satellite positions and clock errors can be calculated using the ephemeris in the receiver. Based on these satellite positions and clock errors, the PPP-B2b precise correction products are applied to recover the precise satellite positions and clock errors. Differential code corrections are then performed on the BDS-3 constellation. The PPP-B2b positioning model is derived from these precise satellite positions (true satellite positions), precise satellite clock errors (true satellite clock errors), and the differential code correction results.

[0043] Optionally, the calculation formulas for each parameter are as follows:

[0044] In the above formula, Indicates the real satellite clock error corresponding to the BDS-3 satellite, Indicates the real satellite clock error corresponding to the GPS satellite, and is the dual-frequency ionospheric combination (IF) coefficient of BDS-3 B1I / B3I, and Indicates the dual-frequency ionospheric elimination combination (IF) coefficient of GPS L1 / L2, Indicates the pseudo-range hardware delay of the B1I signal frequency of the BDS-3 satellite in the shipborne receiver. Indicates the pseudo-range hardware delay of the B3I signal frequency of the BDS-3 satellite in the shipborne receiver. Indicates the pseudo-range hardware delay of the GPS satellite's L1 signal frequency in the shipborne receiver. Indicates the pseudo-range hardware delay of the GPS satellite's L2 signal frequency in the shipborne receiver. Indicates the pseudo-range hardware delay of the GPS satellite's L1 signal frequency at the satellite end. Indicates the pseudo-range hardware delay of the GPS satellite's L2 signal frequency at the satellite end. Indicates the actual slant ionospheric delay corresponding to the first signal frequency of the BDS-3 satellite, Indicates the actual slant ionospheric delay corresponding to the first signal frequency of the GPS satellite, Indicates the carrier phase hardware delay of the i-th signal frequency of the BDS-3 satellite in the shipborne receiver, Indicates BDS-3 satellite The carrier phase hardware delay of the signal frequency at the satellite end, It represents the carrier phase hardware delay of the GPS satellite’s i-th signal frequency in the shipborne receiver, Represents the number of GPS satellites The carrier phase hardware delay of the signal frequency at the satellite end.

[0045] Optionally, PPP-B2b positioning also includes: using the BDGIM model to obtain ionospheric delay correction values, constructing atmospheric constraint equations and coordinate virtual constraint equations based on the ionospheric delay correction values ​​and RTK positioning results, and converging the PPP-B2b positioning model using the atmospheric constraint equations and coordinate virtual constraint equations; if it is determined that short baseline RTK positioning has been completed, converging the PPP-B2b positioning model according to the positioning information of the short baseline RTK positioning.

[0046] Alternatively, the BDGIM model can be an external, high-precision, priori BeiDou-3 BDGIM model. This model and the ionospheric delay enhancement data in the augmentation data are used to calculate the ionospheric delay correction values ​​for all satellites in the epoch. The ionospheric delay enhancement data includes the priori BDGIM model enhancement information and broadcast ionospheric parameters.

[0047] Optionally, the method of enhancing the PPP-B2b positioning model based on the ionospheric delay correction value may include: using the inter-satellite single difference method to construct an atmospheric constraint equation and a coordinate virtual constraint equation for the ionospheric delay correction values ​​of the reference satellite and each satellite, using the atmospheric constraint equation and the coordinate virtual constraint equation to obtain prior enhancement information, adding the prior enhancement information to the PPP-B2b positioning model to form a new set of equations, and iteratively solving to obtain the position coordinates of the shipborne receiver with higher precision.

[0048] In one embodiment, the BeiDou-3 satellite navigation system broadcasts the BeiDou Global Ionospheric Delay Correction Model (BDGIM) based on spherical harmonics. The BDGIM model includes broadcast and non-broadcast parameters. The non-broadcast parameters are fixed in the shipborne receiver. The broadcast items include 9 parameters. The model parameters are broadcast based on the B1C and B2a frequency points. The ionospheric delay correction value on the station-satellite line path can be calculated based on the non-broadcast ionospheric parameters and the approximate receiver position and satellite position obtained using standard single point positioning (SPP). The basic formula can be expressed as:

[0049]

[0050] Where: It represents the ionospheric delay correction value in the line of sight between the shipborne receiver and the satellite at time t (unit: meter), is the carrier frequency of the current satellite signal (unit: Hz), Indicates VTEC (vertical total electron content) at the puncture point. , which is the broadcast parameter.

[0051] is the ionospheric projection function, which can be expressed as:

[0052] Where: represents the radius of the Earth; It represents the height of the ionosphere thin layer, that is, the height where the electron density is the highest; represents the zenith distance of the satellite relative to the puncture point, Indicates the zenith distance of the satellite relative to the shipborne receiver.

[0053] , which indicates that the prediction function value of the BDGIM model is calculated, which can be calculated based on the longitude and latitude of the puncture point and the observation time:

[0054] Where: and They represent the geomagnetic latitude and longitude of the puncture point in the solar coordinate system (unit: rad), represents the standard Legendre function, represents the regularization function, which can be expressed as:

[0055] Where, and Respectively represent The order of the spherical harmonics corresponding to the broadcast parameters.

[0056] is the ionospheric delay prediction value:

[0057]

[0058] Where: Calculation reference Calculation of To calculate the prediction coefficients of the BDGIM model based on the non-broadcast parameters, and They are The corresponding spherical harmonic order is, is the regularization function, is the standard Legendre function.

[0059]

[0060] Where: Indicates the forecast period of each non-broadcast parameter, Indicates the odd hour of the current Julian day. and Indicates the non-broadcast coefficient. The specific value can be determined by referring to the Beidou Satellite Navigation System Space Signal Interface Control Document.

[0061] The atmospheric constraint equation constructed based on the obtained ionospheric delay correction value is:

[0062] Where: represents the residual equation for the atmospheric constraint, represents the coordinate parameters to be estimated, 1 represents the first design matrix, where 1 is the satellite The coefficient of -1 is the coefficient of the reference satellite, 1 represents the first constant term, Indicates satellite The BDGIM ionospheric enhancement value, represents the BDGIM ionospheric enhancement value of the reference satellite, Indicates satellite Ionospheric estimation during PPP filtering, represents the ionospheric estimate of the reference satellite during the PPP filtering process, 1 represents a diagonal matrix, 1 represents the first observation noise, which can be set to an empirical value of 0.4. Indicates the epoch number of the day, represents the ionospheric projection function.

[0063] The constructed coordinate virtual constraint equation is:

[0064] In this formula, represents the coordinate virtual constraint residual equation, represents the coordinate parameters to be estimated, represents the second design matrix, which is of size The unit array, Represents the second constant term, which can be the difference between the RTK coordinate solution and the PPP coordinate solution. is the unit matrix composed of the weights of the coordinate virtual constraint equations, where represents the second observation noise and can be set to an empirical value of 0.8. The convergence of PPP-B2b is accelerated by using the coordinate virtual constraint equation and the atmospheric constraint equation.

[0065] Optionally, the positioning information of the PPP-B2b positioning model can be obtained, and the positioning accuracy can be obtained based on the positioning information. If it is determined that the positioning accuracy in the horizontal direction and the elevation direction within the preset time is better than the preset accuracy, the model is determined to have converged.

[0066] In one embodiment, the preset time period may be ten consecutive epochs. If the positioning accuracy in the horizontal and vertical directions is determined to be better than 0.2 m and 0.4 m, respectively, for ten consecutive epochs, the model is considered to have converged. The preset time period and the preset accuracy can be determined based on actual needs or the offshore environment.

[0067] S103: If it is determined that the short baseline RTK rapid fixation condition is not currently met, long baseline RTK positioning or PPP-B2b single-station positioning is performed based on the PPP-B2b positioning information.

[0068] Optionally, the short baseline RTK rapid fix condition may be that the integer ambiguity cannot be fixed within a preset period, which may be ten consecutive epochs or any other number of consecutive epochs.

[0069] Optionally, long-baseline RTK positioning is performed based on PPP-B2b positioning information, including: obtaining atmospheric information using a PPP-B2b positioning model, and performing long-baseline RTK positioning based on the atmospheric information and atmospheric information in reference station data.

[0070] Optionally, the atmospheric information may include slant ionospheric delay, tropospheric delay (e.g., tropospheric zenith wet delay and static delay), and other atmospheric information. This atmospheric information is combined with the atmospheric information of the reference station to form an inter-station double-difference observation value. Based on these two atmospheric information values, an accurate atmospheric information value is obtained. This accurate atmospheric information is substituted into the RTK inter-satellite single-difference and inter-station double-difference observation equations to obtain the integer ambiguity, which is used to achieve long-baseline RTK positioning.

[0071] Optionally, when the atmospheric information obtained through the PPP-B2b positioning model cannot achieve rapid positioning within a preset time period (for example, RTK positioning cannot be performed for multiple consecutive epochs), PPP-B2b single-station positioning is performed.

[0072] In one embodiment, when RTK can successfully fix the integer ambiguities, the RTK solution is considered credible, and the position solution after RTK fixation is used. This position solution can be obtained through RTK dynamic differential positioning. When long-baseline RTK cannot fix the integer ambiguities for a period of time, the RTK solution is considered unreliable, and the converged PPP-B2b single-station real-time PPP floating-point solution is determined as the ship's positioning information. Specifically, the criterion for determining when long-baseline RTK cannot fix the integer ambiguities for ten consecutive epochs is that the RTK solution is considered unreliable and the real-time PPP position solution based on PPP-B2b single-station positioning is switched to.

[0073] The maritime positioning method provided in the present application obtains reference station data and receiver data transmitted by a shipborne receiver, wherein the reference station data and receiver data include observation data and enhancement data; short baseline RTK positioning and PPP-B2b positioning are performed based on the reference station data and receiver data; if it is determined that the short baseline RTK rapid fixation conditions are not currently met, long baseline RTK positioning or PPP-B2b single-station positioning is performed based on the PPP-B2b positioning information. The embodiment of the present application can achieve maritime positioning by combining RTK positioning and PPP-B2b, and effectively avoid the influence of baseline distance and atmospheric delay errors, improve positioning accuracy and maintain real-time positioning, and can provide technical support for precise real-time positioning at sea and continuous and efficient maritime monitoring.

[0074] Based on the same inventive concept, the embodiment of the present application provides an electronic device, such as Figure 5 As shown, Figure 5 The electronic device 2000 shown includes a processor 2001 and a memory 2003 . The processor 2001 and the memory 2003 are communicatively connected, for example, via a bus 2002 .

[0075] Processor 2001 can be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. Processor 2001 can also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0076] Bus 2002 may include a path for transmitting information between the aforementioned components. Bus 2002 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, for example. Bus 2002 may be divided into an address bus, a data bus, a control bus, and so on. For ease of illustration, the figure shows only one thick line, but this does not indicate that there is only one bus or only one type of bus.

[0077] The memory 2003 may be a ROM (Read-Only Memory) or other type of static storage device that can store static information and instructions, a RAM (random access memory) or other type of dynamic storage device that can store information and instructions, an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read-Only Memory) or other optical disk storage, optical disk storage (including compact discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto.

[0078] Optionally, the electronic device 2000 may further include a communication unit 2004. The communication unit 2004 may be used to receive and transmit signals. The communication unit 2004 may allow the electronic device 2000 to communicate with other devices wirelessly or by wire to exchange data. It should be noted that in actual applications, the number of communication units 2004 is not limited to one.

[0079] Optionally, the electronic device 2000 may further include an input unit 2005. The input unit 2005 may be configured to receive input digital, character, image, and / or sound information, or to generate key signal input related to user settings and function control of the electronic device 2000. The input unit 2005 may include, but is not limited to, one or more of a touch screen, a physical keyboard, function keys (such as a volume control key, a power key, etc.), a trackball, a mouse, a joystick, a camera, a microphone, and the like.

[0080] Optionally, the electronic device 2000 may further include an output unit 2006. The output unit 2006 may be used to output or display information processed by the processor 2001. The output unit 2006 may include, but is not limited to, one or more of a display device, a speaker, a vibration device, and the like.

[0081] Although the electronic device 2000 is shown with various devices, it should be understood that it is not required to implement or possess all the devices shown, and more or fewer devices may be implemented or possessed instead.

[0082] Optionally, the memory 2003 is used to store a computer program for executing the solution of the present application, and the execution is controlled by the processor 2001. The processor 2001 is used to execute the computer program stored in the memory 2003 to implement the steps of any method provided in the embodiments of the present application.

[0083] Based on the same inventive concept, an embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by an electronic device / processor, it implements the steps of any method provided in the present application / implements the steps of various optional implementation methods of the method provided in the present application.

[0084] Based on the same inventive concept, an embodiment of the present application provides a computer program product, which includes a computer program, which, when executed by an electronic device / processor, implements the steps of any method provided in the present application / implements the steps of various optional implementation methods of the method provided in the present application.

[0085] Those skilled in the art will appreciate that the steps, measures, and schemes in the various operations, methods, and processes discussed in this application may be interchanged, modified, combined, or deleted. Furthermore, other steps, measures, and schemes in the various operations, methods, and processes discussed in this application may also be interchanged, modified, rearranged, decomposed, combined, or deleted. Furthermore, steps, measures, and schemes in the related art that are similar to those disclosed in this application may also be interchanged, modified, rearranged, decomposed, combined, or deleted.

[0086] In the description of the present application, the directions or positional relationships indicated by words such as "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", and "outside" are based on the exemplary directions or positional relationships shown in the accompanying drawings. They are for the convenience of describing or simplifying the description of the embodiments of the present application, and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be understood as limitations on the present application.

[0087] In the specification and claims of this application and the accompanying drawings, the terms "first," "second," "third," "fourth," "1," "2," and so on (if any) are used to distinguish similar objects and are not necessarily used to describe a particular order or sequence. It should be understood that the terms used in this manner are interchangeable where appropriate, such that the embodiments of the present application described herein can be practiced in an order other than that shown or described.

[0088] It should be understood that, although each operation step is indicated by arrows in the flowchart of the embodiment of the present application, the order of implementation of these steps is not limited to the order indicated by the arrows. Unless otherwise clearly stated herein, in some implementation scenarios of the embodiment of the present application, the implementation steps in each flowchart can be performed in other orders according to demand. In addition, some or all of the steps in each flowchart can include multiple sub-steps or multiple stages based on actual implementation scenarios. Some or all of these sub-steps or stages can be executed at the same time, and each sub-step or stage in these sub-steps or stages can also be executed at different times respectively. Under different scenarios at the execution time, the execution order of these sub-steps or stages can be flexibly configured according to demand, and the embodiment of the present application does not limit this.

[0089] The above is only an optional implementation method for some implementation scenarios of this application. It should be pointed out that for ordinary technicians in this technical field, without departing from the technical concept of the solution of this application, the use of other similar implementation methods based on the technical ideas of this application also falls within the protection scope of the embodiments of this application.

Claims

1. A method for positioning at sea, characterized in that: include: Acquiring reference station data and receiver data transmitted by a shipborne receiver, wherein the reference station data and the receiver data include observation data and enhancement data; Performing short baseline RTK positioning and PPP-B2b positioning according to the reference station data and the receiver data; If it is determined that the short baseline RTK rapid fix conditions are not met, long baseline RTK positioning or PPP-B2b single-station positioning is performed based on the PPP-B2b positioning information.

2. The offshore positioning method according to claim 1, wherein: The short baseline RTK positioning includes: Preprocessing the observation data, and establishing RTK inter-satellite single-difference and inter-station double-difference observation equations based on the preprocessed observation data; Positioning information is obtained based on the RTK inter-satellite single-difference and inter-station double-difference observation equations.

3. The offshore positioning method according to claim 2, characterized in that: The RTK inter-satellite single-difference and inter-station double-difference observation equations are: Where, represents the double difference operator, s and Indicates the numbers of the two satellites, represents the frequency of the i-th signal, Indicates a shipborne receiver, Indicates the base station corresponding to the base station data, represents the carrier wavelength, represents the carrier phase observation value corresponding to the i-th signal frequency of satellite s and satellite n, represents the geometric distance between satellite s and the reference station at the i-th signal frequency, The geometric distance between satellite n and the reference station when the signal of the i-th signal frequency is represented, The geometric distance between satellite s and the shipborne receiver when the signal of the i-th signal frequency is expressed as, The geometric distance between satellite n and the shipborne receiver when the signal of the i-th signal frequency is expressed as, It represents the carrier phase integer ambiguity when the shipborne receiver and the base station receive the signal of the i-th frequency of satellite s and satellite n, It represents the carrier phase integer ambiguity when the shipborne receiver receives the signal of frequency i transmitted by satellite s. It represents the carrier phase integer ambiguity when the shipborne receiver receives the signal of frequency i transmitted by satellite n. It represents the carrier phase integer ambiguity corresponding to the signal of frequency i transmitted by satellite s when the base station receives it. It represents the integer ambiguity of the carrier phase when the base station receives the signal of frequency i transmitted by satellite n.

4. The offshore positioning method according to claim 3, characterized in that: The obtaining of positioning information based on the RTK inter-satellite single-difference and inter-station double-difference observation equations includes: Obtaining a relative positioning observation value residual equation corresponding to the signal of the i-th frequency based on the RTK inter-satellite single difference and inter-station double difference observation equations; Obtaining positioning information of the shipborne receiver according to the relative positioning observation value difference equation; The relative positioning observation residual equation is: Where V represents the relative positioning observation residual corresponding to the signal of frequency i, is the correction vector, represents the coordinates of the shipborne receiver r, , ( , , ) represents the coordinates of the satellite labeled p, It represents the distance between the satellite labeled p and the shipborne receiver r, B is a p-order square matrix, .

5. The offshore positioning method according to claim 1, characterized in that: The PPP-B2b positioning includes: Acquire satellite position information and satellite clock error information according to the receiver data, and establish a PPP-B2b positioning model based on the satellite position information and the satellite clock error information; The expression of the PPP-B2b positioning model is: Where, represents the frequency of the i-th signal, Indicates a shipborne receiver, The unit vector representing the line of sight from the shipborne receiver to the satellite, represents the three-dimensional coordinates of the shipborne receiver, represents the pseudorange of the BDS-3 satellite at the i-th signal frequency, It represents the difference between the carrier phase observation value and the calculated value of the BDS-3 satellite at the i-th signal frequency, represents the pseudorange of GPS satellite at the i-th signal frequency, It represents the difference between the carrier phase observation value and the calculated value of the GPS satellite at the i-th signal frequency. Indicates the receiver clock error parameters corresponding to the BDS-3 satellite, Indicates the receiver clock error parameters corresponding to the GPS satellite, represents the tropospheric projection coefficient, represents the wet delay in the tropospheric zenith direction of the shipborne receiver, represents the ionospheric conversion coefficient corresponding to the signal frequency i, Indicates the slant ionospheric delay corresponding to the first signal frequency of the BDS-3 satellite, Indicates the slant ionospheric delay corresponding to the first signal frequency of the GPS satellite, represents the carrier phase integer ambiguity corresponding to the i-th signal frequency of the BDS-3 satellite, Indicates the number of GPS satellites The carrier phase integer ambiguity corresponding to the signal frequency is represents the compensation parameter, and c represents the speed of light.

6. The offshore positioning method according to claim 5, characterized in that: The PPP-B2b positioning further includes: Utilizing the BDGIM model to obtain an ionospheric delay correction value, constructing an atmospheric constraint equation and a coordinate virtual constraint equation based on the ionospheric delay correction value and the RTK positioning result, and converging the PPP-B2b positioning model using the atmospheric constraint equation and the coordinate virtual constraint equation; If it is determined that the short baseline RTK positioning has been completed, the PPP-B2b positioning model is converged according to the positioning information of the short baseline RTK positioning.

7. The offshore positioning method according to claim 1, wherein: The long baseline RTK positioning based on the PPP-B2b positioning information includes: Atmospheric information is acquired using the PPP-B2b positioning model, and long baseline RTK positioning is performed based on the atmospheric information and the atmospheric information in the reference station data.

8. The offshore positioning method according to claim 1, wherein: The PPP-B2b single-station positioning includes: If it is determined that long baseline RTK positioning cannot be performed within the preset time period, the PPP-B2b positioning model is used to obtain the position information of the shipborne receiver.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory, characterized in that: The processor executes the computer program to implement the steps of the method according to any one of claims 1 to 8.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed, the steps of the method according to any one of claims 1 to 8 are implemented.

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