CORS network reference station layout evaluation and master station determination method and device, and storage medium
By constructing a CORS network map of Delaunay triangles and using Thiessen polygons to evaluate the service range of base stations, the accuracy problem of CORS network layout evaluation was solved, and the RTK network service quality and positioning accuracy were improved.
Patent Information
- Application Number
- CN202510914495.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-07-02
- Publication Date
- 2025-10-14
AI Technical Summary
The existing CORS network base station layout assessment method is difficult to accurately evaluate the base station density and uniformity, which affects the quality of network RTK services.
The CORS network diagram based on Delaunay triangle is used to determine the service range of the base station through the expansion polygon and Thiessen polygon, and the layout evaluation parameters are calculated, including the average service range of the base station and the service range variation coefficient.
A scientific assessment of the CORS network base station layout was achieved, the RTK network service quality was improved, the density and uniformity of the base station distribution were ensured, and positioning accuracy was improved.
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Figure CN120786383A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to, but is not limited to, the field of satellite navigation positioning technology, and in particular to a CORS network reference station layout evaluation method, a master station determination method, an electronic device and a storage medium. BACKGROUND
[0002] In the field of satellite positioning and navigation technology, NRTK (Network Real-Time Kinematic) scheme is widely used to improve accuracy. It is a high-precision satellite positioning technology based on a network of multiple reference stations, which provides centimeter-level positioning accuracy through real-time differential correction data. It is an extension of traditional RTK (Real-Time Kinematic) technology, which uses multiple continuous operational reference systems (CORS) to build a network, covering a wider area and providing more stable positioning services. Among them, the more common implementation is VRS (Virtual Reference Stations) technology. This technology first builds a large number of reference stations in a larger area to form a CORS network. The reference stations receive satellite data and transmit it to the data processing center. The data center uniformly processes data and provides services. When a user (or mobile station) accesses the service, the data center will generally select a reference station closest to the grid center as the master station, and combine the baseline solution to model the atmosphere, generate correction numbers, and finally play the correction numbers to the user for navigation positioning.
[0003] With the continuous development of positioning technology, people have higher requirements for the quality of network RTK services, and the quality of network RTK services is often restricted by basic factors such as the density, uniformity, data quality, and service range of the CORS network. Therefore, it is crucial to study the evaluation indicators related to the layout of reference stations. SUMMARY
[0004] The embodiments of the present application provide a CORS network reference station layout evaluation method, a master station determination method, an electronic device and a storage medium. Based on the CORS network map constructed by the Delaunay triangle of each reference station, the corresponding Thiessen polygon of each reference station is determined, and the reference station layout evaluation is performed accordingly. More accurate and effective evaluation data can be obtained to further help optimize the CORS network layout and improve the quality of RTK network services.
[0005] The embodiments of the present application provide a CORS network reference station layout evaluation method, which comprises: According to the coordinates of each reference station, a CORS network map based on Delaunay triangle is constructed; According to the set expansion distance, the boundary of the CORS network map is expanded to obtain a CORS network expansion map, and a corresponding CORS network service range is determined; the CORS network service range includes at least one map grid of a set shape; According to the CORS network expansion map, a Thiessen polygon corresponding to each reference station is determined; In the CORS network service range, a map grid included in each Thiessen polygon is determined respectively, and a service range of the corresponding reference station is calculated for reference station layout evaluation of the CORS network.
[0006] The embodiment of the present disclosure further provides a master station determination method, comprising: According to the coordinate information of the satellite positioning receiver, a home map grid is determined; A reference station corresponding to the Thiessen polygon to which the map grid belongs is taken as a master station to obtain a correction number; The Thiessen polygon is obtained according to the CORS network reference station layout evaluation method as described in any of the embodiments of the present disclosure.
[0007] The embodiment of the present disclosure further provides an electronic device, comprising a processor and a memory storing a computer program executable on the processor, wherein the processor implements the steps of the method as described in any of the embodiments of the present disclosure when executing the program.
[0008] The embodiment of the present disclosure further provides a non-transient computer readable storage medium storing computer executable instructions for executing the method as described in any of the embodiments of the present disclosure.
[0009] Other features and advantages of the present application will be set forth in the following description, and in part will become apparent to those skilled in the art from the description, or can be learned by practice of the present application. Other advantages of the present application can be realized and obtained by means of the schemes described in the specification and the drawings. BRIEF DESCRIPTION OF DRAWINGS
[0010] The accompanying drawings are used to provide an understanding of the technical solutions of the present application, and constitute a part of the specification, and are used to explain the technical solutions of the present application together with the embodiments of the present application, and do not constitute a limitation on the technical solutions of the present application.
[0011] Figure 1 A CORS network reference station layout evaluation method flowchart is provided for the embodiments of the present disclosure; Figure 2 Another sequencing data amount determination method flowchart is provided for the embodiments of the present disclosure; Figure 3 A distribution diagram of a reference station on a Gaussian plane is provided for the embodiments of the present disclosure; Figure 4 An example of a CORS network diagram based on Delaunay triangles provided in an embodiment of the present disclosure; Figure 5 A schematic diagram of the service scope of a CORS network provided in an embodiment of the present disclosure; Figure 6 A schematic diagram of the service range of a reference station including auxiliary lines provided in an embodiment of the present disclosure; Figure 7 A schematic diagram of the service range of a reference station without auxiliary lines provided in an embodiment of the present disclosure; Figure 8 A schematic diagram of the service range of a reference station aligned with a square grid provided in an embodiment of the present disclosure; Figure 9 A schematic diagram of the service range of a reference station in a staggered square grid provided by an embodiment of the present disclosure. DETAILED DESCRIPTION
[0012] This application describes multiple embodiments, but this description is exemplary rather than restrictive, and it will be apparent to those skilled in the art that there may be more embodiments and implementations within the scope of the embodiments described herein. Although many possible feature combinations are shown in the drawings and discussed in the detailed description, many other combinations of the disclosed features are also possible. Unless specifically limited, any feature or element of any embodiment may be used in combination with any other feature or element in any other embodiment, or may replace any other feature or element in any other embodiment.
[0013] In addition, when describing representative embodiments, the specification may have presented the method and / or process as a specific sequence of steps. However, to the extent that the method or process does not rely on the specific order of the steps described herein, the method or process should not be limited to the steps in the specific order described. As will be understood by those skilled in the art, other orders of steps are also possible. Therefore, the specific order of the steps set forth in the specification should not be interpreted as a limitation to the claims. In addition, the claims for the method and / or process should not be limited to performing their steps in the order written, and those skilled in the art can readily understand that these orders can be changed and still remain within the spirit and scope of the embodiments of the present application.
[0014] The CORS network constructed by a plurality of reference stations provides RTK data services for receivers / positioning devices, and the density, uniformity, data quality, and the like of the reference stations directly affect the quality of the RTK services. Therefore, scientifically and effectively accurately evaluating the density and service range of the reference station layout of the CORS network is the basis for the construction and continuous optimization of the CORS network.
[0015] The embodiments of the present disclosure provide a CORS network reference station layout evaluation method, as shown in the following formula (1) : Figure 1 The method comprises the following steps: In step 110, a CORS network map based on Delaunay triangles is constructed according to the coordinates of each reference station. In step 120, the boundary of the CORS network map is expanded outward by a set expansion distance to obtain a CORS network expansion map, and a corresponding CORS network service range is determined; the CORS network service range comprises at least one map grid of a set shape. In step 130, a Voronoi polygon corresponding to each reference station is determined according to the CORS network expansion map. In step 140, the map grid included in each Voronoi polygon is determined in the CORS network service range, and the service range of the corresponding reference station is calculated to evaluate the reference station layout of the CORS network.
[0016] The average reference station service range can be used to represent the reference station density, and the service range coefficient of variation can be used to represent the uniformity of the reference station layout.
[0017] It can be understood that the CORS network map is a planar triangular grid map, each node included in the map corresponds to a reference station, and the edges of the Delaunay triangles are connected to form the edges of each triangle when the Delaunay triangles are constructed, and the outermost edges (connecting lines) form the boundary of the CORS network map. Expanding the CORS network map outward by a set expansion distance means that the boundary of the determined CORS network map is translated outward by the set expansion distance to obtain a CORS network expansion map, and the polygon formed by the expanded boundary is also called an expansion polygon. The expansion distance is set flexibly according to experience, for example, the expansion distance is 5 kilometers, or other distances, and is not limited to a specific aspect.
[0018] In some exemplary embodiments, the map grid included in the CORS network service range is a map grid whose center point is located inside the CORS network expansion map. The map grid included in the Voronoi polygon is a map grid whose center point is located inside the Voronoi polygon.
[0019] The geographic area requiring RTK service is divided into several map networks, referred to as grids or lattices, according to a predetermined shape. Each map grid corresponds to a defined geographic sub-area. The predetermined shape can be a hexagon, a rectangle (including a square or rectangle), or a triangle. The rectangles can be aligned or staggered, without limitation. After the map grid is divided, the entire CORS network service range can be described or defined by the map grids encompassed by the CORS network's extended map. The service range of each base station can also be described or defined by the map grids encompassed by the corresponding Thiessen polygons.
[0020] It is understood that for each map grid of a given shape, the corresponding grid center point position is known. If the center point position falls within the boundary of the CORS network's extended map, the CORS network service range is determined to include the map grid. If the center point position falls within the boundary of a certain Thiessen polygon, the service range of the base station corresponding to the Thiessen polygon is determined to include the map grid.
[0021] In some exemplary embodiments, the CORS network uses one or more of the following layout evaluation parameters to evaluate the reference station layout: average service range of the reference stations and service range variation coefficient.
[0022] In some exemplary embodiments, the reference station service range is determined based on the map grids encompassed by the Thiessen polygons corresponding to the reference station. For example, the reference station service range is equal to the total area of all map grids encompassed by the Thiessen polygons corresponding to the reference station. If the areas corresponding to the map grids are equal, the reference station service range can be calculated as a × S based on the number of map grids encompassed by each Thiessen polygon and the area of each map, S. If the areas corresponding to the map grids are unequal, the total area can be calculated by adding them up one by one.
[0023] In some exemplary embodiments, the service range coefficient of variation CV is calculated according to the following formula: Wherein, STD is the standard deviation of the service range of all reference stations; is the average value of the service ranges of all reference stations, that is, the average service range of the reference stations.
[0024] The standard deviation STD can be calculated based on the service range of each reference station and the average of the service ranges of all reference stations. The standard deviation can be used to evaluate the degree of data dispersion in the service range of the reference station. The larger the standard deviation, the more dispersed the data distribution; the smaller the standard deviation, the more concentrated the data is around the mean.
[0025] In some exemplary embodiments, step 110 includes: converting the geographic coordinates of each reference station into Gaussian plane coordinates; According to the Gaussian plane coordinates, the CORS network graph based on the Delaunay triangle is constructed using a point-by-point interpolation method.
[0026] After converting the geographic coordinates of each reference station into Gaussian plane coordinates, the “point-by-point interpolation method” is used to construct the Delaunay triangle to obtain the CORS network map, referred to as the CORS network.
[0027] In some exemplary embodiments, step 110 includes steps 111 to 114, wherein: Step 111, converting the coordinates of all reference stations into a Gaussian plane coordinate system with the central axis of the region as the central meridian, includes the following steps: 1) Get the coordinate information of all base stations (geodetic coordinates ), calculate the longitude of the central axis in the area: ; 2) Convert the coordinates of each base station into the following equations using Gaussian direct calculation formula (1): Gaussian plane coordinate system with the central meridian In order to prevent the horizontal axis Negative values appear in Add K to the base, for example, K=500km, that is: ; (1) Where, Represents the Gaussian symbol; Represents the ordinate transformed into the Gaussian plane coordinate system; Represents the horizontal coordinate transformed into the Gaussian plane coordinate system; To prevent negative values from appearing in The horizontal coordinate after adding K to the basis, K can also be set to other values.
[0028] 3) Set all base stations to Arrange them according to the principle of small to large.
[0029] Step 112: Construct a super large triangle that includes all benchmark sites , including the following steps: 1) Get the minimum and maximum values of the vertical and horizontal coordinates of the Gaussian coordinates of all base stations: , , , ; 2) Use formula (2) to calculate the maximum value of the longitudinal and lateral changes ; (2) 3) Calculate the median value of the vertical and horizontal coordinates of the Gaussian coordinates of all reference stations: , ; 4) Construct the three vertices of the super large triangle: , , ; 5) Connection points 、 、 Building a super large triangle , added to the triangle list; 6) The super large triangle The three sides of 、 and Add to the baseline list.
[0030] Step 113, sequentially inserting the reference station coordinates obtained in sub-step 111 to generate a CORS network of Delaunay triangles, includes the following steps: 1) Mark the triangles in the triangle list as affected triangles. A so-called affected triangle means that the inserted point is within the circumcircle of the triangle. 2) Delete the affected baseline in the baseline list (skip this step if there is no affected baseline). The so-called affected baseline means that all triangles containing this baseline are affected triangles. 3) Connect the insertion point and all vertices of the affected triangle to generate a new triangle and baseline, and add them to the triangle list and baseline list; 4) Loop through steps 1) to 3) and insert all points in turn to obtain the vertex 、 、 The triangle list of the list is called the initial Delaunay triangle network, denoted as .
[0031] Step 114: Eliminate the included vertices 、 、 All triangles of , get the CORS network based on Delaunay triangle, denoted as .
[0032] Step 120 includes: Step 121 to Step 123, wherein: Step 121, obtaining the outer polygon of the CORS network, includes the following steps: The data obtained in sub-step 113 Find all included vertices in 、 、 Triangle, extract the vertices of each triangle (or 、 ) and combine all the edges (baselines) to get the outer polygon of the CORS network, which is recorded as .
[0033] Step 122: The outer polygon of the CORS network Expand outward to obtain the expanded polygon , including the following steps: The included vertex obtained in step 121 、 、 The vertices of each triangle (or 、 ) opposite the edge (baseline) toward the vertex (or 、 ) Move a certain distance , get new edges (baselines), and extend these new edges (baselines) to both ends so that they intersect with the extension lines of the new edges (baselines) after the corresponding edges of the expanded polygon are moved, generating a new polygon, which is the expanded polygon.
[0034] Step 123, based on the outward-expanding polygon, obtains the service range of the CORS network, including the following steps: 1) Get the minimum value of the vertical and horizontal coordinates of the vertices of the expanded polygon ( 、 ), maximum value ( 、 ); 2) Construct a quadrilateral containing the expanded polygon : 、 、 、 ; 3) In the quadrilateral Divide the grid (the available grid types include: aligned square grid, staggered square grid, hexagonal grid, etc.) to obtain several map grids; 4) Use the "ray method" to determine whether the grid center is inside the outer expansion polygon. All map grids inside the outer expansion polygon constitute the service range of the CORS network.
[0035] Step 130 includes: Step 131-Step 132, wherein: Step 131, use formula (3) to calculate the value obtained in sub-step 1.3 The circumcenter of each triangle in (the center of the circumcircle) ; (3) Where, 、 、 Represent the vertical coordinates of the three vertices of the triangle; 、 、 Represent the horizontal coordinates of the three vertices of the triangle; 、 They represent the vertical and horizontal coordinates of the circumcenter of the triangle respectively.
[0036] Step 132: The circumcenter of all triangles containing each station The Thiessen polygons of each station are connected in sequence; the Thiessen polygons close to the boundary of the outward-expanding polygon are composed of part of the edge lines of the associated outward-expanding polygon, the circumcenter O connecting line and the perpendicular bisector of the associated Delaunay triangle.
[0037] Step 140 includes: Step 141 to Step 145, wherein: Step 141: For each reference station, determine which grid centers within the service range of the CORS network are located inside the Thiessen polygon of the station through the "ray method". The combination of these map grids (grids) located inside the Thiessen polygon of the station forms the service range of the reference station.
[0038] Step 142, using formula (4) to add the areas of the grids within the service range of each reference station to calculate the area of the service range of each reference station; (4) Where, Indicates the service area of the base station in square meters; Indicates the base station number; g indicates the grid number of the base station's service range; Indicates the total number of grids within the service range of the base station; Represents the area of the grid.
[0039] Step 143, using formula (5) to calculate the average value of the service ranges of all reference stations in the CORS network; (5) Where, Indicates the average service range of all reference stations in the CORS network; Indicates the total number of all reference stations in the CORS network; Step 144, calculate the standard deviation of the service range of all reference stations in the CORS network using formula (6) ; (6) Step 145, calculate the coefficient of variation of the service range of all reference stations in the CORS network using formula (7) : (7) It should be noted that the above embodiment describes an implementation method for constructing a CORS network graph based on Delaunay triangles, expanding the boundaries, and generating multiple Thiessen polygons to determine the values of layout evaluation parameters. Optionally, other implementation methods may be used to establish the CORS network graph and determine the values of layout evaluation parameters, and are not limited to the detailed aspects of the above example of this disclosure.
[0040] In some exemplary embodiments, the method further comprises: Step 150, determining the rationality of the CORS network reference station layout according to the values of the layout evaluation parameters; The layout rationality is indicated by at least one of the following: layout density and layout uniformity; the average service range of the reference station indicates the layout density; and the service range variation coefficient indicates the layout uniformity.
[0041] In some exemplary embodiments, the layout density includes: the layout density meets the standard or the layout density does not meet the standard; when the average service range of all the reference stations is less than the set area threshold, the layout density meets the standard; when the average service range of all the reference stations is greater than or equal to the set area threshold, the layout density does not meet the standard.
[0042] In some exemplary embodiments, the layout uniformity includes: layout uniformity levels, each corresponding to different service range variation coefficient ranges.
[0043] For example, the set area threshold is X square kilometers. When the average service range is less than X, it is determined that the layout density meets the standard; otherwise, it does not meet the standard.
[0044] For example, the correspondence between the uniformity level and the service coverage coefficient range is as follows: Table 1 Classification of CORS base station distribution uniformity In some exemplary embodiments, the evaluation method provided by the embodiments of the present disclosure can be used to evaluate the layout of the entire CORS network or the layout of a local CORS network, and can be flexibly selected according to needs. When performing a local evaluation, the reference stations correspond to the reference stations included in the local area. It can be seen that according to the evaluation method provided by the embodiments of the present disclosure, the CORS network reference station layout evaluation can be scientifically and accurately performed to effectively guide the optimization of the reference station layout.
[0045] As can be seen, in network RTK solutions, the established CORS network includes several base stations. These base stations receive satellite data and transmit it to a data processing center, which then centrally processes the data and provides services. When a user (or rover) accesses the service, the data center typically selects a base station closest to the center of the user's nearest map grid as the master station. The data center then uses the baseline solution results to perform atmospheric modeling and generate corrections, which are then broadcast to the user (satellite positioning receiver) for navigation and positioning. The solution provided by the embodiments of the present disclosure allows the service range of each base station to be determined, i.e., the map grid encompassed by the corresponding Thiessen polygons. This also means that the base station to which each map grid belongs can be determined. This allows the receiver to quickly determine the current master station and obtain corrections.
[0046] The present disclosure also provides a method for determining a master station. Figure 2 Shown, including: Step 210, determining the map grid to which the location belongs based on the coordinate information of the satellite positioning receiver; Step 220, using the reference station corresponding to the Thiessen polygon to which the map grid belongs as the master station to obtain correction data; The Thiessen polygons are obtained according to the CORS network reference station layout evaluation method as described in any embodiment of the present disclosure.
[0047] Satellite positioning receivers, also known as rovers, include user terminals, vehicle-mounted terminals, drones, agricultural machinery, and other devices. Base stations typically broadcast corrections, hence the term "base station broadcast corrections." Receivers use the corrections broadcast by the master station to eliminate common errors through differential analysis, improving positioning accuracy.
[0048] In order to make the purpose, technical solutions and key technologies of the embodiments of the present disclosure clearer, the present disclosure selects the HKTK, HKKT, YKC1, HKOH, HKKS, and HKST reference stations in a certain measurement and control station network as examples, establishes a small CORS network, calculates the service range of each reference station in the CORS network, and calculates the density index and uniformity index of the number of reference stations in the CORS network.
[0049] Table 2 shows the coordinate information of the HKTK, HKKT, YKC1, HKOH, HKKS, and HKST base stations. In the specific implementation plan, when the outer polygon of the CORS network is expanded, the expansion distance is set to 5km, and the shape of the map grid is set to a regular hexagon, the side length of the hexagonal grid is 1.5km, and the area is 5.85 .
[0050] Table 2 Coordinate information of HKTK, HKKT, YKC1, HKOH, HKKS, and HKST base stations Figure 3 It is a distribution map that converts the longitude and latitude of the HKTK, HKKT, YKC1, HKOH, HKKS, and HKST benchmark stations onto the Gaussian plane.
[0051] Figure 4 It is a CORS network diagram based on Delaunay triangles, which is constructed by using the "point-by-point insertion method" to insert the HKTK, HKKT, YKC1, HKOH, HKKS, and HKST base stations.
[0052] Figure 5 The service range diagram of the CORS network is obtained by determining whether the grid center is inside the outward-expanding polygon, where the dotted line represents the outward-expanding polygon.
[0053] Figure 6 The service range map of each base station is obtained by judging whether the grid center within the service range of the CORS network is inside the Thiessen polygon, where the dotted line represents the Thiessen polygon.
[0054] Figure 7 yes Figure 6 The service range of each base station after removing the auxiliary dotted lines.
[0055] Figure 8 、 Figure 9 Schematic diagrams showing the service range of reference stations for aligned square grids and staggered square grids, respectively.
[0056] Figure 6-Figure 9 In the figure, different shadings represent the service ranges of different base stations. Figure 7 、 Figure 8 and Figure 9 Different grid division methods correspond to different set shapes: hexagons, aligned squares, and staggered squares. As you can see, different grid shapes and sizes result in different numbers and areas of meshes included in each calculated Thiessen polygon.
[0057] Table 3 shows the service area, mean, standard deviation, and coefficient of variation of the reference stations in the CORS network.
[0058] As can be seen from Table 3, the average service range of the reference station in the CORS network is 31.5*5.85 (5.85 is the area of a regular hexagonal grid), indicating that there is a reference station in approximately 31.5 grids; the coefficient of variation of the reference stations in the CORS network It is 9.12%, indicating that the uniformity of the CORS network is highly uniform, indicating that the CORS network has little variation and the CORS network base stations are very evenly distributed.
[0059] Table 3. Service range, mean value, and standard deviation of the reference stations in the CORS network. An embodiment of the present disclosure further provides an electronic device, comprising a processor and a memory storing a computer program that can be run on the processor, wherein when the processor executes the program, the steps of the CORS network reference station layout evaluation method as described in any embodiment of the present disclosure are implemented.
[0060] An embodiment of the present disclosure further provides an electronic device, comprising a processor and a memory storing a computer program that can be run on the processor, wherein when the processor executes the program, the steps of the master station determination method as described in any embodiment of the present disclosure are implemented.
[0061] An embodiment of the present disclosure further provides a non-transitory computer-readable storage medium storing computer-executable instructions, wherein the computer-executable instructions are used to execute the CORS network reference station layout evaluation method as described in any embodiment of the present disclosure.
[0062] An embodiment of the present disclosure further provides a non-transitory computer-readable storage medium storing computer-executable instructions, wherein the computer-executable instructions are used to execute the master station determination method as described in any embodiment of the present disclosure.
[0063] The disclosed embodiments provide a method for evaluating the service range, density, and uniformity of CORS network reference stations using Thiessen polygons. This method first constructs a CORS network based on Delaunay triangles using a point-by-point interpolation method. Using an outward polygon constraint, the CORS network's service range is determined. Using Thiessen polygons as an aid, the service range of each reference station is then determined. Finally, the area, average, and coefficient of variation of each reference station's service range are calculated to assess the density and uniformity of the reference stations. Based on the service range of each reference station, the master station that provides more accurate corrections to users (rover stations) can be easily and accurately determined, improving RTK service quality. Based on the service range of each reference station, the reference station (master station) currently generating virtual observation data can be easily and accurately determined, accelerating the analysis and troubleshooting of user (rover) issues. CORS network reference station layout evaluation parameters can be used to evaluate the density and uniformity of reference stations within the CORS network. By moving or adding or removing reference stations, the CORS network can be improved, enhancing the quality of network RTK service.
[0064] Those skilled in the art will appreciate that all or some of the steps, systems, and functional modules / units in the methods, systems, and devices disclosed above may be implemented as software, firmware, hardware, or any combination thereof. In hardware implementations, the division between functional modules / units described above does not necessarily correspond to the division between physical components; for example, a physical component may have multiple functions, or a function or step may be performed collaboratively by several physical components. Some or all components may be implemented as software executed by a processor, such as a digital signal processor or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on computer-readable media, which may include computer storage media (or non-transitory media) and communication media (or transient media). As is well known to those skilled in the art, the term computer storage media encompasses both volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information, such as computer-readable instructions, data structures, program modules, or other data. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer. In addition, as is well known to those skilled in the art, communication media typically embodies computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.
Claims
1. A CORS network reference station layout evaluation method, characterized in that: include: According to the coordinates of each base station, a CORS network map based on Delaunay triangle is constructed; Expanding the boundary of the CORS network map according to a set expansion distance to obtain a CORS network expansion map, and determining a corresponding CORS network service range; the CORS network service range includes at least one map grid of a set shape; Determine the Thiessen polygons corresponding to each reference station according to the CORS network expansion map; Within the service range of the CORS network, the map grids included in each Thiessen polygon are determined respectively, and the service range of the corresponding reference station is calculated to be used for evaluating the reference station layout of the CORS network.
2. The method according to claim 1, characterized in that The map grid included in the CORS network service range is the map grid whose grid center point is located inside the CORS network external expansion map; The map grid included in the Thiessen polygon is a map grid whose center point is located inside the Thiessen polygon.
3. The method according to claim 1, characterized in that The CORS network uses one or more of the following layout evaluation parameters to evaluate the reference station layout: the average service range of the reference station and the service range variation coefficient.
4. The method according to claim 3, characterized in that The service range of the reference station is determined according to the map grid included in the Thiessen polygon corresponding to the reference station; The service range coefficient of variation CV is calculated according to the following formula: Wherein, STD is the standard deviation of the service range of all reference stations; It is the average value of the service range of all reference stations.
5. The method according to any one of claims 1 to 4, characterized in that The set shape is: hexagon or rectangle.
6. The method according to any one of claims 1 to 4, characterized in that The coordinates are geographic coordinates; The CORS network diagram based on the Delaunay triangle is constructed according to the coordinates of each reference station, including: Convert the geographic coordinates of each reference station into Gaussian plane coordinates; According to the Gaussian plane coordinates, the CORS network graph based on the Delaunay triangle is constructed using a point-by-point interpolation method.
7. The method according to claim 3, characterized in that The method further includes: determining the rationality of the layout of the reference stations of the CORS network according to the values of the layout evaluation parameters; The layout rationality is indicated by at least one of the following indicators: layout density and layout uniformity; The average service range of the reference station indicates the layout density; the service range variation coefficient indicates the layout uniformity.
8. A method for determining a master station, characterized in that: include: Determine the map grid to which it belongs based on the coordinate information of the satellite positioning receiver; The reference station corresponding to the Thiessen polygon to which the map grid belongs is used as the master station to obtain the correction value; Wherein, the Thiessen polygons are obtained according to the method according to any one of claims 1-7.
9. An electronic device, characterized in that: The method comprises a processor and a memory storing a computer program that can be run on the processor, wherein when the processor executes the program, the steps of the method according to any one of claims 1 to 8 are implemented.
10. A non-transitory computer-readable storage medium storing computer-executable instructions, characterized in that: The computer executable instructions are used to perform the method according to any one of claims 1 to 8.