RT-PPP / RTK fusion GNSS deformation monitoring method and system based on space reference dynamic unification, electronic equipment and storage medium

Abstract

The invention discloses an RT-PPP / RTK fusion GNSS deformation monitoring method based on space reference dynamic unification, and the method comprises the following steps: carrying out the epoch reduction and reference frame conversion of an RTK calculation coordinate of a monitoring station, obtaining a conversion coordinate under the same ITRF reference frame and reference epoch as RT-PPP, carrying out the RT-PPP positioning calculation by taking the conversion coordinate as a constraint, and carrying out the positioning calculation of the RT-PPP; the RT-PPP positioning calculation coordinates, the RT-PPP coordinate variance information and the RT-PPP calculation state information of the monitoring station are obtained; and dynamically outputting an optimal result by adopting a hierarchical decision-making mechanism according to calculation state information corresponding to the conversion coordinates and the RT-PPP positioning calculation coordinates. According to the method, the coordinate reference is unified to the ITRF2020 observation epoch, and the reference deviation of homologous heterogeneous data fusion is eliminated. And on the other hand, RT-PPP is constrained in real time through RTK, multi-modal positioning information is fused by adopting a hierarchical decision-making mechanism, optimal positioning data is automatically switched, and dual improvement of positioning precision and reliability is realized. The invention further discloses a system for implementing the method, electronic equipment and a computer readable storage medium.

Description

Technical Field

[0001] The present invention relates to the field of Beidou / GNSS positioning data processing technology, and in particular to a RT-PPP / RTK fusion GNSS deformation monitoring method, system, electronic device and storage medium based on dynamic unification of spatial references. Background Art

[0002] Real-Time Precise Point Positioning (RT-PPP) is based on a non-differential observation model and relies on real-time precise orbit and clock products provided by the International GNSS Service (IGS) and its Analysis Centers (ACs). It enables high-precision real-time positioning for a single GNSS receiver over a wide area. Its spatial reference inherits the reference frame version and epoch of the precise ephemeris published by the IGS: the reference frame is ITRF2020, and the epoch is the observation epoch.

[0003] Real-Time Kinematic (RTK) is based on a double-difference observation model. Through coordinated observations from a base station and rover, a carrier phase double-difference observation equation is constructed to eliminate common errors, achieving centimeter-level real-time positioning under short baseline conditions (typically ≤ 20 kilometers). Because the known reference coordinates of the base station serve as the basis for differential corrections, the spatial reference of the rover's RTK positioning solution directly inherits the reference frame and epoch properties of the base station.

[0004] Epoch reduction and frame conversion are practical means to achieve spatial datum unification in GNSS high-precision positioning. In GNSS deformation monitoring scenarios, the two jointly solve the position deviation problem caused by the movement of the Earth's plates and the difference in reference frame versions. Epoch reduction is the process of correcting the coordinates of different observation epochs to a unified reference epoch based on the velocity field model, or correcting the coordinates of different reference epochs to the observation epoch, to eliminate the coordinate offset caused by the movement of the Earth's plates. Frame conversion converts coordinates from one reference frame (such as ITRF2014) to another (such as ITRF2020), eliminating version differences and achieving frame datum unification of GNSS coordinates. The two work together to build a unified spatial datum system from epoch alignment to frame matching, providing reliable benchmark support for high-precision spatial data analysis.

[0005] Furthermore, while the two core high-precision positioning technologies, RT-PPP and RTK, each possess advantages, they both face significant technical bottlenecks. While RT-PPP offers wide-area coverage, its long convergence time (typically around 30 minutes) severely restricts applications requiring high real-time performance, and it relies on the timeliness of precise ephemeris and satellite clock error products. While RTK can achieve instantaneous centimeter-level positioning, it is limited by a short baseline distance requirement (generally no more than 10 kilometers) and relies on a dense network of base stations and a stable two-way communication link. More critically, the coordinate space references used in the positioning solutions of the two technologies are inconsistent, leading to deviations in positioning results. Furthermore, the reliability of positioning solutions derived from a single technology has not been fully verified, directly impacting the credibility of monitoring results and the basis for decision-making. Summary of the Invention

[0006] To address the aforementioned issues in the prior art, the present invention provides a method, system, electronic device, and storage medium for RT-PPP / RTK-fused GNSS deformation monitoring based on dynamic spatial reference unification. The technical issues to be addressed by the present invention are achieved through the following technical solutions: A first aspect of an embodiment of the present invention provides a RT-PPP / RTK fusion GNSS deformation monitoring method based on dynamic unification of spatial references, comprising the following steps: Perform epoch reduction and reference frame conversion on the RTK solution coordinates of the monitoring station to obtain the converted coordinates in the same ITRF reference frame and reference epoch as RT-PPP; Performing RT-PPP positioning solution based on the observation data of the monitoring station and the real-time precise orbit and satellite clock correction products, and using the transformed coordinates as constraints, to obtain the RT-PPP positioning solution coordinates, RT-PPP coordinate variance information, and RT-PPP solution status information of the monitoring station; When the solution state information corresponding to the converted coordinates and the RT-PPP positioning solution coordinates are both ambiguity fixed solutions, performing weighted calculation on the converted coordinates and the RT-PPP positioning solution coordinates according to the RTK coordinate variance information and the RT-PPP coordinate variance information as the monitoring positioning result; When the solution state information of the converted coordinates is an ambiguity fixed solution, and the solution state information corresponding to the RT-PPP positioning solution coordinates is an ambiguity floating-point solution, the converted coordinates are used as the monitoring positioning result; When the solution status information of the converted coordinates is an ambiguous floating-point solution, and the solution status information corresponding to the RT-PPP positioning solution coordinates is an ambiguous floating-point solution, if the RT-PPP positioning solution coordinates have converged, the RT-PPP positioning solution coordinates are used as the monitoring positioning result; otherwise, the converted coordinates are used as the monitoring positioning result.

[0007] In one embodiment of the present invention, performing epoch reduction and reference frame conversion on the RTK solution coordinates of the monitoring station to obtain the converted coordinates in the same ITRF reference frame and reference epoch as RT-PPP includes: Calculate the reference coordinates of the base station based on the observation data and preset accuracy of the base station, and obtain the ITRF reference frame and reference epoch information; Performing a short baseline RTK solution to determine the monitoring station's RTK solution coordinates, RTK coordinate variance information, RTK solution status information, and RTK spatial reference information based on the reference coordinates, the reference station's observation data and broadcast ephemeris, and the monitoring station's observation data and broadcast ephemeris. According to the RTK solution coordinates, the RTK spatial reference information, the ITRF reference frame and the reference epoch information, the RTK solution coordinates are subjected to epoch reduction and reference frame conversion to obtain the converted coordinates under the same ITRF reference frame and reference epoch as RT-PPP.

[0008] In one embodiment of the present invention, the RT-PPP positioning solution is performed based on the observation data of the monitoring station and the real-time precise orbit and satellite clock correction product, and with the transformed coordinates as a constraint, to obtain the RT-PPP positioning solution coordinates, RT-PPP coordinate variance information and RT-PPP solution status information of the monitoring station, including: The IF combination observation equation of RT-PPP is corrected and linearized according to the real-time precise orbit and satellite clock products to obtain the IF combination function model; According to the IF combination function model and taking the transformed coordinates as the constraints of the IF combination error equation of RT-PPP, the IF combination error equation is solved to obtain the RT-PPP positioning solution coordinates, RT-PPP coordinate variance information and RT-PPP solution status information of the monitoring station.

[0009] In one embodiment of the present invention, the IF combined observation equation is: in, represents the geometric distance between the monitoring station and the satellite, represents the tropospheric delay of the slant path, Indicates satellite, Indicates a monitoring station, represents the clock error of the monitoring station, represents the satellite clock error, represents the pseudorange hardware delay of the monitoring station of the IF combination, represents the pseudorange hardware delay of the IF-combined satellites, represents the phase hardware delay of the monitoring station of the IF combination, represents the phase hardware delay of the IF combined satellite, A floating point ambiguity representing the IF combination, Indicates the IF combination wavelength, represents the sum of the noise, multipath effect and unmodeled error of the pseudorange IF combination observation value of the monitoring station, It represents the sum of the noise, multipath effect and unmodeled error of the satellite's phase IF combined observation value.

[0010] In one embodiment of the present invention, the IF combination function model is: in, represents the OMC of the pseudorange IF combination, represents the OMC of the phase IF combination, represents the vector from the satellite to the monitoring station, Indicates the RT-PPP positioning solution coordinates, Indicates the monitoring station clock error parameter that absorbs the UCD at the monitoring station end. Indicates the ambiguity parameters absorbed from UCD and UPD, Indicates monitoring station The zenith tropospheric delay of express At the monitoring station and satellite The projection coefficient on the oblique path.

[0011] In one embodiment of the present invention, the IF combination error equation is: in, in, represents the transformed coordinates, , Indicates the RT-PPP positioning solution coordinates, ， represents the vector matrix from satellite to monitoring station, is the tropospheric wet delay projection function, is the identity matrix.

[0012] In one embodiment of the present invention, performing epoch reduction and reference frame conversion on the RTK solution coordinates according to the RTK solution coordinates, the RTK spatial reference information, the ITRF reference frame, and the reference epoch information to obtain converted coordinates in the same ITRF reference frame and reference epoch as RT-PPP includes: Determine the movement speed of the monitoring station based on the RTK solution coordinates and the micro-block Euler vector model; Performing observation epoch reduction according to the RTK solution coordinates, the reference epoch, the motion speed, and the observation epoch to obtain reduced coordinates; According to the Helmert model and the reduced coordinates, the ITRF reference frame of the reduced coordinates is converted to the same ITRF reference frame as RT-PPP to obtain the converted coordinates.

[0013] A second aspect of an embodiment of the present invention provides an RT-PPP / RTK fusion GNSS deformation monitoring system based on dynamic unification of spatial references, including: The conversion module is used to perform epoch reduction and reference frame conversion on the RTK solution coordinates of the monitoring station to obtain the converted coordinates in the same ITRF reference frame and reference epoch as RT-PPP; A solution module is used to perform RT-PPP positioning solution based on the observation data of the monitoring station and the real-time precise orbit and satellite clock correction products, and with the transformed coordinates as constraints, to obtain the RT-PPP positioning solution coordinates, RT-PPP coordinate variance information and RT-PPP solution status information of the monitoring station; an output module, configured to perform weighted calculation on the converted coordinates and the RT-PPP positioning solution coordinates according to the RTK coordinate variance information and the RT-PPP coordinate variance information, as a monitoring positioning result, when the solution status information corresponding to the converted coordinates and the RT-PPP positioning solution coordinates are both ambiguity fixed solutions; The output module is further configured to use the converted coordinates as the monitoring positioning result when the solution status information of the converted coordinates is an ambiguity fixed solution and the solution status information corresponding to the RT-PPP positioning solution coordinates is an ambiguity floating point solution; The output module is further used to, when the solution status information of the converted coordinates is an ambiguity floating-point solution and the solution status information corresponding to the RT-PPP positioning solution coordinates is an ambiguity floating-point solution, if the RT-PPP positioning solution coordinates have converged, use the RT-PPP positioning solution coordinates as the monitoring positioning result; otherwise, use the converted coordinates as the monitoring positioning result.

[0014] A third aspect of an embodiment of the present invention provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and runnable on the processor. When the processor executes the program, an RT-PPP / RTK fused GNSS deformation monitoring method based on dynamic unification of spatial references provided by the first aspect of an embodiment of the present invention is implemented.

[0015] The fourth aspect of the embodiments of the present invention provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, it implements the RT-PPP / RTK fusion GNSS deformation monitoring method based on dynamic unification of spatial references provided by the first aspect of the embodiments of the present invention.

[0016] Beneficial effects of the present invention: On the one hand, the present invention unifies the coordinate base to the ITRF2020 observation epoch through reference epoch reduction and reference frame conversion, reduces the systematic deviation from the sub-meter level to the millimeter level, eliminates the benchmark deviation of homogeneous heterogeneous data fusion, and realizes the dynamic unification of the spatial benchmark of multimodal coordinates. On the other hand, through RTK real-time constraint RT-PPP, the fixation speed of ambiguity is accelerated, the convergence of static RT-PPP is accelerated, and the dual improvement of positioning accuracy and reliability is achieved. In addition, a hierarchical decision-making mechanism is adopted to fuse multimodal positioning information, automatically switch to the best positioning data, and avoid the error accumulation caused by the failure of a single positioning mode.

[0017] Other features and advantages of the present invention will be described in the following description, and in part will become apparent from the description, or will be understood by practicing the present invention. The purposes and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description, claims, and drawings.

[0018] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings: Figure 1 A flowchart of a method for RT-PPP / RTK fusion GNSS deformation monitoring based on dynamic unification of spatial references provided by an embodiment of the present invention; Figure 2 A schematic block diagram of a GNSS deformation monitoring system based on dynamic unification of spatial references provided by an embodiment of the present invention is provided. DETAILED DESCRIPTION

[0020] The present invention will be further described in detail below with reference to specific examples, but the embodiments of the present invention are not limited thereto.

[0021] like Figure 1 As shown, a first aspect of an embodiment of the present invention provides a RT-PPP / RTK fusion GNSS deformation monitoring method based on dynamic unification of spatial references, comprising the following steps: Step 11: Perform epoch reduction and reference frame conversion on the RTK solution coordinates of the monitoring station to obtain the converted coordinates in the same ITRF reference frame and reference epoch as RT-PPP.

[0022] Step 12: Perform RT-PPP positioning solution based on the observation data of the monitoring station and the real-time precise orbit and satellite clock correction products, and use the transformed coordinates as constraints to obtain the RT-PPP positioning solution coordinates, RT-PPP coordinate variance information, and RT-PPP solution status information of the monitoring station.

[0023] Step 13: When the solution status information corresponding to the converted coordinates and the RT-PPP positioning solution coordinates are both ambiguity fixed solutions, a weighted calculation is performed on the converted coordinates and the RT-PPP positioning solution coordinates according to the RTK coordinate variance information and the RT-PPP coordinate variance information as the monitoring positioning result.

[0024] Step 14: When the solution status information of the converted coordinates is an ambiguity fixed solution and the solution status information corresponding to the RT-PPP positioning solution coordinates is an ambiguity floating-point solution, the converted coordinates are used as the monitoring positioning result.

[0025] Step 15: When the solution status information of the converted coordinates is an ambiguous floating-point solution, and the solution status information corresponding to the RT-PPP positioning solution coordinates is an ambiguous floating-point solution, if the RT-PPP positioning solution coordinates have converged, the RT-PPP positioning solution coordinates are used as the monitoring positioning result; otherwise, the converted coordinates are used as the monitoring positioning result.

[0026] In this embodiment, the coordinate base is unified to the ITRF2020 observation epoch through reference epoch reduction and reference frame conversion, reducing the systematic deviation from the sub-meter level to the millimeter level, eliminating the benchmark deviation of homogeneous heterogeneous data fusion, and achieving dynamic unification of the spatial benchmark of multimodal coordinates. On the other hand, through real-time RTK constraint RT-PPP, the ambiguity fixation speed is accelerated, and the convergence of static RT-PPP is accelerated, achieving a dual improvement in positioning accuracy and reliability. In addition, a hierarchical decision-making mechanism is used to fuse multimodal positioning information, automatically switching to the optimal positioning data, and avoiding the accumulation of errors caused by the failure of a single positioning mode.

[0027] This paper performs epoch reduction and frame conversion on the two sets of coordinates solved by RT-PPP and RTK, unifying the coordinates to the ITRF2020 framework and observation epochs, eliminating the benchmark deviation of homogeneous heterogeneous data fusion and achieving dynamic unification of the spatial benchmark of multimodal coordinates. This paper introduces RTK high-precision position constraints and a multimodal adaptive fusion algorithm. By constructing a hierarchical decision model based on positioning solution state and variance statistics, and dynamically weighted fusion of RT-PPP and RTK solution results, it achieves a dual improvement in positioning accuracy and reliability compared to traditional technologies.

[0028] On the basis of the first aspect of the embodiment of the present invention, the second aspect of the embodiment of the present invention further describes in detail a method for monitoring deformation of RT-PPP / RTK fusion GNSS based on dynamic unification of spatial reference. The second aspect of the embodiment of the present invention provides a method for monitoring deformation of RT-PPP / RTK fusion GNSS based on dynamic unification of spatial reference, comprising the following steps: Step 21: Calculate the reference coordinates of the reference station based on the observation data and preset accuracy of the reference station, and obtain the ITRF reference frame and reference epoch information.

[0029] In this step, terminal observation data is collected from the base station. If the required accuracy is at the millimeter level, the GAMIT solution is used to obtain the reference coordinates of the base station. If the required accuracy is at the centimeter level, the PPP post-static solution is used to obtain the reference coordinates of the base station. Simultaneously, the ITRF reference frame and reference epoch information for the reference coordinates are obtained.

[0030] Step 22: Based on the reference coordinates, the base station's observation data and broadcast ephemeris, and the monitoring station's observation data and broadcast ephemeris, a short-baseline RTK solution is performed to determine the monitoring station's RTK solution coordinates, RTK coordinate variance information, RTK solution status information, and RTK spatial reference information. Short-baseline RTK typically uses a baseline of less than 10 km.

[0031] The specific steps of step 22 include steps 221 to 224: Step 221, obtain the RTK double difference observation equation as: 、 They are reference stars and non-reference stars, , , Represent monitoring station, reference station and signal frequency respectively; Indicates the double-difference geometric distance between the receiver (reference station and monitoring station) and the satellite (reference satellite and non-reference satellite); represents the double-difference tropospheric delay of the slant path; represents the double-difference ionospheric delay of the slant path; Signal frequency carrier wavelength; is the double-difference integer ambiguity; and represent the pseudorange measurement error and carrier phase measurement error respectively.

[0032] In addition, GNSS observations are also affected by other error sources, such as relativistic effects, tidal effects, phase wrapping, antenna phase center changes, and antenna phase center offsets. These error terms can be accurately corrected using existing models. Here, it is assumed that all of the above error terms have been corrected.

[0033] Under short baseline conditions, the double-difference observation model exhibits strong spatial correlation, with strong correlations between ionospheric and tropospheric delays. Double-difference observations between stations (reference and monitoring stations) and between satellites (reference and non-reference satellites) can eliminate most common errors. Tropospheric delay is almost completely eliminated after double-difference due to the small elevation difference between the two stations. In short baselines, the residual ionospheric error after double-difference is minimal, and can be further reduced through ionospheric-free combination, especially in dual-frequency observations.

[0034] Step 222: Linearize the RTK double-difference observation equation to obtain the RTK function model, which can be expressed as: in, OMC (Observed Minus Computed) is the pseudorange observation minus the calculated value. represents the OMC obtained by subtracting the calculated value from the phase observation value; Indicates satellite To receiver (monitoring station) vector and satellite The difference in the vector to the receiver (monitoring station), Indicates the coordinates to be estimated, that is, the RTK solution coordinates of the monitoring station .

[0035] Step 223, construct the RTK error equation: in, , is the identity matrix.

[0036] Step 224: solve the RTK error equation using Kalman filtering to obtain the RTK solution coordinates of the monitoring station. , RTK coordinate variance information, RTK solution status information and RTK spatial reference information.

[0037] Step 23: Perform epoch reduction and reference frame conversion on the RTK solution coordinates based on the RTK solution coordinates, RTK spatial reference information, ITRF reference frame, and reference epoch information to obtain the converted coordinates in the same ITRF reference frame and reference epoch as RT-PPP.

[0038] In this step, the reference epoch is converted to the dynamic epoch of the observation time and is consistent with the latest ITRF version through reference frame transformation to strictly align the spatial reference of RT-PPP.

[0039] The specific steps of step 23 include step 231 to step 233: Step 231 : Determine the movement speed of the monitoring station based on the RTK solution coordinates and the micro-block Euler vector model.

[0040] Here, based on the high-precision RTK coordinate solution, the micro-block Euler vector model is used to calculate the crustal movement velocity: First, calculate the monitoring stations With all reference stations (total Euclidean distance , the Euclidean distance is calculated as follows: Here, use replace To simplify the formula. Indicates the The coordinates of the reference stations.

[0041] Secondly, filter out the nearest neighbors Reference stations are indexed from 1 to .

[0042] Next, construct the observation equation . The speed of the reference station As the observation vector .

[0043] in, Then, the least squares method is used to solve the Euler vector ; Finally, the movement speed of the monitoring station is calculated based on the Euler vector .

[0044] Step 232 , performing observation epoch reduction based on the RTK solution coordinates, reference epochs, motion speed, and observation epochs to obtain reduced coordinates.

[0045] In this step, the calculated speed and epoch of the monitoring station are converted back to the observation epoch to eliminate the position deviation caused by the movement of the earth's plates. The calculation formula is: in, Indicates the calculated coordinates after epoch reduction; Represents the time difference between the reference epoch and the observation epoch.

[0046] Step 233 : According to the Helmert model and the reduced coordinates, the ITRF reference frame of the reduced coordinates is converted to the same ITRF reference frame as the RT-PPP to obtain the converted coordinates.

[0047] In this step, the ITRF of the reduced coordinates is converted to the RT-PPP aligned version based on the Helmert model to eliminate the systematic position deviation caused by the frame difference.

[0048] The Helmert model is as follows: Among them, the parameters change with time The change in is modified by the rate term: Where, Represents the transformed coordinates after frame transformation; , and Represents the translation parameters in three directions (unit: meter), , , Indicates the corresponding rate; , , Indicates the rotation parameters in three directions (unit: meter), , , Indicates the corresponding rate; represents the scale factor (dimensionless), is its rate of change; is the reference epoch for ITRF conversion parameters, It is the dynamic epoch (observation epoch) of the observation time, and the unit is decimal year.

[0049] Step 24, based on the observation data of the monitoring station and the real-time precise orbit and satellite clock correction products, and with the transformed coordinates as constraints, RT-PPP positioning solution coordinates, RT-PPP coordinate variance information and RT-PPP solution status information of the monitoring station are obtained.

[0050] In this step, based on the observation data from the monitoring station terminal and the precise orbit and satellite clock correction products in the form of real-time SSR data streams provided by third-party agencies, the RTK high-precision coordinates after spatial reference unification are used to constrain the RT-PPP estimated coordinate parameters and perform RT-PPP positioning solution.

[0051] The specific steps of step 24 include step 241 to step 243: Step 241: Obtain the RT-PPP ionospheric-free IF combined observation equation. The IF combined observation equation is: in, represents the geometric distance between the monitoring station and the satellite, represents the tropospheric delay of the slant path, Indicates satellite, , Indicates a monitoring station, represents the clock error of the monitoring station, represents the satellite clock error, represents the pseudorange hardware delay of the monitoring station of the IF combination, represents the pseudorange hardware delay of the IF-combined satellites, represents the phase hardware delay of the monitoring station of the IF combination, represents the phase hardware delay of the IF combined satellite, A floating point ambiguity representing the IF combination, Indicates the IF combination wavelength, represents the sum of the noise, multipath effect and unmodeled error of the pseudorange IF combination observation value of the monitoring station, It represents the sum of the noise, multipath effect and unmodeled error of the satellite's phase IF combined observation value.

[0052] Step 242: Correct and linearize the IF combination observation equation of RT-PPP based on the real-time precise orbit and satellite clock error products to obtain an IF combination function model.

[0053] The IF combination function model can be expressed as: in, represents the OMC of the pseudorange IF combination, represents the OMC of the phase IF combination, represents the standard vector in the line of sight direction (that is, the vector from the satellite to the monitoring station), Indicates the coordinates to be found, that is, the coordinates of the RT-PPP positioning solution , Indicates the monitoring station clock error parameter that absorbs the UCD at the monitoring station end. Indicates the ambiguity parameters absorbed from UCD and UPD, Indicates receiver Zenith tropospheric delay (at the monitoring station), for In the receiver (monitoring stations) and satellites The projection coefficient on the oblique path.

[0054] Step 243 , according to the IF combination function model and using the transformed coordinates as constraints of the IF combination error equation of RT-PPP, solve the IF combination error equation to obtain the RT-PPP positioning solution coordinates, RT-PPP coordinate variance information, and RT-PPP solution status information of the monitoring station.

[0055] The IF combined error equation is: in, in, represents the transformed coordinates, Indicates the RT-PPP positioning solution coordinates, ， represents the vector matrix from satellite to monitoring station, is the tropospheric wet delay projection function, is the identity matrix.

[0056] Step 25: Based on the solution status information corresponding to the converted coordinates and the RT-PPP positioning solution coordinates, a hierarchical decision mechanism is used to dynamically output the optimal result.

[0057] The specific steps of step 25 include step 251 to step 253: Step 251: When the solution status information corresponding to the converted coordinates and the RT-PPP positioning solution coordinates are both ambiguity fixed solutions, a weighted fusion calculation is performed on the converted coordinates and the RT-PPP positioning solution coordinates according to the RTK coordinate variance information and the RT-PPP coordinate variance information, and the fusion calculation result is used as the monitoring positioning result. .

[0058] In this step, Taking coordinate calculation as an example, the fusion calculation formula is: in, Indicates the RTK coordinate variance information of the transformed coordinates, Represents the RT-PPP coordinate variance information of the RT-PPP positioning solution coordinates. Replace with or Then calculate the remaining two coordinates.

[0059] In this embodiment, the RT-PPP and RTK solution results are dynamically weighted and fused to achieve a dual improvement in positioning accuracy and reliability.

[0060] Step 252: When the solution status information of the converted coordinates is an ambiguity fixed solution and the solution status information corresponding to the RT-PPP positioning solution coordinates is an ambiguity floating point solution, the converted coordinates are used as the monitoring positioning result.

[0061] Step 253: When the solution status information of the converted coordinates is an ambiguous floating-point solution, and the solution status information corresponding to the RT-PPP positioning solution coordinates is an ambiguous floating-point solution, if the RT-PPP positioning solution coordinates have converged, the RT-PPP positioning solution coordinates are used as the monitoring positioning result; otherwise, the converted coordinates are used as the monitoring positioning result.

[0062] In this step, when the solution status information of the converted coordinates is an ambiguous floating-point solution, and the solution status information corresponding to the RT-PPP positioning solution coordinates is an ambiguous floating-point solution, if the RT-PPP floating-point solution has converged to a stable state, the RT-PPP positioning solution coordinates are taken as the monitoring positioning result; if the RT-PPP floating-point solution has not converged to a stable state, the converted coordinates are taken as the monitoring positioning result.

[0063] In this embodiment, the Earth's plate motion is dynamically corrected using a microblock Euler vector model, and the ITRF reference frame conversion is implemented in conjunction with the Helmert model. This eliminates systematic coordinate deviations caused by Earth's plate motion and coordinate frame differences. The unified RTK coordinates serve as strong constraints for the static RT-PPP Kalman filter, accelerating the convergence of the static RT-PPP. Based on the ambiguity fixation state (fixed solution / floating point solution) and variance statistics, the optimal solution is dynamically selected to leverage the advantages of both positioning algorithms, maintain a unified reference for positioning results, and effectively provide users with highly accurate and reliable position information.

[0064] like Figure 2 As shown, the third aspect of the embodiment of the present invention provides an RT-PPP / RTK fusion GNSS deformation monitoring system based on dynamic unification of spatial references, including: The conversion module 31 is used to perform epoch reduction and reference frame conversion on the RTK solution coordinates of the monitoring station to obtain the converted coordinates in the same ITRF reference frame and reference epoch as RT-PPP; A solution module 32 is configured to perform RT-PPP positioning solution based on the observation data of the monitoring station and the real-time precise orbit and satellite clock correction products, and with the transformed coordinates as constraints, to obtain the RT-PPP positioning solution coordinates, RT-PPP coordinate variance information, and RT-PPP solution status information of the monitoring station; An output module 33 is configured to perform weighted calculation on the converted coordinates and the RT-PPP positioning solution coordinates according to the RTK coordinate variance information and the RT-PPP coordinate variance information when the solution status information corresponding to the converted coordinates and the RT-PPP positioning solution coordinates are both ambiguity fixed solutions, and use them as monitoring positioning results; The output module 33 is further configured to use the converted coordinates as the monitoring positioning result when the solution status information of the converted coordinates is an ambiguity fixed solution and the solution status information corresponding to the RT-PPP positioning solution coordinates is an ambiguity floating point solution; The output module 33 is further used to, when the solution status information of the converted coordinates is an ambiguity floating-point solution and the solution status information corresponding to the RT-PPP positioning solution coordinates is an ambiguity floating-point solution, if the RT-PPP positioning solution coordinates have converged, then use the RT-PPP positioning solution coordinates as the monitoring positioning result; otherwise, use the converted coordinates as the monitoring positioning result.

[0065] In one embodiment of the present invention, epoch reduction and reference frame conversion are performed on the RTK solution coordinates of the monitoring station to obtain the converted coordinates in the same ITRF reference frame and reference epoch as RT-PPP, including: Calculate the reference coordinates of the base station based on the observation data and preset accuracy of the base station, and obtain the ITRF reference frame and reference epoch information; Based on the reference coordinates, the observation data and broadcast ephemeris of the base station, and the observation data and broadcast ephemeris of the monitoring station, a short baseline RTK solution is performed to determine the RTK solution coordinates, RTK coordinate variance information, RTK solution status information, and RTK spatial reference information of the monitoring station; According to the RTK solution coordinates, RTK spatial reference information, ITRF reference frame and reference epoch information, the RTK solution coordinates are subjected to epoch reduction and reference frame conversion to obtain the converted coordinates under the same ITRF reference frame and reference epoch as RT-PPP.

[0066] In one embodiment of the present invention, based on the observation data of the monitoring station and the real-time precise orbit and satellite clock correction products, and with the transformed coordinates as constraints, RT-PPP positioning solution coordinates, RT-PPP coordinate variance information and RT-PPP solution status information of the monitoring station are obtained, including: The IF combination observation equation of RT-PPP is corrected and linearized according to the real-time precise orbit and satellite clock products to obtain the IF combination function model; According to the IF combination function model, the transformed coordinates are used as constraints of the IF combination error equation of RT-PPP to solve the IF combination error equation and obtain the RT-PPP positioning solution coordinates, RT-PPP coordinate variance information and RT-PPP solution status information of the monitoring station.

[0067] In one embodiment of the present invention, the IF combined observation equation is: in, represents the geometric distance between the monitoring station and the satellite, represents the tropospheric delay of the slant path, Indicates satellite, Indicates a monitoring station, represents the clock error of the monitoring station, represents the satellite clock error, represents the pseudorange hardware delay of the monitoring station of the IF combination, represents the pseudorange hardware delay of the IF-combined satellites, represents the phase hardware delay of the monitoring station of the IF combination, represents the phase hardware delay of the IF combined satellite, A floating point ambiguity representing the IF combination, Indicates the IF combination wavelength, represents the sum of the noise, multipath effect and unmodeled error of the pseudorange IF combination observation value of the monitoring station, It represents the sum of the noise, multipath effect and unmodeled error of the satellite's phase IF combined observation value.

[0068] In one embodiment of the present invention, the IF combination function model is: in, represents the OMC of the pseudorange IF combination, represents the OMC of the phase IF combination, represents the vector from the satellite to the monitoring station, Indicates the RT-PPP positioning solution coordinates, Indicates the monitoring station clock error parameter that absorbs the UCD at the monitoring station end. Indicates the ambiguity parameters absorbed from UCD and UPD, Indicates monitoring station The zenith tropospheric delay of express At the monitoring station and satellite The projection coefficient on the oblique path.

[0069] In one embodiment of the present invention, the IF combination error equation is: in, in, represents the transformed coordinates, , Indicates the RT-PPP positioning solution coordinates, ， represents the vector matrix from satellite to monitoring station, is the tropospheric wet delay projection function, is the identity matrix.

[0070] In one embodiment of the present invention, performing epoch reduction and reference frame conversion on the RTK solution coordinates according to the RTK solution coordinates, the RTK spatial reference information, the ITRF reference frame, and the reference epoch information to obtain converted coordinates in the same ITRF reference frame and reference epoch as RT-PPP includes: Determine the movement speed of the monitoring station based on the RTK solution coordinates and the micro-block Euler vector model; Performing observation epoch reduction according to the RTK solution coordinates, the reference epoch, the motion speed, and the observation epoch to obtain reduced coordinates; According to the Helmert model and the reduced coordinates, the ITRF reference frame of the reduced coordinates is converted to the same ITRF reference frame as RT-PPP to obtain the converted coordinates.

[0071] The fourth aspect of an embodiment of the present invention provides an electronic device, including a memory, a processor, and a computer program stored in the memory and runnable on the processor. When the processor executes the program, it implements the above-mentioned embodiment of the present invention, which provides an RT-PPP / RTK fusion GNSS deformation monitoring method based on dynamic unification of spatial references.

[0072] The fifth aspect of the embodiment of the present invention also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of the RT-PPP / RTK fusion GNSS deformation monitoring method based on dynamic unification of spatial reference provided by the above-mentioned embodiment of the present invention are implemented.

[0073] The memory may include random access memory (RAM) or non-volatile memory (NVM), such as at least one disk storage. Alternatively, the memory may be at least one storage device located away from the processor.

[0074] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, and discrete hardware systems.

[0075] The method provided in the embodiments of the present invention can be applied to electronic devices. Specifically, the electronic devices can be desktop computers, portable computers, smart mobile terminals, servers, etc. This is not limited here; any electronic device that can implement the present invention falls within the scope of protection of the present invention.

[0076] As for the system / electronic device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0077] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A system that specifies the functions of a box or boxes.

[0078] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, the instruction system being implemented in the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0079] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0080] Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if such changes and modifications fall within the scope of the claims and their equivalents, the present invention is intended to include such changes and modifications.

Claims

1. A RT-PPP / RTK fusion GNSS deformation monitoring method based on dynamic unification of spatial references, characterized in that: The following steps are involved: Perform epoch reduction and reference frame conversion on the RTK solution coordinates of the monitoring station to obtain the converted coordinates in the same ITRF reference frame and reference epoch as RT-PPP; Performing RT-PPP positioning solution based on the observation data of the monitoring station and the real-time precise orbit and satellite clock correction products, and using the transformed coordinates as constraints, to obtain the RT-PPP positioning solution coordinates, RT-PPP coordinate variance information, and RT-PPP solution status information of the monitoring station; When the solution state information corresponding to the converted coordinates and the RT-PPP positioning solution coordinates are both ambiguity fixed solutions, performing weighted calculation on the converted coordinates and the RT-PPP positioning solution coordinates according to the RTK coordinate variance information and the RT-PPP coordinate variance information as the monitoring positioning result; When the solution state information of the converted coordinates is an ambiguity fixed solution, and the solution state information corresponding to the RT-PPP positioning solution coordinates is an ambiguity floating-point solution, the converted coordinates are used as the monitoring positioning result; When the solution status information of the converted coordinates is an ambiguous floating-point solution, and the solution status information corresponding to the RT-PPP positioning solution coordinates is an ambiguous floating-point solution, if the RT-PPP positioning solution coordinates have converged, the RT-PPP positioning solution coordinates are used as the monitoring positioning result; otherwise, the converted coordinates are used as the monitoring positioning result.

2. The method according to claim 1, wherein The epoch reduction and reference frame conversion of the RTK solution coordinates of the monitoring station are performed to obtain the converted coordinates in the same ITRF reference frame and reference epoch as RT-PPP, including: Calculate the reference coordinates of the base station based on the observation data and preset accuracy of the base station, and obtain the ITRF reference frame and reference epoch information; Performing a short baseline RTK solution to determine the monitoring station's RTK solution coordinates, RTK coordinate variance information, RTK solution status information, and RTK spatial reference information based on the reference coordinates, the reference station's observation data and broadcast ephemeris, and the monitoring station's observation data and broadcast ephemeris. According to the RTK solution coordinates, the RTK spatial reference information, the ITRF reference frame and the reference epoch information, the RTK solution coordinates are subjected to epoch reduction and reference frame conversion to obtain the converted coordinates under the same ITRF reference frame and reference epoch as RT-PPP.

3. The method according to claim 2, wherein The RT-PPP positioning solution is performed based on the observation data of the monitoring station and the real-time precise orbit and satellite clock correction products, and with the transformed coordinates as constraints, to obtain the RT-PPP positioning solution coordinates, RT-PPP coordinate variance information and RT-PPP solution status information of the monitoring station, including: The IF combination observation equation of RT-PPP is corrected and linearized according to the real-time precise orbit and satellite clock products to obtain the IF combination function model; According to the IF combination function model and taking the transformed coordinates as the constraints of the IF combination error equation of RT-PPP, the IF combination error equation is solved to obtain the RT-PPP positioning solution coordinates, RT-PPP coordinate variance information and RT-PPP solution status information of the monitoring station.

4. The method according to claim 3, wherein The IF combined observation equation is: in, represents the geometric distance between the monitoring station and the satellite, represents the tropospheric delay of the slant path, Indicates satellite, Indicates a monitoring station, represents the clock error of the monitoring station, represents the satellite clock error, represents the pseudorange hardware delay of the monitoring station of the IF combination, represents the pseudorange hardware delay of the IF-combined satellites, represents the phase hardware delay of the monitoring station of the IF combination, represents the phase hardware delay of the IF combined satellite, A floating point ambiguity representing the IF combination, Indicates the IF combination wavelength, represents the sum of the noise, multipath effect and unmodeled error of the pseudorange IF combination observation value of the monitoring station, It represents the sum of the noise, multipath effect and unmodeled error of the satellite's phase IF combined observation value.

5. The method according to claim 3, wherein The IF combination function model is: in, represents the OMC of the pseudorange IF combination, represents the OMC of the phase IF combination, represents the vector from the satellite to the monitoring station, Indicates the RT-PPP positioning solution coordinates, Indicates the monitoring station clock error parameter that absorbs the UCD at the monitoring station end. Indicates the ambiguity parameters absorbed from UCD and UPD, Indicates monitoring station The zenith tropospheric delay of express At the monitoring station and satellite The projection coefficient on the oblique path.

6. The method according to claim 3, wherein The IF combination error equation is: in, in, represents the transformed coordinates, , Indicates the RT-PPP positioning solution coordinates, ， represents the vector matrix from satellite to monitoring station, is the tropospheric wet delay projection function, is the identity matrix.

7. The method according to claim 2, wherein The step of performing epoch reduction and reference frame conversion on the RTK solution coordinates according to the RTK solution coordinates, the RTK spatial reference information, the ITRF reference frame, and the reference epoch information to obtain conversion coordinates in the same ITRF reference frame and reference epoch as RT-PPP, including: Determine the movement speed of the monitoring station based on the RTK solution coordinates and the micro-block Euler vector model; Performing observation epoch reduction according to the RTK solution coordinates, the reference epoch, the motion speed, and the observation epoch to obtain reduced coordinates; According to the Helmert model and the reduced coordinates, the ITRF reference frame of the reduced coordinates is converted to the same ITRF reference frame as RT-PPP to obtain the converted coordinates.

8. A RT-PPP / RTK fusion GNSS deformation monitoring system based on dynamic unification of spatial references, characterized by: include: The conversion module is used to perform epoch reduction and reference frame conversion on the RTK solution coordinates of the monitoring station to obtain the converted coordinates in the same ITRF reference frame and reference epoch as RT-PPP; A solution module is used to perform RT-PPP positioning solution based on the observation data of the monitoring station and the real-time precise orbit and satellite clock correction products, and with the transformed coordinates as constraints, to obtain the RT-PPP positioning solution coordinates, RT-PPP coordinate variance information and RT-PPP solution status information of the monitoring station; an output module, configured to perform weighted calculation on the converted coordinates and the RT-PPP positioning solution coordinates according to the RTK coordinate variance information and the RT-PPP coordinate variance information, as a monitoring positioning result, when the solution status information corresponding to the converted coordinates and the RT-PPP positioning solution coordinates are both ambiguity fixed solutions; The output module is further configured to use the converted coordinates as the monitoring positioning result when the solution status information of the converted coordinates is an ambiguity fixed solution and the solution status information corresponding to the RT-PPP positioning solution coordinates is an ambiguity floating point solution; The output module is further used to, when the solution status information of the converted coordinates is an ambiguity floating-point solution and the solution status information corresponding to the RT-PPP positioning solution coordinates is an ambiguity floating-point solution, if the RT-PPP positioning solution coordinates have converged, use the RT-PPP positioning solution coordinates as the monitoring positioning result; otherwise, use the converted coordinates as the monitoring positioning result.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the RT-PPP / RTK fusion GNSS deformation monitoring method based on dynamic unification of spatial references is implemented as described in any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the RT-PPP / RTK fusion GNSS deformation monitoring method based on dynamic unification of spatial references according to any one of claims 1 to 7 is implemented.

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