Beidou / GNSS area enhancement and meteorological service integrated terminal device and high-precision positioning method

Abstract

The invention provides Beidou / GNSS (Global Navigation Satellite System) area enhancement and meteorological service integrated terminal equipment and a high-precision positioning method. Relates to the technical field of satellite navigation positioning and meteorological information service, and comprises a multi-constellation multi-frequency signal receiving module which is used for receiving Beidou No.3, GPS, GLONASS and Galileo satellite navigation signals and Beidou PPP-B2b satellite-based enhancement signals at the same time and outputting unified time stamps. According to the Beidou / GNSS area enhancement and meteorological service integrated terminal equipment and the high-precision positioning method, multiple satellite navigation systems are integrated, and Beidou PPP-B2b satellite-based enhancement signals are received at the same time, so that multi-source and multi-band high-precision observation data are formed. Through parallel access to a cellular network, satellite communication and a local area network, effective acquisition and processing of foundation NRTK differential flow, Internet PPP-RTK correction flow and real-time meteorological messages are realized. And in combination with a self-adaptive fusion positioning calculation module, RTK or PPP-RTK calculation is preferentially adopted when a foundation link is normal, so that continuous centimeter-level high-precision positioning in different communication environments is realized.

Description

Technical Field

[0001] This invention relates to the field of satellite navigation and positioning and meteorological information service technology, specifically to an integrated terminal device for BeiDou / GNSS regional augmentation and meteorological services, and a high-precision positioning method. Background Technology

[0002] Currently, high-precision satellite positioning mainly relies on two approaches: one is network RTK centered on a ground-based reference station network, which uses real-time differential corrections to achieve centimeter-level positioning within a range of tens of kilometers; the other is precise point positioning using global or regional precise ephemeris / clock bias and its rapid evolution PPP-RTK, which can achieve decimeter-to-centimeter-level positioning over a wider range. With the completion of the BeiDou-3 system, the officially released PPP-B2b satellite-based augmentation signal provides a new correction source for low-cost terminals; some manufacturers have attempted to integrate satellite-based PPP with ground-based differential positioning to shorten convergence time and improve availability. Meanwhile, the GNSS atmospheric sounding station network deployed by meteorological departments can now retrieve precipitable water through tropospheric wet delay inversion for use in severe weather forecasting and numerical model assimilation. A few integrated solutions attempt to combine GNSS positioning modules, meteorological sensors, and cellular / satellite communication modules to provide preliminary verification of "location + meteorology" services for industries such as transportation and agriculture.

[0003] Existing equipment remains fragmented in terms of hardware, communication links, and algorithms. High-precision positioning heavily relies on ground base stations and stable communication, failing upon link interruption. Satellite-based PPP-B2b, ground-based correction, internet differential streaming, and meteorological messages lack unified access protocols and real-time fusion mechanisms, resulting in widespread latency and packet loss. Terminals often employ empirical tropospheric models, with model errors reaching centimeter levels in humid or convectively active regions, becoming a bottleneck for positioning. In summary, the market urgently needs a low-power, integrated satellite-ground, and end-to-cloud BeiDou / GNSS regional augmentation and meteorological service terminal and its high-precision positioning method to simultaneously meet the accuracy, reliability, and multi-scenario application requirements of the fused "high-precision location + real-time meteorological" information. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides an integrated terminal device and high-precision positioning method for BeiDou / GNSS regional augmentation and meteorological services, solving the problem of connection and optimization between real-time high-precision positioning and meteorological data services.

[0005] To achieve the above objectives, the present invention provides the following technical solution: an integrated terminal device for BeiDou / GNSS regional augmentation and meteorological services, comprising: The multi-constellation multi-frequency signal receiving module is used to simultaneously receive BeiDou-3, GPS, GLONASS, Galileo satellite navigation signals and BeiDou PPP-B2b satellite-based augmentation signals, and output unified time stamps to provide more extensive and reliable positioning data; The multi-source enhanced data access and unification module is used to access ground-based NRTK differential streams, Internet PPP-RTK correction streams, and real-time meteorological messages in parallel through cellular networks, satellite communications, and local area networks. The multi-source enhanced data access and unification module performs integrity detection, time synchronization, and protocol conversion on each data stream to generate enhanced data in a unified format, ensuring seamless integration between different data sources and supporting standardized data protocols. The adaptive fusion positioning and solving module is used to perform RTK calculation when the ground-based link is available, based on the observation values ​​and the unified format augmented data, and automatically downgrade to satellite-based PPP-B2b calculation when the ground-based link fails. The adaptive fusion positioning and solving module jointly estimates the ionospheric delay, tropospheric wet delay and integer ambiguity through real-time Kalman filtering, and outputs continuous centimeter-level positioning results to ensure continuous and high-precision positioning results. The link quality monitoring and seamless switching module is used to monitor the bandwidth, latency and packet loss rate of each communication link in real time, and automatically switch to an available link when any link fails to ensure data continuity and low latency. The meteorological fusion service output module is used to generate high-resolution meteorological elements based on the tropospheric wet delay and the centimeter-level location results, and publish them to external systems through a standardized application interface.

[0006] Preferably, the observations include pseudorange observations and carrier phase observations.

[0007] Preferably, the multi-source enhanced data access and unification module supports the following data protocols: RTCM3.2MSM7, SPARTN2.0, message body specified by BeiDou PPP-B2b satellite-based augmentation ICD, and GRIB2 meteorological messages.

[0008] Preferably, the adaptive fusion positioning solution module prioritizes RTK or PPP-RTK solution when the ground-based link is available, and automatically downgrades to satellite-based PPP-B2b solution when the link quality score is lower than a preset score threshold or the link is interrupted.

[0009] Preferably, the link quality monitoring and seamless handover module performs quantitative evaluation of each communication link based on the following link quality scoring model and triggers priority scheduling and handover accordingly:

[0010] in, To slide the time window The packet loss rate obtained from internal statistics For end-to-end round-trip time, For instantaneous available bandwidth, Let be the time delay normalization constant. To enhance the minimum bandwidth requirements for maintaining real-time data streaming, The weights are non-negative and satisfy the following conditions: ,when At the same time, the link quality monitoring and seamless switching module simultaneously activates satellite-based PPP-B2b correction data and redundant buffers to ensure continuous high-precision positioning.

[0011] Preferably, the meteorological fusion service output module uses the centimeter-level location result as the anchor point to perform spatial interpolation on the tropospheric wet delay and rasterize it to generate precipitable water results with a spatial resolution of 1 km and a temporal resolution of 5 min.

[0012] A high-precision positioning method integrating BeiDou / GNSS regional augmentation and meteorological services includes: S1. Receives BeiDou-3, GPS, GLONASS, Galileo multi-frequency signals and BeiDou PPP-B2b satellite-based augmentation signals, and outputs pseudorange and carrier phase observation values ​​with unified time stamp; S2. Access ground-based NRTK differential stream, Internet PPP-RTK correction stream and real-time meteorological messages in parallel via cellular, satellite or local area network, and perform integrity detection, time synchronization and protocol conversion to form unified format enhanced data; S3. Perform a comprehensive evaluation of bandwidth, latency and packet loss rate for each communication link. When the score is lower than the preset threshold or the link is interrupted, automatically switch to an available link and simultaneously enable satellite-based PPP-B2b correction and redundancy buffering to ensure continuous availability of enhanced data. S4. Based on the pseudorange and carrier phase observations and the unified format augmented data, perform PPP-RTK calculation, and jointly estimate the ionospheric delay, tropospheric wet delay and integer ambiguity through real-time Kalman filtering to output continuous centimeter-level positioning results; S5. Based on the tropospheric wet delay and the centimeter-level position results, the precipitable water is inverted and rasterized to generate high-resolution meteorological elements, which are then released to the public through a standardized interface.

[0013] Preferably, the preset threshold is 0.7, and the automatic degradation is triggered when the link quality score is lower than the preset score threshold for more than 3 seconds.

[0014] This invention provides an integrated terminal device for BeiDou / GNSS regional augmentation and meteorological services, as well as a high-precision positioning method. It offers the following advantages: This integrated terminal equipment and high-precision positioning method for BeiDou / GNSS regional augmentation and meteorological services integrates multiple satellite navigation systems and simultaneously receives BeiDou PPP-B2b satellite-based augmentation signals to form multi-source, multi-frequency high-precision observation data. Through parallel access to cellular networks, satellite communications, and local area networks, it effectively acquires and processes ground-based NRTK differential streams, internet PPP-RTK correction streams, and real-time meteorological messages. Combined with an adaptive fusion positioning solution module, it prioritizes RTK or PPP-RTK solution when the ground-based link is normal, achieving continuous centimeter-level high-precision positioning under different communication environments.

[0015] By employing real-time Kalman filtering to jointly estimate ionospheric delay, tropospheric wet delay, and integer ambiguity, the robustness and accuracy of the positioning system are improved. Simultaneously, the tropospheric wet delay can be inferred in real time, providing reliable support for meteorological data generation. Combined with link quality monitoring and seamless switching technology, this mechanism effectively ensures data stability and low latency, and can quickly recover system performance in extreme environments. This provides continuous and reliable data support for the generation and dissemination of high-resolution meteorological elements, optimizing the accuracy and real-time performance of meteorological services. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the device structure of the present invention; Figure 2 This is a flowchart of the high-precision positioning method of the present invention; Figure 3 This is a flowchart of the link quality monitoring process of the present invention. Detailed Implementation

[0017] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0018] Example 1 like Figure 1-3 As shown, this embodiment of the invention provides an integrated terminal device for BeiDou / GNSS regional augmentation and meteorological services, including a multi-constellation multi-frequency signal receiving module, used to simultaneously receive BeiDou-3, GPS, GLONASS, Galileo satellite navigation signals and BeiDou PPP-B2b satellite-based augmentation signals, and output unified time stamps to provide more extensive and reliable positioning data.

[0019] The multi-source augmented data access and unification module is used to access ground-based NRTK differential streams, Internet PPP-RTK correction streams, and real-time meteorological messages in parallel via cellular networks, satellite communications, and local area networks. This module performs integrity checks, time synchronization, and protocol conversion on each data stream, generating augmented data in a unified format. This ensures seamless integration between different data sources and supports standardized data protocols. The multi-source augmented data access and unification module supports the following data protocols: RTCM3.2MSM7, SPARTN2.0, the message body specified by the BeiDou PPP-B2b satellite-based augmentation ICD, and GRIB2 meteorological messages.

[0020] The adaptive fusion positioning and solving module is used to perform RTK calculation when the ground-based link is available, based on observations and augmented data in a unified format. When the ground-based link fails, it automatically degrades to a satellite-based PPP-B2b-based calculation. The adaptive fusion positioning and solving module jointly estimates ionospheric delay, tropospheric wet delay, and integer ambiguity through real-time Kalman filtering, and outputs continuous centimeter-level positioning results, ensuring continuous and high-precision positioning results. The observations include pseudorange observations and carrier phase observations. When the ground-based link is available, the adaptive fusion positioning and solving module prioritizes RTK or PPP-RTK calculation, and automatically degrades to a satellite-based PPP-B2b-based calculation when the link quality score is lower than a preset score threshold or when the link is interrupted.

[0021] The link quality monitoring and seamless switching module is used to monitor the bandwidth, latency, and packet loss rate of each communication link in real time. When any link fails, it automatically switches to an available link to ensure data continuity and low latency. The link quality monitoring and seamless switching module quantifies and evaluates each communication link based on the following link quality scoring model and triggers priority scheduling and switching accordingly:

[0022] in, To slide the time window The packet loss rate obtained from internal statistics For end-to-end round-trip time, For instantaneous available bandwidth, Let be the time delay normalization constant. To enhance the minimum bandwidth requirements for maintaining real-time data streaming, The weights are non-negative and satisfy the following conditions: ,when At the same time, the link quality monitoring and seamless switching modules simultaneously activate satellite-based PPP-B2b correction data and redundant buffers to ensure continuous high-precision positioning.

[0023] The meteorological fusion service output module is used to generate high-resolution meteorological elements based on tropospheric wet delay and centimeter-level location results, and publish them to external systems through a standardized application interface. The meteorological fusion service output module uses centimeter-level location results as anchor points to perform spatial interpolation on tropospheric wet delay and rasterize it to generate precipitable water results with a spatial resolution of 1km and a temporal resolution of 5min.

[0024] A high-precision positioning method integrating BeiDou / GNSS regional augmentation and meteorological services includes: S1. Receives BeiDou-3, GPS, GLONASS, Galileo multi-frequency signals and BeiDou PPP-B2b satellite-based augmentation signals, and outputs pseudorange and carrier phase observations with unified time stamps.

[0025] S2. Access ground-based NRTK differential stream, Internet PPP-RTK correction stream, and real-time meteorological messages in parallel via cellular, satellite, or local area networks, and perform integrity checks, time synchronization, and protocol conversion to form enhanced data in a unified format.

[0026] S3. Perform a comprehensive evaluation of bandwidth, latency, and packet loss rate for each communication link. When the score is lower than the preset threshold or the link is interrupted, automatically switch to an available link and simultaneously enable satellite-based PPP-B2b correction and redundancy buffering to ensure continuous availability of enhanced data. The preset threshold is 0.7. Automatic degradation is triggered when the link quality score is lower than the preset score threshold for more than 3 seconds.

[0027] S4. Based on pseudorange and carrier phase observations and unified format augmented data, perform PPP-RTK calculation, and jointly estimate ionospheric delay, tropospheric wet delay and integer ambiguity through real-time Kalman filtering to output continuous centimeter-level positioning results.

[0028] S5. Based on the tropospheric wet delay and centimeter-level location results, precipitable water is inverted and rasterized to generate high-resolution meteorological elements, which are then released to the public through a standardized interface.

[0029] The device receives multi-frequency signals such as BeiDou, GPS, and GLONASS, and obtains real-time differential correction streams and meteorological messages through various network access methods such as cellular, satellite, and local area networks.

[0030] While monitoring link quality in real time, the system evaluates link bandwidth, latency and packet loss rate, and triggers a switching mechanism based on the set quality score to ensure stable data transmission.

[0031] By utilizing the received pseudorange, carrier phase observation data, and augmentation data, PPP-RTK positioning calculations are performed. Combined with real-time Kalman filtering technology, the ionosphere and wet delay are estimated, ultimately achieving centimeter-level positioning accuracy.

[0032] Meteorological data generation is based on wet delay and positioning results, and further inverts and rasterizes meteorological data, such as precipitation, to provide high-resolution meteorological information and supports standardized interface output.

[0033] The above steps can effectively improve GNSS positioning accuracy and, when closely integrated with meteorological data, provide efficient and stable positioning and meteorological services for different application scenarios.

[0034] Example 2 This embodiment is based on a BeiDou / GNSS regional augmentation and meteorological service integrated terminal device, demonstrating how the device provides real-time positioning and meteorological services by fusing satellite navigation signals and meteorological information. It is suitable for scenarios requiring high-precision positioning and meteorological information. The specific implementation method is as follows: 1. Equipment startup and signal reception After startup, the equipment first receives signals from multiple satellite systems, including BeiDou-3, GPS, GLONASS, and Galileo, via a multi-constellation, multi-frequency signal receiving module. The received signals include pseudorange and carrier phase observations, which the equipment converts into a unified time stamp output.

[0035] Input data: Signal type: L1, L2, L5 frequency bands.

[0036] Output data: Pseudorange observations (unit: meters): 1000 meters, 1050 meters, 1100 meters.

[0037] Carrier phase observations (unit: period): 3500 periods, 3550 periods, 3600 periods.

[0038] 2. Enhanced Data Access and Unification from Multiple Sources The device accesses augmented data from different data sources in parallel through a multi-source augmented data access and unification module. It accesses ground-based NRTK differential streams, PPP-RTK correction streams, and real-time meteorological messages via cellular networks, satellite communications, and local area networks, and converts them into data in a unified format.

[0039] Input data: Ground-based NRTK differential stream: RTCM3.2 message body, differential coordinate correction data.

[0040] Internet PPP-RTK correction stream: satellite-based correction data.

[0041] Real-time meteorological messages: GRIB2 output data including wet delay, air pressure, temperature, etc. Enhanced data flow with a unified format for data from different data sources.

[0042] 3. Localization Solution and Kalman Filtering After receiving the enhanced data in a unified format, the device performs positioning calculations through the adaptive fusion positioning solution module. This module uses a Kalman filter algorithm to jointly estimate ionospheric delay, tropospheric wet delay, and integer ambiguity for high-precision positioning.

[0043] Input data: Pseudorange observations: 1000 m, 1050 m, 1100 m.

[0044] Carrier phase observations: 3500 cycles, 3550 cycles, 3600 cycles.

[0045] Unified format enhancement data: PPP-RTK corrected data.

[0046] Output data: Positioning calculation results (centimeter-level positioning accuracy, unit: meter): 1.0 meter, 0.8 meter, 0.7 meter.

[0047] Ionospheric delay estimates (in nanoseconds): 15 ns, 20 ns, 18 ns.

[0048] Tropospheric wet delay estimates (unit: cm): 5 cm, 6 cm, 4.8 cm.

[0049] 4. Link quality monitoring and switching The device monitors the quality of each communication link in real time through a link quality monitoring and seamless switching module. This module evaluates the link's bandwidth, latency, and packet loss rate, determines whether link switching is necessary based on preset thresholds, and ensures data flow continuity and low latency.

[0050] Input data: Bandwidth (unit: Mbps): 5Mbps for cellular links, 3Mbps for satellite links, and 100Mbps for LAN links.

[0051] Latency (unit: ms): cellular link 150ms, satellite link 300ms, LAN link 30ms.

[0052] Packet loss rate (unit: %): Cellular link 2%, Satellite link 5%, LAN link 0%.

[0053] Link quality score: Cellular link score: 0.85.

[0054] Satellite link score: 0.6.

[0055] Local area network link score: 0.95.

[0056] Switching judgment: When the cellular link score is below 0.7 and lasts for more than 3 seconds, the device automatically switches to the local area network link.

[0057] 5. Meteorological data generation and dissemination Based on the calculated centimeter-level positioning results and wet delay data, the equipment generates high-resolution meteorological elements through the meteorological fusion service output module. This data is then published to external systems via a standardized application interface.

[0058] Input data: Tropospheric wet delay (unit: cm): 5cm, 4.8cm, 5.5cm.

[0059] Centimeter-level positioning results (unit: meters): 1.2 meters, 0.9 meters, 0.8 meters.

[0060] Output data: Meteorological elements: Precipitation amounts: 1.2mm, 0.8mm, 1.0mm.

[0061] Output format: GRIB2 format meteorological data.

[0062] Spatial resolution: 1km, temporal resolution: 5 minutes.

[0063] Through the above steps, the equipment provides outputs including high-precision positioning data based on wet delay data and real-time meteorological services related to precipitation warnings. This process ensures that the equipment can provide reliable services under varying environmental conditions.

[0064] Example 3 This embodiment is based on a high-precision positioning method integrating BeiDou / GNSS regional augmentation and meteorological services, ensuring that the system can provide high-precision positioning and meteorological services by integrating BeiDou / GNSS and meteorological data. The specific implementation method is as follows: 1. Signal reception and data synchronization 1.1 Receive navigation signals from multiple satellites The system simultaneously receives navigation signals from satellites such as BeiDou-3, GPS, GLONASS, and Galileo via a multi-frequency signal receiving module. The received data includes pseudorange and carrier phase observations. Signals from each satellite are synchronized using a unified time stamp, ensuring all data is based on a precise time reference.

[0065] Pseudorange observation (unit: meters): 18,945,736.124 m.

[0066] Carrier phase observation (unit: radians): 5835772.78 rad.

[0067] Satellite-based augmentation correction signal: -0.0005m.

[0068] 1.2 Enhanced Signal Reception and Synchronization The PPP-B2b satellite-based augmentation signal is integrated into the same receiving module, and the time stamp of this signal is ensured to be consistent with the time of other satellite navigation signals.

[0069] 2. Multi-source data access and unified processing 2.1 Accessing Enhanced Data Sources Parallel access to multi-source enhanced data streams via cellular networks, satellite communications, and local area networks, including: Ground-based NRTK differential data streams are used for real-time differential correction.

[0070] PPP-RTK correction data stream, PPP-RTK correction information transmitted over the Internet.

[0071] Real-time meteorological messages, meteorological data in GRIB2 format.

[0072] Data streams use different communication protocols, so protocol conversion is required.

[0073] 2.2 Protocol Conversion and Data Synchronization The protocol conversion modules RTCM3.2 and SPARTN2.0 are used to convert the received data streams of various types. The converted data is formatted into a uniform data structure and time-synchronized to ensure that data from different sources can be processed under the same time base.

[0074] Unified format enhances data: RTCM3.2 stream, containing RTK differential information: correction value = +0.015m.

[0075] PPP-RTK Correction Flow: Correction value = -0.0003m.

[0076] GRIB2 meteorological data: wet delay data = 12.4 mm.

[0077] 3. Link quality monitoring and automatic switching 3.1 Real-time link quality monitoring The quality of communication links in cellular networks, satellite communications, and local area networks is assessed by real-time monitoring of bandwidth, latency, and packet loss rate. A comprehensive link quality score is calculated using the following link quality scoring model: Link quality score calculation: Bandwidth: 5Mbps, 1Mbps.

[0078] Latency: 100ms, 500ms.

[0079] Packet loss rate: 0.2%, 1.5%.

[0080] Based on the scoring model, the link score is as follows: Cellular link score: 0.92.

[0081] Satellite link score: 0.65.

[0082] 3.2 Automatic Link Switching If the link score falls below a preset threshold of 0.7 and remains below that threshold for more than 3 seconds, the system will automatically switch to another link. For example, when the satellite link score is below 0.7, the system will switch to a cellular network or local area network link.

[0083] Automatic link switching triggered: When the packet loss rate of the satellite link is too high, the system will automatically switch to the cellular link.

[0084] At the same time, the system activates satellite-based PPP-B2b enhancement signals and redundant buffers to ensure the continuity of enhanced data and high-precision positioning.

[0085] 4. High-precision positioning calculation and Kalman filtering 4.1 PPP-RTK Solution Based on the received pseudorange observations, carrier phase observations, and augmented data in a unified format, the PPP-RTK correction stream is used to perform PPP-RTK solution.

[0086] Pseudorange observation: 18,945,736.124 m.

[0087] Carrier phase observation: 5835772.78 rad.

[0088] PPP correction data: -0.0005m.

[0089] 4.2 Joint Estimation using Kalman Filtering During the solution process, the following parameters are jointly estimated using Kalman filtering: Ionospheric delay: 2.5m.

[0090] Tropospheric wet delay: 3.1m.

[0091] Integer ambiguity: Solved to ensure centimeter-level accuracy.

[0092] Ultimately, the system outputs high-precision positioning results: Positioning result: 18,945,736.175m (centimeter-level accuracy) 5. Meteorological Data Generation and Output 5.1 Inversion of meteorological elements Based on tropospheric wet delay and centimeter-level location results, meteorological elements such as precipitable water were retrieved. Meteorological data with a spatial resolution of 1 km and a temporal resolution of 5 minutes were generated using spatial interpolation methods.

[0093] Tropospheric wet delay: 12.4 mm.

[0094] Precipitation forecast: 2.5 mm.

[0095] 5.2 Rasterization and dissemination of meteorological data The generated meteorological data is rasterized and published to external systems through standardized interfaces for use by other meteorological or application services.

[0096] Meteorological output format: spatial resolution 1km, temporal resolution 5 minutes, including precipitable water, wet delay, etc.

[0097] Through the steps described in the above embodiments, we can achieve high-precision positioning services and the fusion and dissemination of meteorological data. Key technologies include multi-source data fusion, PPP-RTK computation, Kalman filtering, link quality monitoring, and automatic switching. Through the coordinated operation of these technologies, the system can provide centimeter-level positioning accuracy and, combined with real-time meteorological data, offer precise meteorological services with high reliability and real-time performance.

[0098] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A BeiDou / GNSS regional augmentation and meteorological service integrated terminal device, characterized in that, include: The multi-constellation multi-frequency signal receiving module is used to simultaneously receive BeiDou-3, GPS, GLONASS, Galileo satellite navigation signals and BeiDou PPP-B2b satellite-based augmentation signals, and output signals with a unified time stamp. The multi-source enhanced data access and unification module is used to access ground-based NRTK differential streams, Internet PPP-RTK correction streams, and real-time meteorological messages in parallel through cellular networks, satellite communications, and local area networks. The multi-source enhanced data access and unification module performs integrity detection, time synchronization, and protocol conversion on each data stream to generate enhanced data in a unified format. The adaptive fusion positioning solution module is used to perform RTK solution when the ground-based link is available, and automatically downgrade to satellite-based PPP-B2b solution when the ground-based link fails, based on the observation values ​​and the unified format augmented data. The adaptive fusion positioning solution module jointly estimates the ionospheric delay, tropospheric wet delay and integer ambiguity through real-time Kalman filtering, and outputs continuous centimeter-level positioning results. The link quality monitoring and seamless switching module is used to monitor the bandwidth, latency and packet loss rate of each communication link in real time, and automatically switch to an available link when any link fails. The meteorological fusion service output module is used to generate high-resolution meteorological elements based on the tropospheric wet delay and the centimeter-level location results, and publish them to external systems through a standardized application interface.

2. The integrated terminal equipment for BeiDou / GNSS regional augmentation and meteorological services according to claim 1, characterized in that: The observations include pseudorange observations and carrier phase observations.

3. The integrated terminal equipment for BeiDou / GNSS regional augmentation and meteorological services according to claim 1, characterized in that: The multi-source enhanced data access and unification module supports the following data protocols: RTCM3.2MSM7, SPARTN2.0, message body specified by BeiDou PPP-B2b satellite-based augmentation ICD, and GRIB2 meteorological messages.

4. The integrated terminal equipment for BeiDou / GNSS regional augmentation and meteorological services according to claim 1, characterized in that: The adaptive fusion positioning and solving module prioritizes RTK or PPP-RTK solving when the ground-based link is available, and automatically downgrades to satellite-based PPP-B2b solving when the link quality score is lower than the preset score threshold or the link is interrupted.

5. The integrated terminal equipment for BeiDou / GNSS regional augmentation and meteorological services according to claim 4, characterized in that: The preset threshold is 0.

7. Automatic degradation is triggered when the link quality score is lower than the preset score threshold for more than 3 seconds.

6. The integrated terminal equipment for BeiDou / GNSS regional augmentation and meteorological services according to claim 1, characterized in that: The link quality monitoring and seamless handover module quantifies and evaluates each communication link based on the following link quality scoring model and triggers priority scheduling and handover accordingly:

7. Among them, To slide the time window The packet loss rate obtained from internal statistics For end-to-end round-trip time, For instantaneous available bandwidth, Let be the time delay normalization constant. To enhance the minimum bandwidth requirements for maintaining real-time data streaming, The weights are non-negative and satisfy the following conditions: .

8. The integrated terminal equipment for BeiDou / GNSS regional augmentation and meteorological services according to claim 1, characterized in that: The meteorological fusion service output module uses the centimeter-level location results as anchor points to perform spatial interpolation and rasterization on the tropospheric wet delay to generate precipitable water results with a spatial resolution of 1 km and a temporal resolution of 5 min.

9. A high-precision positioning method integrating BeiDou / GNSS regional augmentation and meteorological services, characterized in that, include: S1. Receives BeiDou-3, GPS, GLONASS, Galileo multi-frequency signals and BeiDou PPP-B2b satellite-based augmentation signals, and outputs pseudorange and carrier phase observation values ​​with unified time stamp; S2. Access ground-based NRTK differential stream, Internet PPP-RTK correction stream and real-time meteorological messages in parallel via cellular, satellite or local area network, and perform integrity detection, time synchronization and protocol conversion to form unified format enhanced data; S3. Perform a comprehensive evaluation of bandwidth, latency and packet loss rate for each communication link. When the score is lower than the preset threshold or the link is interrupted, automatically switch to an available link and simultaneously enable satellite-based PPP-B2b correction and redundancy buffering. S4. Based on the pseudorange and carrier phase observations and the unified format augmented data, perform PPP-RTK calculation, and jointly estimate the ionospheric delay, tropospheric wet delay and integer ambiguity through real-time Kalman filtering to output continuous centimeter-level positioning results; S5. Based on the tropospheric wet delay and the centimeter-level position results, the precipitable water is inverted and rasterized to generate high-resolution meteorological elements, which are then released to the public through a standardized interface.

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