Positioning data processing method and device, and product

Abstract

The invention provides a positioning data processing method and device and a product, and the method comprises the steps: determining a target region in response to a positioning auxiliary data generation request, and dividing the target region into a plurality of grid points; constructing a virtual observation station corresponding to each grid point, and obtaining position information of the virtual observation station; according to the position information, obtaining positioning correction data provided by the first satellite and the ground base station, and determining an initial distance between the virtual observation station and the second satellite; wherein the second satellite is an observation satellite of the virtual observation station; generating virtual observation data of each virtual observation station according to the initial distance and the positioning correction data; wherein the virtual observation data is used for assisting the client in positioning. According to the invention, higher-precision and more stable positioning auxiliary data can be obtained, so that the overall quality of positioning service is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of satellite electronic communication, in particular to a positioning data processing method and device and product. BACKGROUND

[0002] With the continuous development of satellite navigation and positioning system (GNSS) technology, satellite positioning service coverage is becoming wider and wider, and the accuracy is becoming higher and higher.

[0003] The general accuracy positioning service can meet the daily navigation and positioning needs of most ordinary users, but for some users with higher accuracy requirements, positioning assistance and enhanced services are needed.

[0004] In related technologies, physical ground base stations are needed to assist positioning to improve the accuracy of positioning. However, the coverage of physical ground base stations is limited, and the regional positioning accuracy is easily fluctuated due to geographical location differences, making it difficult to ensure accurate and stable positioning assistance services. For the provider of positioning assistance services, it also needs a lot of cost to establish ground base stations. SUMMARY

[0005] In view of the above problems, a positioning data processing method and device and product are provided to overcome the above problems or at least partially solve the above problems, comprising:

[0006] A positioning data processing method applied to a server, the method comprising:

[0007] In response to a request for generating positioning assistance data, a target area is determined, and the target area is divided into a plurality of grid points;

[0008] A virtual observation station corresponding to each grid point is constructed, and the position information of the virtual observation station is obtained;

[0009] According to the position information, the positioning correction data provided by the first satellite and the ground base station is obtained, and the initial distance between the virtual observation station and the second satellite is determined; wherein the second satellite is the observation satellite of the virtual observation station;

[0010] According to the initial distance and the positioning correction data, virtual observation data of each virtual observation station is generated; wherein the virtual observation data is used to assist the client in positioning.

[0011] Optionally, the positioning correction data includes satellite clock error correction data and atmospheric delay correction data, and the virtual observation data of each virtual observation station is generated according to the initial distance and the positioning correction data, comprising:

[0012] obtaining initial clock bias values and initial atmospheric delay values of the virtual observation stations;

[0013] updating the initial clock bias values to obtain target clock bias values according to the satellite clock bias correction data, and updating the initial atmospheric delay values to obtain target atmospheric delay values according to the atmospheric delay correction data;

[0014] generating virtual observation data of the virtual observation stations according to the initial distances, the target clock bias values and the target atmospheric delay values.

[0015] Optionally, the virtual observation data includes pseudo-range virtual observation values, the positioning correction data further includes pseudo-range bias correction values, and the generating of the virtual observation data of the virtual observation stations according to the initial distances, the target clock bias values and the target atmospheric delay values includes:

[0016] determining pseudo-range virtual observation values according to the initial distances, the target clock bias values, the target atmospheric delay values and the pseudo-range bias correction values.

[0017] Optionally, the virtual observation data further includes phase virtual observation values, the positioning correction data further includes phase bias correction values, and the generating of the virtual observation data of the virtual observation stations according to the initial distances, the target clock bias values and the target atmospheric delay values further includes:

[0018] determining phase virtual observation values according to the initial distances, the target clock bias values, the target atmospheric delay values and the phase bias correction values.

[0019] Optionally, after the virtual observation data of each virtual observation station is generated according to the initial distances and the positioning correction data, the method further includes:

[0020] converting the virtual observation data into a file in a preset format and saving the file;

[0021] in response to a request of the client for target virtual observation data, sending a file corresponding to the target virtual observation data to the client.

[0022] Optionally, the method further includes:

[0023] broadcasting the positioning correction data through a satellite link, so that the client adopts the positioning correction data for positioning.

[0024] A processing method of positioning data, applied to a client, the method includes:

[0025] acquire initial positioning information, and determine whether network connection with a server is normal; wherein the server is configured to determine a target area and divide the target area into a plurality of grid points in response to a request for generating positioning assistance data, construct a virtual observation station corresponding to each grid point, and acquire position information of the virtual observation station, acquire positioning correction data provided by a first satellite and a ground base station and determine an initial distance between the virtual observation station and a second satellite according to the position information, and generate virtual observation data of each virtual observation station according to the initial distance and the positioning correction data, wherein the second satellite is an observation satellite of the virtual observation station;

[0026] if the network connection with the server is normal, determine a target grid point in the plurality of grid points according to the initial positioning information, and request the server to acquire target virtual observation data corresponding to the target grid point;

[0027] determine target positioning information according to the target virtual observation data.

[0028] Optionally, after acquiring the initial positioning information and determining whether the network connection with the server is normal, the method further comprises:

[0029] if the network connection with the server is abnormal, acquire the positioning correction data broadcast by the server through a satellite link according to the initial positioning information;

[0030] update the initial positioning information according to the positioning correction data to obtain target positioning information.

[0031] A positioning data processing device applied to a server, the device comprising:

[0032] a target area processing module configured to determine a target area and divide the target area into a plurality of grid points in response to a request for generating positioning assistance data;

[0033] a virtual observation station processing module configured to construct a virtual observation station corresponding to each grid point and acquire position information of the virtual observation station;

[0034] a satellite and base station data processing module configured to acquire positioning correction data provided by a first satellite and a ground base station and determine an initial distance between the virtual observation station and a second satellite according to the position information, wherein the second satellite is an observation satellite of the virtual observation station;

[0035] a virtual observation data generation module configured to generate virtual observation data of each virtual observation station according to the initial distance and the positioning correction data, wherein the virtual observation data is used to assist a client in positioning.

[0036] A computer program product comprises a computer program which, when executed by a processor, implements the method of processing positioning data as described above.

[0037] The embodiment of the present application has the following advantages: by dividing the grid points, the user can obtain the corresponding positioning auxiliary data according to the corresponding grid points, avoid the redundancy of invalid data, reconstruct the virtual observation station corresponding to each grid point to generate virtual observation data, and there is no need to establish a physical station, thereby effectively saving the overhead of positioning auxiliary services. Moreover, the virtual observation data is generated according to the positioning correction data provided by the first satellite and the ground base station, and combines the advantages of wide coverage of satellite-based positioning correction data and high accuracy of ground-based positioning correction data, so that the virtual observation data has more accurate and stable positioning auxiliary effect. BRIEF DESCRIPTION OF DRAWINGS

[0038] In order to more clearly illustrate the technical solutions of the present application, the following will briefly introduce the drawings needed to be used in the description of the present application. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0039] Figure 1 is a step flow chart of a positioning data processing method provided by an embodiment of the present application;

[0040] Figure 2 is a step flow chart of another positioning data processing method provided by an embodiment of the present application;

[0041] Figure 3 is a structure block diagram of a positioning data processing device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0042] In order to make the above-mentioned purposes, features and advantages of the present application more apparent and easy to understand, the following will further describe the present application in combination with the drawings and specific embodiments. Obviously, the described embodiments are some embodiments of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0043] Referring to Figure 1 , a step flow chart of a positioning data processing method provided by an embodiment of the present application is shown, the method is applied to a server, and specifically can include the following steps:

[0044] Step 101, in response to a request for generating positioning auxiliary data, determining a target area, and dividing the target area into a plurality of grid points;

[0045] Positioning assistance data refers to data that can assist and enhance positioning services to improve positioning accuracy and reliability.

[0046] Target area refers to an area for which positioning assistance data needs to be generated. When a user needs to perform positioning within a target range, the user can be provided with positioning assistance data corresponding to the target area.

[0047] Grid point refers to a basic unit within a grid after the target area is divided according to a predefined grid. The target area can be spatially discretely expressed through grid points.

[0048] In a specific implementation, the target area can be a global area within a certain latitude and longitude range, a two-dimensional or three-dimensional model corresponding to the target area is constructed, and then the target area is divided into multiple grid points through a preset latitude and longitude step (distance between grid points).

[0049] Step 102, constructing a virtual observation station corresponding to each grid point and obtaining position information of the virtual observation station.

[0050] Virtual observation station refers to a virtualized observation station for simulating observation of data required for positioning, such as observation of atmospheric data and satellite data.

[0051] Position information is used to represent the position of the virtual observation station, which can specifically be the coordinates of the virtual observation station.

[0052] Step 103, obtaining positioning correction data provided by a first satellite and a ground base station according to the position information and determining an initial distance between the virtual observation station and a second satellite; wherein the second satellite is an observation satellite of the virtual observation station.

[0053] Positioning correction data refers to data that can correct the results of positioning and has higher accuracy.

[0054] In actual applications, part of the ground base stations can be used as integrity monitoring networks to monitor the quality of positioning correction data and provide integrity information of the positioning correction data to ensure the accuracy of the positioning correction data.

[0055] The first satellite is used to provide satellite observation-based positioning correction data corresponding to the position information of the virtual observation station, i.e., to provide satellite-based positioning correction data, such as precise orbit correction data, precise clock correction data, wide-area ionospheric grid correction data, regional atmospheric delay correction data, and phase hardware bias correction data. The positioning correction data provided by the first satellite has the advantages of wide coverage, stability, and high reliability.

[0056] The ground base station is configured to provide positioning correction data corresponding to the position information of the virtual observation station based on the observation of the base station, i.e., to provide ground-based positioning correction data, such as reference station differential correction data, regional ionospheric correction data, local tropospheric delay correction data, etc. The positioning correction data provided by the ground base station has high precision.

[0057] In actual applications, the first satellite can be a satellite in the Beidou-3 global satellite navigation system, and the positioning correction data provided by the first satellite can be satellite-based positioning enhancement data broadcast through PPP-B2b (Precise Point Positioning-B2b Signal). The ground base station can be a ground base station in the Beidou-3 global satellite navigation system, and the positioning correction data provided by the ground base station can be ground-based positioning enhancement data.

[0058] The second satellite is an observation satellite of the virtual observation station, which refers to a satellite directly tracked and observed by the virtual observation station. Through the observation of the second satellite by the virtual observation station, relevant data and indicators can be obtained, and the positioning correction data can be further processed to obtain virtual observation data to assist and enhance the positioning service.

[0059] The initial distance between the virtual observation station and the second satellite refers to the geometric distance between the virtual observation station and the second satellite without considering errors.

[0060] In specific implementations, the position information of the second satellite can be calculated by obtaining broadcast ephemeris data and satellite orbit data (such as precise orbit data provided by PPP-B2b), and then the initial distance between the virtual observation station and the second satellite can be calculated based on the position information of the virtual observation station.

[0061] In step 104, virtual observation data of each virtual observation station is generated based on the initial distance and the positioning correction data. The virtual observation data is used to assist the client in positioning.

[0062] Virtual observation data refers to various types of virtual observation data generated by combining the initial distance as an initial value with the positioning correction data for high-precision correction to assist and enhance the positioning service. For example, pseudo-range virtual observation values, phase virtual observation values, ambiguity fixed virtual observation values, wide / narrow-lane virtual observation values, etc. Compared with the data directly observed by a physical receiver (such as a physical observation station), the virtual observation data has higher precision and is closer to the true value.

[0063] In actual application, the virtual observation data of each virtual observation station can be generated according to the initial distance and the positioning correction data through a predefined algorithm or model, and the virtual observation data of each virtual observation station can be saved in a preset format. When a client requests, the virtual observation data can be provided to the client in the form of a data product to assist the client in positioning.

[0064] In some embodiments of the present application, the positioning correction data comprises satellite clock error correction data and atmospheric delay correction data, and the generation of the virtual observation data of each virtual observation station according to the initial distance and the positioning correction data comprises:

[0065] obtaining an initial clock error value and an initial atmospheric delay value of the virtual observation station;

[0066] updating the initial clock error value to obtain a target clock error value according to the satellite clock error correction data, and updating the initial atmospheric delay value to obtain a target atmospheric delay value according to the atmospheric delay correction data;

[0067] generating the virtual observation data of the virtual observation station according to the initial distance, the target clock error value and the target atmospheric delay value.

[0068] In the present embodiment, the clock error refers to a small deviation caused by the asynchronization of the transmission time of a satellite signal and the system standard time of a receiver (such as an observation station), and the satellite clock error correction data refers to related data that can be further corrected for the clock error, which can be provided by a first satellite, such as the real-time precise clock error data provided by PPP-B2b.

[0069] The initial clock error value of the virtual observation station, i.e. the initial value of the clock error between the virtual observation station and the second satellite, is a low-precision rough value or an estimated value. In some examples, the initial clock error value can be estimated by obtaining the clock error between a physical observation station and the second satellite.

[0070] The target clock error value is obtained by updating the initial clock error value according to the satellite clock error correction data, and the target clock error value is a high-precision value obtained by correcting the clock error correction data, which is closer to the true clock error value.

[0071] The atmospheric delay refers to the delay caused by the influence of various media in the atmosphere on the signal propagation speed, and the atmospheric delay correction data refers to related data that can be further corrected and improved in precision for the atmospheric delay, which can be provided by a ground base station, such as the atmospheric delay correction data provided by the ground base station in the Beidou-3 global satellite navigation system.

[0072] The initial atmospheric delay value refers to the initial value of the atmospheric delay value obtained by the virtual observation station in the observation of the atmosphere, which is a low-precision rough value or an estimated value. It can be estimated by obtaining meteorological data.

[0073] The initial tropospheric delay value is updated according to the atmospheric delay correction data to obtain a target atmospheric delay value, which is a high-precision value corrected by the atmospheric delay correction data and is closer to the real atmospheric delay value.

[0074] In some examples, the atmospheric delay correction data can include ionospheric delay correction data and tropospheric delay correction data. The ionospheric delay correction data can correct the delay caused by free electrons in the ionosphere, and the tropospheric delay correction data can correct the delay caused by water vapor, dry gas and other media in the troposphere. The target atmospheric delay value obtained by the ionospheric delay correction data and the tropospheric delay correction data can include an ionospheric delay value and a tropospheric delay value.

[0075] Further, the virtual observation data of the virtual observation station is generated by a predefined algorithm or model according to the initial distance, the target clock difference value and the target atmospheric delay value.

[0076] In this embodiment, the virtual observation data generated by the target clock difference value and the target atmospheric delay value of higher precision not only improves the data precision by error suppression on the initial value, but also accelerates the convergence speed of the positioning algorithm when the auxiliary client performs positioning, effectively improving the accuracy and efficiency of positioning.

[0077] In some embodiments of the present application, the virtual observation data includes a pseudo-range virtual observation value, the positioning correction data further includes a pseudo-range deviation correction value, and the virtual observation data of the virtual observation station is generated according to the initial distance, the target clock difference value and the target atmospheric delay value, including:

[0078] The pseudo-range virtual observation value is determined according to the initial distance, the target clock difference value, the target atmospheric delay value and the pseudo-range deviation correction value.

[0079] The pseudo-range virtual observation value is a higher-precision equivalent distance value between the virtual observation station and the second satellite considering various errors, which is closer to the real distance between the virtual observation station and the second satellite. The pseudo-range deviation correction value is a related value that can correct the deviation of the pseudo-range, which can be provided by the first satellite.

[0080] In some examples, the pseudo-range virtual observation value is calculated as shown in formula (1):

[0081]

[0082] wherein, is the initial distance; t s is the target clock difference value; T z is the tropospheric delay value, a tropospheric delay value, an ionospheric delay value, a tropospheric projection function; b s,f a pseudo-range bias correction value.

[0083] In some embodiments of the present application, the virtual observation data further comprises a phase virtual observation value, and the positioning correction data further comprises a phase bias correction value, and the generating the virtual observation data of the virtual observation station according to the initial distance, the target clock bias value and the target tropospheric delay value further comprises:

[0084] determining a phase virtual observation value according to the initial distance, the target clock bias value, the target tropospheric delay value and the phase bias correction value.

[0085] The phase virtual observation value refers to a phase virtual observation value of a carrier signal transmitted by the second satellite at the virtual observation station. The phase bias refers to a phase bias between a local carrier at the virtual observation station and a carrier of the second satellite due to various factors (such as a propagation medium factor and a hardware factor), and the phase bias correction value is a related value that can correct the phase bias and improve accuracy, and can be provided by the first satellite.

[0086] In some examples, the phase virtual observation value The phase virtual observation value can be calculated by formula (2):

[0087]

[0088] wherein, is an initial distance; t s is a target clock bias value; T z a tropospheric delay value, a tropospheric projection function; an ionospheric delay value, an ionospheric projection function; λ is a carrier wavelength corresponding to a frequency f, a phase bias correction value corresponding to the frequency f.

[0089] In some embodiments of the present application, the positioning correction data can further comprise other types of data, such as hardware delay correction data and floating-point solution ambiguity parameters, and the pseudo

[0090]

[0091] wherein, is an initial distance from a satellite s (the second satellite) to a receiver r (the virtual observation station); t r,sys is an initial clock bias value of a receiver clock bias parameter of the receiver r corresponding to a GNSS system; t sis a clock bias parameter of a satellite receiver, i.e., a target clock bias value; T z is a zenith tropospheric delay of an observation station, i.e., a tropospheric delay value, is a projection function of the troposphere from the zenith to the slant path, i.e., a troposphere projection function; is a zenith ionospheric delay at a single-layer ionospheric model piercing point, i.e., an ionospheric delay value, is a projection function of the ionosphere from the zenith to the slant path, i.e., an ionosphere projection function; is a satellite-end hardware delay; b r,f is a receiver-end hardware delay; is a float ambiguity parameter, and λ is a carrier wavelength corresponding to a frequency f; ε p and ε Φ are pseudo-range and phase observation noises, respectively.

[0092] In some embodiments of the present application, after generating the virtual observation data of each virtual observation station according to the initial distance and the positioning correction data, the method further comprises:

[0093] converting the virtual observation data into a file in a preset format and saving;

[0094] in response to a request of the client for target virtual observation data, sending a file corresponding to the target virtual observation data to the client.

[0095] In a specific implementation, the preset format can be a standardized format. By converting the virtual observation data into a file in a unified data standard, a standardized observation domain data product is provided, facilitating the transmission and interaction of the virtual observation data.

[0096] In actual application, the virtual observation data can be converted into a file in a RINEX (Receiver Independent Exchange Format) format, facilitating reading by the client.

[0097] When receiving a request of the client for target virtual observation data, a file corresponding to the target virtual observation data is sent to the client.

[0098] In some examples, an index can be added for each grid point. The client determines an index corresponding to a target grid point needed, and then requests the server to obtain target virtual observation data corresponding to the target grid point through the index. The server then broadcasts a file corresponding to the target virtual observation data to the client through the network.

[0099] In some embodiments of the present application, the method further comprises:

[0100] broadcast the positioning correction data through a satellite link to enable the client to use the positioning correction data for positioning.

[0101] In actual application, the positioning correction data is broadcast through a satellite link and directly taken as a state domain data product for broadcasting, so that the client can obtain the positioning correction data through the satellite link when there is no network connection, and the client uses the positioning correction data for positioning assistance, thereby improving the reliability of positioning assistance and enhanced services.

[0102] The embodiment of the application has the following advantages: by dividing the grid points, the user can obtain corresponding positioning assistance data according to the corresponding grid points, and the redundancy of invalid data is avoided; each grid point is reconstructed to correspond to a virtual observation station to generate virtual observation data, and a physical station is not needed, thereby effectively saving the overhead of positioning assistance services. Moreover, the virtual observation data is generated according to the positioning correction data provided by the first satellite and the ground base station, and combines the advantages of wide coverage of satellite-based positioning correction data and high precision of ground-based positioning correction data, so that the virtual observation data has more accurate and stable positioning assistance effect.

[0103] Referring to Figure 2 , a step flowchart of another method for processing positioning data provided by an embodiment of the application is shown, the method is applied to a client and can specifically include the following steps:

[0104] In step 201, initial positioning information is obtained, and it is determined whether the network connection with a server is normal; the server is used to determine a target area in response to a request for generating positioning assistance data, divide the target area into a plurality of grid points, construct a virtual observation station corresponding to each grid point, obtain the position information of the virtual observation station, obtain positioning correction data provided by a first satellite and a ground base station according to the position information, and determine the initial distance between the virtual observation station and a second satellite, generate virtual observation data of each virtual observation station according to the initial distance and the positioning correction data, and the second satellite is an observation satellite of the virtual observation station.

[0105] The initial positioning information is obtained by the client through satellite positioning technology, and is low-precision and rough positioning information, for example, positioning information obtained by SPP (Standard Point Positioning) through broadcast ephemeris.

[0106] In the embodiment, by determining whether the network connection with the server is normal, it can be ensured that the target virtual observation data, i.e., the positioning assistance data, sent by the server can be received through the ground network. For example, it is determined whether there is a network at present, whether the network communication environment is normal, whether the communication with the server is normal, etc. The server is described with reference to the foregoing embodiments, and will not be described herein again.

[0107] Step 202, if the network connection with the server is normal, determining a target grid point from the plurality of grid points according to the initial positioning information, and requesting the server to obtain target virtual observation data corresponding to the target grid point;

[0108] Each grid point divided by the server corresponds to different virtual observation data, and also corresponds to different positions, so the virtual observation data corresponding to different grid points also have different positioning assistance effects on the client. It is required to determine the grid point with the optimal positioning assistance effect as the target grid point. For example, the grid point closest to the client is determined as the target grid point.

[0109] In some examples, the target grid point closest to the client can be determined from the plurality of grid points according to the initial positioning information, and the index number of the target grid point is determined, and then the target virtual observation data corresponding to the target grid point is requested from the server according to the index number.

[0110] Step 203, determining target positioning information according to the target virtual observation data.

[0111] In this embodiment, after obtaining the target virtual observation data, higher-precision target positioning information is obtained according to the target virtual observation data, so as to realize accurate positioning.

[0112] In some examples, the target positioning information can be obtained by an RTK (Real-Time Kinematic, Real-Time Kinematic) algorithm.

[0113] Specifically, assuming that the target virtual observation data includes a pseudo-range virtual observation value and a phase virtual observation value, the process of obtaining the target positioning information is as follows:

[0114] First, a single-difference observation equation between the client u and the reference station v (i.e., the virtual observation station corresponding to the target grid point) is constructed, which can be specifically represented as formula (4):

[0115]

[0116] wherein is the pseudo-range virtual observation value; is the phase virtual observation value; is the difference between the distance of the satellite s relative to the client u and the distance of the satellite s relative to the reference station v; t u,sys is the client receiver clock error; b u,f is the hardware delay of the client receiver; is the client floating-point ambiguity parameter, is the satellite phase bias; ε p and ε ΦNoise in pseudo-range and phase respectively. At this time, the parameters to be estimated mainly consider ambiguity parameters, tropospheric wet delay, ionospheric delay residual error, coordinate parameters and receiver clock error, so its random model can be shown as formula (5):

[0117]

[0118] In the formula, is ionospheric residual error, is its corresponding variance, which can be obtained from the accuracy information of the virtual observation value. In order to keep the terminal PPP and RTK model unified, therefore, the ambiguity is also converted to wide lane and narrow lane for processing, at this time, the wide lane single difference ambiguity can be expressed as formula (6):

[0119]

[0120] On this basis, further select the reference star, make the interstellar second difference between the non-reference star and the reference star, and further obtain the wide lane double difference ambiguity

[0121]

[0122] Fixing it can obtain the wide lane double difference ambiguity fixed solution And further narrow lane single difference ambiguity can be obtained:

[0123]

[0124] On this basis, further through the interstellar single difference, the narrow lane double difference ambiguity can be obtained Fixing it can obtain the narrow lane double difference fixed solution That is, the target positioning information is obtained, that is, the high-precision positioning result.

[0125] In some embodiments of the present application, after obtaining the initial positioning information and determining whether the network connection with the server is normal, the method further comprises:

[0126] If the network connection with the server is abnormal, the positioning correction data broadcast by the server is obtained through the satellite link according to the initial positioning information;

[0127] The initial positioning information is updated according to the positioning correction data, and the target positioning information is obtained.

[0128] In the embodiment, if the network connection with the server is abnormal, the target virtual observation data of the server cannot be obtained through a ground network or the like, and the positioning correction data corresponding to the position of the rough positioning of the client broadcast by the server can be obtained through a satellite link according to the initial positioning information. The initial positioning information is updated according to the positioning correction data to obtain target positioning information with higher accuracy, and the accuracy of positioning and the reliability of the positioning service are improved in the network-free environment.

[0129] In some examples, the positioning correction data can include precise orbit clock difference data, phase bias data, and atmospheric delay data broadcast by a satellite-based link, and the like. The seamless PPP-AR (Precise Point Positioning with Ambiguity Resolution) real-time positioning or PPP-RTK (PPP Real-Time Kinematic) real-time positioning can be realized by using the positioning correction data.

[0130] In actual application, the virtual observation data (observation domain data product) and the positioning correction data (state domain data product) provided by the server can be generated based on the same reference, for example, converted into files in the same standardized data format. When the client performs RTK calculation with a network or PPP-AR or PPP-RTK calculation without a network, there is no reference jump problem, thereby ensuring the continuity and stability of real-time positioning.

[0131] In some embodiments of the application, the positioning correction data includes satellite clock difference correction data and atmospheric delay correction data, and the server is further configured to:

[0132] obtain an initial clock difference value and an initial atmospheric delay value of the virtual observation station;

[0133] update the initial clock difference value to obtain a target clock difference value according to the satellite clock difference correction data, and update the initial atmospheric delay value to obtain a target atmospheric delay value according to the atmospheric delay correction data;

[0134] generate virtual observation data of the virtual observation station according to the initial distance, the target clock difference value, and the target atmospheric delay value.

[0135] In some embodiments of the application, the virtual observation data includes pseudo-range virtual observation values, and the positioning correction data further includes pseudo-range bias correction values, and the server is further configured to:

[0136] determine the pseudo-range virtual observation values according to the initial distance, the target clock difference value, the target atmospheric delay value, and the pseudo-range bias correction values.

[0137] In some embodiments of the present application, the virtual observation data further comprises phase virtual observation values, and the positioning correction data further comprises phase bias correction values, and the generating the virtual observation data of the virtual observation station according to the initial distance, the target clock error value and the target atmospheric delay value further comprises:

[0138] determining phase virtual observation values according to the initial distance, the target clock error value, the target atmospheric delay value and the phase bias correction values.

[0139] In some embodiments of the present application, the server is further configured to:

[0140] convert the virtual observation data into a file in a preset format and save the file;

[0141] In response to a request of the client for target virtual observation data, send a file corresponding to the target virtual observation data to the client.

[0142] In some embodiments of the present application, the server is further configured to:

[0143] broadcast the positioning correction data through a satellite link, so that the client uses the positioning correction data for positioning.

[0144] It should be noted that, for the method embodiments, in order to simply describe, they are all described as a series of action combinations, but those skilled in the art should know that the embodiments of the present application are not limited to the order of the actions described, because according to the embodiments of the present application, some steps can be performed in other order or simultaneously. Secondly, those skilled in the art should know that the embodiments described in the specification all belong to preferred embodiments, and the actions involved are not necessarily the necessary actions of the embodiments of the present application.

[0145] Referring to Figure 3 , a structure schematic diagram of a positioning data processing device provided by an embodiment of the present application is shown, which can specifically include the following modules:

[0146] The target area processing module 301 is configured to determine a target area and divide the target area into a plurality of grid points in response to a request for generating positioning assistance data.

[0147] The virtual observation station processing module 302 is configured to construct a virtual observation station corresponding to each grid point and acquire position information of the virtual observation station.

[0148] The satellite and base station data processing module 303 is configured to acquire positioning correction data provided by a first satellite and a ground base station and determine an initial distance between the virtual observation station and a second satellite according to the position information, wherein the second satellite is an observation satellite of the virtual observation station.

[0149] The virtual observation data generation module 304 is configured to generate virtual observation data of each virtual observation station according to the initial distance and the positioning correction data, wherein the virtual observation data is used to assist the client in positioning.

[0150] In some embodiments of the present application, the positioning correction data comprises satellite clock error correction data and atmospheric delay correction data, and the virtual observation data generation module 304 comprises:

[0151] A clock error and atmospheric delay value acquisition sub-module is configured to acquire an initial clock error value and an initial atmospheric delay value of the virtual observation station.

[0152] A target clock error and target atmospheric delay value determination sub-module is configured to update the initial clock error value to obtain a target clock error value according to the satellite clock error correction data, and update the initial atmospheric delay value to obtain a target atmospheric delay value according to the atmospheric delay correction data.

[0153] A virtual observation data generation sub-module is configured to generate virtual observation data of the virtual observation station according to the initial distance, the target clock error value and the target atmospheric delay value.

[0154] In some embodiments of the present application, the virtual observation data comprises pseudo-range virtual observation values, and the positioning correction data further comprises pseudo-range bias correction values, and the virtual observation data generation sub-module comprises:

[0155] A virtual observation data generation first sub-unit is configured to determine pseudo-range virtual observation values according to the initial distance, the target clock error value, the target atmospheric delay value and the pseudo-range bias correction values.

[0156] In some embodiments of the present application, the virtual observation data further comprises phase virtual observation values, and the positioning correction data further comprises phase bias correction values, and the virtual observation data generation sub-module further comprises:

[0157] A virtual observation data generation second sub-unit is configured to determine phase virtual observation values according to the initial distance, the target clock error value, the target atmospheric delay value and the phase bias correction values.

[0158] In some embodiments of the present application, the apparatus further comprises:

[0159] A format conversion module is configured to convert the virtual observation data into a file in a preset format and save the file.

[0160] A virtual observation data sending module is configured to send a file corresponding to target virtual observation data to the client in response to a request of the client for obtaining the target virtual observation data.

[0161] In some embodiments of the present application, the apparatus further comprises:

[0162] a positioning correction data broadcasting module, configured to broadcast the positioning correction data through a satellite link, so that the client adopts the positioning correction data for positioning.

[0163] Some embodiments of the present application further provide an electronic device, which can include a processor, a memory, and a computer program stored in the memory and capable of running on the processor, and the computer program is executed by the processor to implement the positioning data processing method as above.

[0164] Some embodiments of the present application further provide a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the positioning data processing method as above.

[0165] Some embodiments of the present application further provide a computer program product, which includes a computer program, and the computer program is executed by a processor to implement the positioning data processing method as above.

[0166] For the apparatus embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the related parts refer to the parts of the method embodiments.

[0167] It should be noted that the user information (including but not limited to user equipment information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in the present application are all information and data authorized by the user or authorized by all parties, and the collection, use and processing of the related data need to comply with the relevant laws, regulations and standards of the country and region, and provide corresponding operation portal for the user to choose authorization or refusal.

[0168] Each of the embodiments in the specification is described in a progressive manner, and each embodiment focuses on the difference from other embodiments, and the same and similar parts of each embodiment can be referred to each other.

[0169] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, apparatus, or computer program product. Therefore, the embodiments of the present application can adopt a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the embodiments of the present application can adopt the form of a computer program product implemented on one or more computer usable storage media (including but not limited to disk memory, CD-ROM, optical memory, etc.) containing computer usable program code.

[0170] The embodiments of the present application are described with reference to the flowchart illustrations and / or block diagrams of the methods, terminal devices (systems) and computer program products according to the embodiments of the present application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations 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, special purpose computer, embedded processor, or other programmable data processing terminal devices to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal devices, create means for implementing the functions specified in the flowchart illustrations and / or block diagrams. Figure 1 one or more functions specified in the flowchart illustrations and / or block diagrams. Figure 1 one or more functions specified in the flowchart illustrations and / or block diagrams.

[0171] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal devices to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instructions which implement the function specified in the flowchart illustrations and / or block diagrams. Figure 1 one or more functions specified in the flowchart illustrations and / or block diagrams. Figure 1 one or more functions specified in the flowchart illustrations and / or block diagrams.

[0172] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal devices, such that a series of operational steps are carried out on the computer or other programmable terminal devices to produce a computer implemented process so that the instructions executed on the computer or other programmable terminal devices provide steps for implementing the functions specified in the flowchart illustrations and / or block diagrams. Figure 1 one or more functions specified in the flowchart illustrations and / or block diagrams. Figure 1 one or more functions specified in the flowchart illustrations and / or block diagrams.

[0173] Although preferred embodiments of the present application have been described, those skilled in the art will be able to make additional modifications and variations to the embodiments without departing from the scope of the present application. Accordingly, the appended claims are intended to encompass all such modifications and variations as falling within the scope of the embodiments of the present application.

[0174] Finally, it is to be understood that the phraseology or terminology such as "first" and "second" etc. used herein is merely intended to distinguish one entity or operation from another entity or operation, without necessarily requiring or implying any actual such relationship or order between such entities or operations. Moreover, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises... a" does not, without more constraints, exclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the aforesaid element.

[0175] The above provides a positioning data processing method and device, product, a detailed description is made, the principle and implementation mode of the application are described in this paper by applying specific examples, the above example is only used to help understand the method and core idea of the application; Meanwhile, for those skilled in the art, according to the idea of the application, the specific implementation mode and application range will be changed, and the above description should not be understood as the limitation of the application.

Claims

1. A method of processing positioning data, characterized by, Applied to a server, the method comprises: In response to a request for generating positioning assistance data, determining a target area, and dividing the target area into a plurality of grid points; Constructing a virtual observation station corresponding to each grid point and obtaining position information of the virtual observation station; According to the position information, obtaining positioning correction data provided by a first satellite and a ground base station and determining an initial distance between the virtual observation station and a second satellite; wherein the second satellite is an observation satellite of the virtual observation station; According to the initial distance and the positioning correction data, generating virtual observation data of each virtual observation station; wherein the virtual observation data is used to assist the client in positioning.

2. The method of claim 1, wherein, The positioning correction data includes satellite clock error correction data and atmospheric delay correction data, and the virtual observation data of each virtual observation station is generated according to the initial distance and the positioning correction data, which comprises: Obtaining the initial clock error value and the initial atmospheric delay value of the virtual observation station; According to the satellite clock error correction data, updating the initial clock error value to obtain a target clock error value, and according to the atmospheric delay correction data, updating the initial atmospheric delay value to obtain a target atmospheric delay value; According to the initial distance, the target clock error value and the target atmospheric delay value, generating the virtual observation data of the virtual observation station.

3. The method of claim 2, wherein, The virtual observation data includes pseudo-range virtual observation value, and the positioning correction data further includes pseudo-range bias correction value, and the virtual observation data of the virtual observation station is generated according to the initial distance, the target clock error value and the target atmospheric delay value, which comprises: According to the initial distance, the target clock error value, the target atmospheric delay value and the pseudo-range bias correction value, determining the pseudo-range virtual observation value.

4. The method according to claim 2 or 3, characterized in that, The virtual observation data further includes phase virtual observation value, and the positioning correction data further includes phase bias correction value, and the virtual observation data of the virtual observation station is generated according to the initial distance, the target clock error value and the target atmospheric delay value, which further comprises: According to the initial distance, the target clock error value, the target atmospheric delay value and the phase bias correction value, determining the phase virtual observation value.

5. The method of claim 1, wherein, After generating the virtual observation data of each virtual observation station according to the initial distance and the positioning correction data, the method further comprises: Converting the virtual observation data into a file in a preset format and saving; In response to a request of the client for obtaining target virtual observation data, sending the file corresponding to the target virtual observation data to the client.

6. The method according to claim 1 or 5, characterized in that, The method further comprises: Broadcasting the positioning correction data through a satellite link, so that the client uses the positioning correction data for positioning.

7. A method of processing positioning data, characterized by Applied to a client, the method comprises: acquire initial positioning information and determine whether network connection with a server is normal; the server is configured to determine a target area and divide the target area into a plurality of grid points in response to a request for generating positioning assistance data, construct a virtual observation station corresponding to each grid point, acquire position information of the virtual observation station, acquire positioning correction data provided by a first satellite and a ground base station and determine an initial distance between the virtual observation station and a second satellite according to the position information, and generate virtual observation data of each virtual observation station according to the initial distance and the positioning correction data; the second satellite is an observation satellite of the virtual observation station; if the network connection with the server is normal, determine a target grid point in the plurality of grid points according to the initial positioning information, and request the server to acquire target virtual observation data corresponding to the target grid point; determine target positioning information according to the target virtual observation data.

8. The method of claim 7, wherein, After acquiring the initial positioning information and determining whether the network connection with the server is normal, the method further comprises: if the network connection with the server is abnormal, acquire the positioning correction data broadcast by the server through a satellite link according to the initial positioning information; update the initial positioning information according to the positioning correction data to obtain target positioning information.

9. A processing device for positioning data, characterized in that The device applied to the server comprises: a target area processing module configured to determine a target area and divide the target area into a plurality of grid points in response to a request for generating positioning assistance data; a virtual observation station processing module configured to construct a virtual observation station corresponding to each grid point and acquire position information of the virtual observation station; a satellite and base station data processing module configured to acquire positioning correction data provided by a first satellite and a ground base station and determine an initial distance between the virtual observation station and a second satellite according to the position information; the second satellite is an observation satellite of the virtual observation station; a virtual observation data generation module configured to generate virtual observation data of each virtual observation station according to the initial distance and the positioning correction data; the virtual observation data is used to assist a client in positioning.

10. A computer program product, characterised in that, The computer program is configured to implement the positioning data processing method according to any one of claims 1-8 when executed by a processor. The computer program is configured to implement the positioning data processing method according to any one of claims 1-8 when executed by a processor.

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