Flow station positioning method and apparatus, electronic device, and storage medium

Abstract

The application provides a flow station positioning method and device, electronic equipment and storage medium, and relates to the technical field of satellite positioning. The method comprises the following steps: acquiring observation data of a preset flow station at a current epoch and observation data at a previous epoch for multiple satellites; calculating a position change value of the current epoch by using a pre-constructed target epoch difference equation according to the observation data of the current epoch and the observation data of the previous epoch; calculating a position change correction value of the current epoch by using a pre-constructed target error correction model according to the time of the current epoch relative to a preset initial epoch; and calculating the position of the preset flow station at the current epoch according to the initial position of the preset flow station, the cumulative value of the position change from the preset initial epoch to the current epoch, and the position change correction value of the current epoch. The application can realize high-precision positioning of the flow station in the case of differential long-time interruption or no differential availability.

Description

Technical Field

[0001] This application relates to the field of satellite positioning technology, and more specifically, to a rover positioning method, device, electronic device, and storage medium. Background Technology

[0002] Global Navigation Satellite System (GNSS) technology is being used more and more widely. With the deepening development of intelligence and unmanned operation, various fields are also putting forward higher requirements for positioning technology.

[0003] Real-Time Kinematic (RTK) technology is the most widely used high-precision GNSS positioning technology. It uses GNSS carrier phase observations from a base station and a rover for relative positioning. The rover's carrier phase observations are obtained by receiving satellite signals through a receiver. The rover then acquires the carrier phase observations from the base station and the differential data from the base station via a network, radio server, or physical base station to calculate its relative position coordinates. Based on the base station's physical coordinates and the relative position coordinates, the rover's position coordinates are determined.

[0004] However, in actual engineering applications, due to limitations such as lack of differential service coverage in the working area, absence of base station equipment, or unstable network, the receiver of the mobile station often faces differential interruption or no differential data available, resulting in poor RTK measurement accuracy that cannot meet user needs. Summary of the Invention

[0005] The purpose of this application is to address the shortcomings of the prior art by providing a rover positioning method, apparatus, electronic device, and storage medium to achieve high-precision positioning of the rover in the event of long-term differential interruption or the absence of differential.

[0006] To achieve the above objectives, the technical solutions adopted in the embodiments of this application are as follows: In a first aspect, embodiments of this application provide a mobile station positioning method, the method comprising: Acquire the observations of multiple satellites at the current epoch and the previous epoch for the preset rover station; Based on the observations of the current epoch and the observations of the previous epoch, the positional change of the current epoch is calculated using a pre-constructed difference equation between target epochs. Based on the time of the current epoch relative to the preset initial epoch, the position change correction value of the current epoch is calculated using a pre-constructed target error correction model. The position of the preset rover at the current epoch is calculated based on the initial position of the preset rover, the cumulative value of the position change from the preset initial epoch to the current epoch, and the correction value of the position change at the current epoch.

[0007] Optionally, before calculating the positional change of the current epoch using a pre-constructed inter-epoch difference equation based on the observations of the current epoch and the observations of the previous epoch, the method further includes: Based on the original carrier observation equation, the initial interepoch difference equation is determined; Calculate the first weight of the first frequency point and the second weight of the second frequency point based on the carrier wavelength of the first frequency point and the carrier wavelength of the second frequency point. Based on the first weight and the second weight, the initial epoch difference equations for the first frequency point and the initial epoch difference equations for the second frequency point are combined to determine the target epoch difference equation without ionospheric error.

[0008] Optionally, before calculating the position change correction value of the current epoch using a pre-built target error correction model based on the time of the current epoch relative to a preset initial epoch, the method further includes: The observations of the preset rover station for the multiple satellites at multiple epochs and the a priori position change of the preset rover station between the multiple epochs are obtained. The a priori position change is the change in the position of the preset rover station between two adjacent epochs determined by a preset method. Based on the observations of the multiple epochs, the target position change between the multiple epochs is calculated using the difference equation between the target epochs; Based on the prior position changes among the multiple epochs and the target position changes among the multiple epochs, the initial error correction model is solved to determine the model parameters of the initial error correction model, and the target error correction model is obtained.

[0009] Optionally, obtaining the prior position change of the preset rover among the plurality of epochs includes: Based on whether the preset rover currently obtains differential data from the preset base station, the prior position change of the preset rover among the multiple epochs is obtained in a corresponding manner.

[0010] Optionally, the step of obtaining the prior position change of the preset rover among the multiple epochs in a corresponding manner based on whether the preset rover currently obtains differential data from the preset base station includes: If the preset rover station currently obtains the differential data of the preset base station, a double-difference model between the preset rover station, the preset base station, and the multiple satellites is constructed based on the ephemeris of the multiple satellites at the multiple epochs, the observations of the preset rover station at the multiple epochs, the position coordinates of the preset base station, and the observations of the preset base station at the multiple epochs. Solve the double-difference model to determine the prior position changes among the multiple epochs.

[0011] Optionally, the step of obtaining the prior position change of the preset rover among the multiple epochs in a corresponding manner based on whether the preset rover currently obtains differential data from the preset base station includes: If the preset rover station does not currently obtain differential data from the preset base station, the preset rover station is controlled to remain stationary for a preset time period. Obtain the prior position change of the preset rover among the multiple epochs within the preset time period, wherein the prior position change is zero.

[0012] Optionally, after obtaining the observations of multiple satellites at the current epoch and the observations of the previous epoch for a preset rover station, the method further includes: Cycle slip detection technology is used to remove observations that have experienced cycle slips, while retaining observations that have not experienced cycle slips.

[0013] Secondly, embodiments of this application also provide a mobile station positioning device, the device comprising: The observation acquisition module is used to acquire the observations of multiple satellites at the current epoch and the previous epoch of the preset rover station. The change calculation module is used to calculate the position change of the current epoch based on the observations of the current epoch and the observations of the previous epoch, using a pre-constructed difference equation between target epochs. The correction calculation module is used to calculate the position change correction value of the current epoch based on the time between the current epoch and the preset initial epoch, using a pre-built target error correction model. The position calculation module is used to calculate the position of the preset rover at the current epoch based on the initial position of the preset rover, the cumulative value of the position change from the preset initial epoch to the current epoch, and the correction value of the position change at the current epoch.

[0014] Optionally, the device further includes: The inter-epoch difference equation establishment module is used to determine the initial inter-epoch difference equation based on the original carrier observation equation; calculate the first weight of the first frequency point and the second weight of the second frequency point based on the carrier wavelength of the first frequency point and the carrier wavelength of the second frequency point; and combine the initial inter-epoch difference equation of the first frequency point and the initial inter-epoch difference equation of the second frequency point based on the first weight and the second weight to determine the target inter-epoch difference equation without ionospheric error.

[0015] Optionally, the device further includes: An error correction model establishment module is used to acquire the observations of the preset rover station for the multiple satellites at multiple epochs and the prior position change of the preset rover station between the multiple epochs. The prior position change is the change in the position of the preset rover station between two adjacent epochs determined by a preset method. Based on the observations of the multiple epochs, the target position change between the multiple epochs is calculated using the difference equation between the target epochs. Based on the prior position change between the multiple epochs and the target position change between the multiple epochs, the initial error correction model is solved to determine the model parameters of the initial error correction model, thereby obtaining the target error correction model.

[0016] Optionally, the error correction model establishment module is further configured to obtain the prior position change of the preset rover among the multiple epochs in a corresponding manner, based on whether the preset rover currently obtains differential data from the preset base station.

[0017] Optionally, the error correction model establishment module is further configured to, if the preset rover currently obtains differential data from the preset base station, construct a double-difference model between the preset rover, the preset base station, and the multiple satellites based on the ephemeris of the multiple satellites at the multiple epochs, the observations of the preset rover at the multiple epochs, the position coordinates of the preset base station, and the observations of the preset base station at the multiple epochs; and solve the double-difference model to determine the prior position change between the multiple epochs.

[0018] Optionally, the error correction model establishment module is further configured to control the preset rover to remain stationary for a preset time period if the preset rover has not obtained differential data from the preset base station; and to obtain the prior position change of the preset rover between the multiple epochs within the preset time period, wherein the prior position change is zero.

[0019] Optionally, the device further includes: The cycle slip detection module is used to remove observations that have experienced cycle slips using cycle slip detection technology, while retaining observations that have not experienced cycle slips.

[0020] Thirdly, embodiments of this application also provide an electronic device, including: a processor, a storage medium, and a bus, wherein the storage medium stores program instructions executable by the processor, and when the electronic device is running, the processor communicates with the storage medium via the bus, and the processor executes the program instructions to perform the steps of the mobile station positioning method as described in any of the first aspects.

[0021] Fourthly, embodiments of this application also provide a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the steps of the rover positioning method as described in any of the first aspects.

[0022] The beneficial effects of this application are: The rover positioning method, device, electronic equipment, and storage medium provided in this application correct the position change using a pre-modeled target error correction model. Then, the position of the rover is calculated based on the initial position and the corrected position change. This optimizes the cumulative error of the epoch differential position change, thereby enabling the acquisition of precise positioning results with smaller errors over a longer period of time. Even when the rover has no differential data or differential data is interrupted, it can still obtain high-precision positioning results over a long period of time. Attached Figure Description

[0023] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 An architecture diagram of the positioning system provided in the embodiments of this application; Figure 2 A flowchart illustrating the mobile station positioning method provided in the embodiments of this application. Figure 1 ; Figure 3 A flowchart illustrating the mobile station positioning method provided in the embodiments of this application. Figure 2 ; Figure 4 A flowchart illustrating the mobile station positioning method provided in the embodiments of this application. Figure 3 ; Figure 5 A flowchart illustrating the mobile station positioning method provided in the embodiments of this application. Figure 4 ; Figure 6 A flowchart illustrating the mobile station positioning method provided in the embodiments of this application. Figure 5 ; Figure 7 This is a schematic diagram of the structure of the mobile station positioning device provided in the embodiments of this application; Figure 8 A schematic diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of this application, but not all embodiments.

[0026] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0027] Furthermore, the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Additionally, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0028] It should be noted that, where there is no conflict, the features in the embodiments of this application can be combined with each other.

[0029] Figure 1 An architecture diagram of the positioning system provided in the embodiments of this application is shown below. Figure 1 As shown, the positioning system may include: a base station, a rover station, and multiple satellites.

[0030] The satellite can be a middle earth orbit (MEO) satellite, an inclined geosynchronous orbit (IGSO) satellite, or a geostationary earthorbit (GEO) satellite; this embodiment does not impose any restrictions on this.

[0031] The base station has a first receiver and a first antenna, and the rover station has a second receiver and a second antenna. The first and second antennas are used to receive satellite signals from multiple satellites. The first receiver is used to determine first observation data based on the satellite signals received by the first antenna, and the second receiver is used to determine second observation data based on the satellite signals received by the second antenna. The observation data includes pseudorange observations and carrier wave observations.

[0032] The mobile station is used to carry terminal equipment, or the mobile station itself is the terminal equipment. The terminal equipment can be electronic devices such as drones, radar, agricultural machinery, mobile terminals, and vehicle-mounted equipment. This embodiment does not limit this.

[0033] In conventional RTK positioning methods, a wireless differential network, base station, or server is deployed between the base station and the rover. This allows the base station to send first observation data, differential data, and the base station's physical coordinates to the rover. The rover then uses the first observation data, second observation data, and differential data to perform positioning calculations, determine the rover's relative position coordinates with respect to the base station, and, based on the base station's physical coordinates and relative position coordinates, determine the rover's position coordinates.

[0034] However, in practical engineering applications, due to limitations such as lack of differential service coverage in the work area, absence of base station equipment, or unstable network, the receiver of the rover often faces differential interruption or no differential data available, resulting in poor RTK measurement accuracy that cannot meet user needs.

[0035] The following describes the specific implementation of the rover positioning method for locating rover stations in a positioning system provided in this application, with reference to the embodiments.

[0036] It should be noted that the mobile station positioning method of this application can be executed by a processor set on the mobile station or by a server that manages the mobile station. This embodiment does not limit this.

[0037] Figure 2 A flowchart illustrating the mobile station positioning method provided in the embodiments of this application. Figure 1 ,like Figure 2 As shown, the method may include: S101. Obtain the observations of multiple satellites at the current epoch and the previous epoch for the preset rover station.

[0038] In this embodiment, multiple satellites transmit carrier signals at a first frequency and a second frequency. A pre-set rover observes the carrier signals of each satellite at the first and second frequencies at the previous and current epochs, respectively, to obtain the dual-frequency carrier observations at the previous epoch and the current epoch. Here, an epoch is a sampling point in time, typically one epoch per second.

[0039] In some embodiments, after obtaining the observations of a preset rover for multiple satellites at the current epoch and the observations at the previous epoch in step S101, the method may further include: Cycle slip detection technology is used to remove observations that have experienced cycle slips, while retaining observations that have not experienced cycle slips.

[0040] In this embodiment, RTK relies on continuously tracked carrier phase to quickly determine integer ambiguity. Once a satellite experiences a cycle slip, the observation sequence within the current calculation period is interrupted. To ensure the continuity of carrier observations, the observations of satellites experiencing cycle slips need to be discarded, while the observations of satellites that have not experienced cycle slips are retained.

[0041] In some embodiments, a cycle slip can be determined based on the phase difference between carrier observations of adjacent epochs. If the phase difference is greater than a preset threshold, it means that a cycle slip has occurred in the carrier observation.

[0042] In other embodiments, a cycle slip can be determined by whether the change in the carrier observation and the integral value of the Doppler observation are equal. If the difference between the change in the carrier observation and the integral value of the Doppler observation is too large, it means that a cycle slip has occurred in the carrier observation.

[0043] S102. Based on the observations of the current epoch and the previous epoch, calculate the position change of the current epoch using the pre-constructed difference equation between target epochs.

[0044] In this embodiment, the carrier epoch differential observation of the first frequency point is calculated based on the carrier observation of the current epoch and the carrier observation of the previous epoch. The carrier epoch differential observation of the second frequency point is calculated based on the carrier observation of the current epoch and the carrier observation of the previous epoch.

[0045] Based on the carrier epoch differential observations of the first frequency point and the carrier epoch differential observations of the second frequency point of multiple satellites, the difference equation between target epochs is used to solve the problem and determine the position change of the rover from the previous epoch to the current epoch.

[0046] In solving the difference equation between target epochs, some error terms are ignored. Therefore, the obtained position change is a rough estimate and needs to be compensated. Some error terms are those that change very slowly over time, including satellite clock error changes, tropospheric changes, orbital error changes, and noise errors.

[0047] S103. Based on the time of the current epoch relative to the preset initial epoch, calculate the position change correction value of the current epoch using the pre-constructed target error correction model.

[0048] In this embodiment, the target error correction model is a time-dependent quadratic function model pre-established for some error terms of the difference equation between target epochs. The model parameters of the target error correction model are determined by solving multiple pre-acquired position error data.

[0049] Since the error in the rough estimate of position change accumulates over time, when compensating for the position change, it is necessary to calculate the compensation value based on the time of the current epoch relative to the preset initial epoch.

[0050] Specifically, the time relative to the preset initial epoch is substituted into the target error correction model to solve for the position change correction value of the current epoch.

[0051] In some embodiments, the position change includes changes in the X, Y, and Z directions. The target error correction model is also divided into models in the X, Y, and Z directions. The time of the current epoch relative to the preset initial epoch is substituted into the target error correction models in the X, Y, and Z directions respectively to solve for the position change correction values ​​in the X, Y, and Z directions of the current epoch.

[0052] S104. Calculate the position of the preset rover at the current epoch based on the initial position of the preset rover, the cumulative value of the position change from the preset initial epoch to the current epoch, and the correction value of the position change at the current epoch.

[0053] In this embodiment, the initial position of the preset rover is any known position of the preset rover, and the cumulative value of the position change from the preset initial epoch to the current epoch is the cumulative value of the position change of all two adjacent epochs from the preset initial epoch to the current epoch. The preset initial epoch can be the epoch when the initial position is determined.

[0054] The cumulative value of the position change from the preset initial epoch to the current epoch is compensated based on the position change correction value of the current epoch, so as to obtain the accurate cumulative value of the position change. Based on the initial position and the accurate cumulative value of the position change, the precise position of the preset rover station in the current epoch is obtained.

[0055] For example, the formula for calculating the location of a rover can be expressed as: X = X0 + X det +X model Where X represents the position of the rover in the current epoch, X0 represents the preset initial position of the rover, and X... det X represents the cumulative value of the change in position. model This is the correction value for the change in position.

[0056] In some embodiments, the initial position can be the position of the rover obtained from the calculated RTK fixed solution at the last epoch before a differential interruption occurs between the rover and the base station. The differential interruption can be either the rover entering a region not covered by the differential network or a fluctuation in the differential network.

[0057] In other embodiments, when the rover's receiver is first turned on or when there is no differential signal, the rover can be kept stationary for a period of time. The rover's receiver acquires pseudorange measurements at multiple epochs, and the receiver performs single-point positioning based on the pseudorange measurements at multiple epochs to determine the rover's position. The positions at multiple epochs are averaged to obtain the initial position of the rover.

[0058] The rover positioning method provided in the above embodiments corrects the position change using a pre-modeled target error correction model, and then calculates the position of the rover based on the initial position and the corrected position change. This optimizes the cumulative error of the epoch differential position change, thereby enabling the acquisition of precise positioning results with smaller errors over a longer period of time. Even when the rover has no differential data or differential data is interrupted, it can still obtain high-precision positioning results over a long period of time.

[0059] In one possible implementation, Figure 3 A flowchart illustrating the mobile station positioning method provided in the embodiments of this application. Figure 2 ,like Figure 3 As shown, before S102 calculates the position change of the current epoch based on the observations of the current epoch and the observations of the previous epoch using a pre-constructed inter-epoch difference equation, the method may further include: S201. Determine the initial interepoch difference equation based on the original carrier observation equation.

[0060] In this embodiment, the formula for the original carrier observation equation of GNSS can be expressed as:

[0061] In the formula, This represents carrier phase observations in meters. Let represent the geometric distance from the satellite to the receiver, and c represent the speed of light constant. Indicates satellite clock bias, This indicates a hardware delay in the satellite clock. Indicates receiver clock bias. Indicates receiver clock hardware delay. This indicates a delay in the process. Indicates ionospheric delay, Indicates satellite orbital error. Indicates wavelength. Indicates the carrier ambiguity parameter. This indicates measurement noise and other errors.

[0062] For cases where no cycle slip occurs between consecutive epochs, the initial epoch difference equation can be obtained by differencing between consecutive epochs. The initial epoch difference equation can be expressed as:

[0063] In the formula, This represents the inter-epoch difference operator. Since the hardware delays of the receiver and satellite are stable in a short period of time, they can be eliminated in the inter-epoch difference. Since no cycle slip occurs in the carrier between consecutive epochs, the carrier ambiguity parameter can also be eliminated in the inter-epoch difference. In addition, the tropospheric delay, ionospheric delay and satellite orbital error are all significantly reduced, and the receiver clock error and satellite clock error are left with only the time-varying parts.

[0064] S202. Calculate the first weight of the first frequency point and the second weight of the second frequency point based on the carrier wavelength of the first frequency point and the carrier wavelength of the second frequency point.

[0065] In this embodiment, in order to further eliminate the influence of the first-order residual ionospheric error in the initial inter-epoch difference equation, the initial inter-epoch difference equations with dual frequencies are combined to obtain the inter-epoch difference equations without ionospheric combination.

[0066] Among them, based on the carrier wavelength of the first frequency point carrier wavelength at the second frequency point Determine the carrier wavelength of the first frequency point. The first weight α of the carrier observation difference value between the preceding and following epochs and the carrier wavelength at the second frequency point The second weight β of the difference value of the carrier observations before and after the previous epoch.

[0067] For example, the formulas for calculating the first weight α and the second weight β can be expressed as follows:

[0068] S203. Based on the first weight and the second weight, combine the initial epoch difference equation of the first frequency point and the initial epoch difference equation of the second frequency point to determine the target epoch difference equation without ionospheric error.

[0069] In this embodiment, the target epoch difference equation without ionospheric error can be expressed as:

[0070] In the formula, This represents the carrier epoch differential observation at the first frequency point. This represents the carrier epoch differential observation at the second frequency point.

[0071] In the target epoch difference equation without ionospheric error, the information on the epoch position change is included in the parameters. In this study, the epoch position change and receiver clock error change are estimated using parameters, while error terms such as satellite clock error change, alignment change, orbital error change, and noise error, which change very slowly over time, are compensated using a target error correction model.

[0072] The objective epoch difference equation without ionospheric error can be further expressed as:

[0073]

[0074] It can be seen that when estimating the change in position, the formula is ignored. Target epoch difference equation without ionospheric error The estimated parameters include position change parameters in the X, Y, and Z directions and receiver clock error change parameters. Therefore, it is necessary to obtain carrier observations from at least four satellites. By using dual-frequency carrier observations from at least four satellites in consecutive epochs, at least four inter-epoch difference equations for the target can be established to solve for the position change and receiver clock error change.

[0075] Furthermore, to avoid the carrier observations of satellites being discarded due to cycle slips, carrier observations from more than four satellites can be obtained.

[0076] The rover positioning method provided in the above embodiments can eliminate various hardware delays and errors through inter-epoch difference equations, improve the accuracy of calculating position changes, reduce the number of satellites used to acquire carrier observations, simplify the calculation of the target inter-epoch difference equations, and improve computational efficiency.

[0077] In one possible implementation, Figure 4 A flowchart illustrating the mobile station positioning method provided in the embodiments of this application. Figure 3 ,like Figure 4 As shown, before S103 calculates the position change correction value of the current epoch based on the time of the current epoch relative to the preset initial epoch using a pre-constructed target error correction model, the method may further include: S301. Obtain the observations of the preset rover station for multiple satellites at multiple epochs and the a priori position change of the preset rover station between multiple epochs. The a priori position change is the change in the position of the preset rover station between two adjacent epochs determined by the preset method.

[0078] In this embodiment, the method for obtaining observations of multiple epochs is as described in S101 above, and will not be repeated here.

[0079] The prior position change is the precise position change of the rover calculated using a preset method. For example, if differential data is available, the prior position change can be obtained by solving RTK.

[0080] It should be noted that, with differential data available, observations and prior position changes from multiple epochs can be obtained to solve for the model parameters of the target error correction model. This allows the target error correction model to be used to correct position changes even without differential data.

[0081] Of course, in cases where differential data is unavailable, other methods can be used to determine the prior position change of the rover, which will be explained in detail in later embodiments.

[0082] S302. Based on the observations of multiple epochs, the target position change between multiple epochs is calculated using the difference equation between target epochs.

[0083] In this embodiment, based on the dual-frequency carrier observations of multiple satellites at two adjacent epochs, multiple target epoch difference equations are constructed, and the target epoch difference equations are solved to determine the target position change between two adjacent epochs.

[0084] S303. Based on the prior position changes between multiple epochs and the target position changes between multiple epochs, solve the initial error correction model, determine the model parameters of the initial error correction model, and obtain the target error correction model.

[0085] In this embodiment, the prior position change is the precise position change between two adjacent epochs, and the target position change is the position change between two adjacent epochs ignoring the error term. The error between the target position change and the prior position change is the error caused by the error term. Based on the error between the target position change and the prior position change between multiple epochs, the initial error correction model for the unknown parameters is solved to determine the model parameters and obtain the target error correction model.

[0086] For example, time-dependent quadratic function models are established for the position change corrections in the X, Y, and Z directions, respectively. The equation for the initial error correction model can be expressed as:

[0087] in, dt represents the model parameters, and dt represents the time parameters.

[0088] It can be seen that the initial error correction model includes three unknown parameters. Therefore, the initial error correction model can be solved by the error between at least three sets of target position changes and prior position changes to determine the model parameters.

[0089] In some embodiments, the model parameters can be solved using the least squares method.

[0090] It should be noted that the error correction models in the X, Y, and Z directions are independent. Therefore, the model parameters need to be calculated separately based on the errors in the X, Y, and Z directions in the error between the target position change and the prior position change.

[0091] The rover positioning method provided in the above embodiments solves the model parameters of the error correction model based on the error between the precise prior position change and the target position change, so as to accurately locate the rover even when there is no differential data or the differential data is interrupted.

[0092] In one possible implementation, the process of obtaining the prior position change of a preset rover between multiple epochs in step S301 above may include: Depending on whether the preset rover currently obtains differential data from the preset base station, the corresponding method is used to obtain the prior position change of the preset rover between multiple epochs.

[0093] In this embodiment, it is determined whether the preset rover can currently acquire differential data from the preset base station. If the preset rover can currently acquire differential data from the preset base station, it is determined that there is a difference between the preset rover and the preset base station, and the difference is not interrupted. Based on the carrier measurement data of the preset base station, the position and differential data of the base station, and the carrier measurement data of the preset rover, the a priori position change of the preset rover between multiple epochs is determined.

[0094] If the preset rover cannot currently obtain differential data from the preset base station, and it is determined that there is no difference between the preset rover and the preset base station, then the preset rover needs to independently obtain the prior position change.

[0095] In some embodiments, Figure 5A flowchart illustrating the mobile station positioning method provided in the embodiments of this application. Figure 4 ,like Figure 5 As shown, the process of obtaining the prior position change of the preset rover across multiple epochs based on whether the preset rover currently obtains differential data from the preset base station can include: S401. If the preset rover station currently obtains differential data from the preset base station, based on the ephemeris of multiple satellites at multiple epochs, the observations of the preset rover station at multiple epochs, the position coordinates of the preset base station, and the observations of the preset base station at multiple epochs, construct a double-difference model between the preset rover station, the preset base station, and multiple satellites.

[0096] S402. Solve the double-difference model to determine the prior position changes between multiple epochs.

[0097] In this embodiment, if the preset rover station currently obtains differential data from the preset reference station, it is determined that there is a difference between the preset rover station and the preset reference station, and the difference is not interrupted. Based on the carrier observations of the preset reference station and the preset rover station for the same satellite, an inter-station single-difference model between the preset reference station and the preset rover station is determined to eliminate satellite clock bias and most atmospheric delay errors. Based on the difference between the inter-station single-difference models of two different satellites, a double-difference model is determined to eliminate receiver clock bias. Thus, the double-difference model only contains geometric vectors and carrier phase integer ambiguities between the rover station and the reference station.

[0098] Based on the observations of the rover station and the base station at multiple epochs, the RTK fixed solution is obtained for the double-difference model to determine the position of the rover station at multiple epochs. Based on the position of the rover station at multiple epochs, the prior position change of the rover station between each adjacent two epochs is determined.

[0099] In other embodiments, Figure 6 A flowchart illustrating the mobile station positioning method provided in the embodiments of this application. Figure 5 ,like Figure 6 As shown, the process of obtaining the prior position change of the preset rover across multiple epochs based on whether the preset rover currently obtains differential data from the preset base station can include: S501. If the preset rover station has not obtained differential data from the preset base station, control the preset rover station to remain stationary for a preset time period.

[0100] S502. Obtain the prior position change of the preset rover between multiple epochs within a preset time period, where the prior position change is zero.

[0101] In this embodiment, if the preset rover does not currently obtain differential data from the preset base station, it is determined that there is no difference between the preset rover and the preset base station. At this time, the preset rover can be controlled to remain stationary for a preset time period. During the time period of stationary ...

[0102] The rover positioning method provided in the above embodiments can obtain accurate prior position changes regardless of whether the rover has differential or not. These changes are used to solve the parameters of the error correction model, so that the position changes can be corrected using the error correction model in the absence of differential, thereby improving the positioning accuracy of the rover.

[0103] Based on the above method embodiments, this application also provides a mobile station positioning device. Figure 7 This is a schematic diagram of the structure of the mobile station positioning device provided in the embodiments of this application, as shown below. Figure 7 As shown, the device may include: The observation acquisition module 601 is used to acquire the observations of multiple satellites at the current epoch and the previous epoch of the preset rover station.

[0104] The change calculation module 602 is used to calculate the position change of the current epoch based on the observations of the current epoch and the observations of the previous epoch, using a pre-constructed difference equation between target epochs.

[0105] The correction calculation module 603 is used to calculate the position change correction value of the current epoch based on the time of the current epoch and the preset initial epoch, using a pre-built target error correction model.

[0106] The position calculation module 604 is used to calculate the position of the preset rover at the current epoch based on the initial position of the preset rover, the cumulative value of the position change from the preset initial epoch to the current epoch, and the correction value of the position change at the current epoch.

[0107] Optionally, the device may further include: The inter-epoch difference equation establishment module is used to determine the initial inter-epoch difference equation based on the original carrier observation equation; calculate the first weight of the first frequency point and the second weight of the second frequency point based on the carrier wavelength of the first frequency point and the carrier wavelength of the second frequency point; and combine the initial inter-epoch difference equation of the first frequency point and the initial inter-epoch difference equation of the second frequency point based on the first weight and the second weight to determine the target inter-epoch difference equation without ionospheric error.

[0108] Optionally, the device may further include: The error correction model establishment module is used to acquire the observations of a preset rover station for multiple satellites at multiple epochs and the prior position changes of the preset rover station between multiple epochs. The prior position changes are the changes in the positions of the preset rover station between two adjacent epochs determined by a preset method. Based on the observations at multiple epochs, the target position changes between multiple epochs are calculated using the difference equation between target epochs. Based on the prior position changes between multiple epochs and the target position changes between multiple epochs, the initial error correction model is solved to determine the model parameters of the initial error correction model, thus obtaining the target error correction model.

[0109] Optionally, the error correction model establishment module is also used to obtain the prior position change of the preset rover between multiple epochs according to whether the preset rover currently obtains differential data from the preset base station.

[0110] Optionally, the error correction model building module is also used to construct a double-difference model between the preset rover station and the preset base station and multiple satellites, based on the ephemeris of multiple satellites at multiple epochs, the observations of the preset rover station at multiple epochs, the position coordinates of the preset base station, and the observations of the preset base station at multiple epochs, if the preset rover station currently obtains differential data from the preset base station; and to solve the double-difference model to determine the prior position changes between multiple epochs.

[0111] Optionally, the error correction model establishment module is also used to control the preset rover to remain stationary for a preset time period if the preset rover has not obtained differential data from the preset base station; and to obtain the prior position change of the preset rover between multiple epochs within the preset time period, where the prior position change is zero.

[0112] Optionally, the device may further include: The cycle slip detection module is used to remove observations that have experienced cycle slips using cycle slip detection technology, while retaining observations that have not experienced cycle slips.

[0113] The above-described device is used to execute the method provided in the foregoing embodiments, and its implementation principle and technical effect are similar, so they will not be described again here.

[0114] These modules can be one or more integrated circuits configured to implement the above methods, such as one or more Application Specific Integrated Circuits (ASICs), one or more microprocessors, or one or more Field Programmable Gate Arrays (FPGAs). Alternatively, when a module is implemented using processing element scheduler code, the processing element can be a general-purpose processor, such as a Central Processing Unit (CPU) or other processor capable of calling program code. Furthermore, these modules can be integrated together as a system-on-a-chip (SOC).

[0115] Figure 8 A schematic diagram of the electronic device provided in the embodiments of this application, such as... Figure 8 As shown, the electronic device 700 may include a processor 701, a storage medium 702, and a bus. The storage medium 702 stores program instructions executable by the processor 701. When the electronic device 700 is running, the processor 701 communicates with the storage medium 702 via the bus, and the processor 701 executes the program instructions to perform the above-described method embodiment. The specific implementation and technical effects are similar and will not be described in detail here.

[0116] Optionally, this application also provides a computer-readable storage medium storing a computer program, which is executed by a processor to perform the above-described method embodiments.

[0117] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0118] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0119] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or in a combination of hardware and software functional units.

[0120] The integrated units implemented as software functional units described above can be stored in a computer-readable storage medium. These software functional units, stored in a storage medium, include several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute some steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0121] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for locating a mobile station, characterized in that, The method includes: Acquire the observations of multiple satellites at the current epoch and the previous epoch for the preset rover station; Based on the observations of the current epoch and the observations of the previous epoch, the positional change of the current epoch is calculated using a pre-constructed difference equation between target epochs. The observations of the preset rover station for the multiple satellites at multiple epochs and the a priori position change of the preset rover station between the multiple epochs are obtained. The a priori position change is the change in the position of the preset rover station between two adjacent epochs determined by a preset method. Based on the observations of the multiple epochs, the target position change between the multiple epochs is calculated using the difference equation between the target epochs; Based on the prior position changes between the multiple epochs and the target position changes between the multiple epochs, the initial error correction model is solved to determine the model parameters of the initial error correction model, and the target error correction model is obtained. Based on the time of the current epoch relative to the preset initial epoch, the position change correction value of the current epoch is calculated using a pre-constructed target error correction model. The position of the preset rover at the current epoch is calculated based on the initial position of the preset rover, the cumulative value of the position change from the preset initial epoch to the current epoch, and the correction value of the position change at the current epoch. The step of obtaining the prior position change of the preset rover among the multiple epochs includes: If the preset rover currently obtains differential data from the preset base station, a double-difference model is constructed between the preset rover, the preset base station, and the multiple satellites based on the ephemeris of the multiple satellites at the multiple epochs, the observations of the preset rover at the multiple epochs, the position coordinates of the preset base station, and the observations of the preset base station at the multiple epochs; the double-difference model is solved to determine the prior position changes between the multiple epochs; If the preset rover station does not currently obtain differential data from the preset base station, the preset rover station is controlled to remain stationary for a preset time period; the prior position change of the preset rover station between the multiple epochs within the preset time period is obtained, and the prior position change is zero.

2. The method as described in claim 1, characterized in that, Before calculating the positional change of the current epoch using a pre-constructed inter-epoch difference equation based on the observations of the current epoch and the observations of the previous epoch, the method further includes: Based on the original carrier observation equation, the initial interepoch difference equation is determined; Calculate the first weight of the first frequency point and the second weight of the second frequency point based on the carrier wavelength of the first frequency point and the carrier wavelength of the second frequency point. Based on the first weight and the second weight, the initial epoch difference equations for the first frequency point and the initial epoch difference equations for the second frequency point are combined to determine the target epoch difference equation without ionospheric error.

3. The method as described in claim 1, characterized in that, After obtaining the observations of multiple satellites at the current epoch and the observations of the previous epoch for the preset rover station, the method further includes: Cycle slip detection technology is used to remove observations that have experienced cycle slips, while retaining observations that have not experienced cycle slips.

4. A mobile station positioning device, characterized in that, The device includes: The observation acquisition module is used to acquire the observations of multiple satellites at the current epoch and the previous epoch of the preset rover station. The change calculation module is used to calculate the position change of the current epoch based on the observations of the current epoch and the observations of the previous epoch, using a pre-constructed difference equation between target epochs. The change calculation module is specifically used to obtain the observations of the preset rover station for the multiple satellites at multiple epochs and the prior position change of the preset rover station between the multiple epochs. The prior position change is the change in the position of the preset rover station between two adjacent epochs determined by a preset method. Based on the observations of the multiple epochs, the target position change between the multiple epochs is calculated using the difference equation between the target epochs. Based on the prior position change between the multiple epochs and the target position change between the multiple epochs, the initial error correction model is solved to determine the model parameters of the initial error correction model, thereby obtaining the target error correction model. The correction calculation module is used to calculate the position change correction value of the current epoch based on the time between the current epoch and the preset initial epoch, using a pre-built target error correction model. The position calculation module is used to calculate the position of the preset rover at the current epoch based on the initial position of the preset rover, the cumulative value of the position change from the preset initial epoch to the current epoch, and the correction value of the position change at the current epoch. The change calculation module is specifically used to, if the preset rover currently obtains differential data from the preset base station, construct a double-difference model between the preset rover, the preset base station, and the multiple satellites based on the ephemeris of the multiple satellites at multiple epochs, the observations of the preset rover at the multiple epochs, the position coordinates of the preset base station, and the observations of the preset base station at the multiple epochs; and solve the double-difference model to determine the prior position change between the multiple epochs. If the preset rover station does not currently obtain differential data from the preset base station, the preset rover station is controlled to remain stationary for a preset time period; the prior position change of the preset rover station between the multiple epochs within the preset time period is obtained, and the prior position change is zero.

5. An electronic device, characterized in that, include: The device includes a processor, a storage medium, and a bus, wherein the storage medium stores program instructions executable by the processor, and when the electronic device is running, the processor communicates with the storage medium via the bus, and the processor executes the program instructions to perform the steps of the rover positioning method as described in any one of claims 1 to 3.

6. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, which, when executed by a processor, performs the steps of the rover positioning method as described in any one of claims 1 to 3.

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