Dynamic testing system and method for Beidou satellite navigation positioning terminal

Abstract

The invention provides a Beidou satellite navigation positioning terminal dynamic test system and method, and the system comprises a power divider which is connected with a high-precision navigation positioning antenna, and is connected with a standard global satellite navigation system high-precision positioning terminal and a tested Beidou satellite navigation positioning terminal at the same time. The signal receiving module is used for enabling the standard global satellite navigation system high-precision positioning terminal and the detected Beidou satellite navigation positioning terminal to receive consistent satellite navigation signals; the post-data resolving and processing computer is used for being connected with the standard global satellite navigation system high-precision positioning terminal and the tested Beidou satellite navigation positioning terminal and receiving and obtaining test data of the standard global satellite navigation system high-precision positioning terminal and the tested Beidou satellite navigation positioning terminal. And post-resolving processing is carried out based on the test data. The system is simple in structure, easy to deploy, reliable in test result and suitable for a dynamic test scene, and the positioning precision and the test efficiency are remarkably improved.

Description

Technical Field

[0001] This application relates to the field of dynamic testing technology for BeiDou satellite navigation and positioning terminals, and in particular to a dynamic testing system and method for BeiDou satellite navigation and positioning terminals. Background Technology

[0002] In dynamic testing of BeiDou satellite navigation and positioning terminals, the current common practice is to connect the BeiDou satellite navigation and positioning terminal under test and a standard Global Navigation Satellite System (GNSS) high-precision positioning terminal to the same GNSS high-precision navigation and positioning antenna via a power divider to achieve zero-baseline installation. Simultaneously, the standard GNSS high-precision positioning terminal uses Real-Time Kinematic (RTK) or Network RTK (NRTK) positioning to achieve dynamic centimeter-level high-precision positioning. During testing, a mobile platform with both the BeiDou satellite navigation and positioning terminal under test and the standard GNSS high-precision positioning terminal fixedly installed moves according to test requirements. Then, the standard GNSS high-precision positioning terminal performs real-time dynamic centimeter-level high-precision positioning, while the BeiDou satellite navigation and positioning terminal under test performs synchronous single-point positioning. The positioning results are recorded, compared, and processed to obtain the final test result. However, the problem is that the system is relatively complex and relies on the performance and reliability of the network RTK dynamic service provider, thus affecting the convenience, accuracy, and reliability of dynamic testing of BeiDou satellite navigation and positioning terminals. Summary of the Invention

[0003] In view of this, the purpose of this application is to propose a dynamic testing system and method for BeiDou satellite navigation and positioning terminals.

[0004] To achieve the above objectives, this application provides a dynamic testing system for a BeiDou satellite navigation and positioning terminal, comprising: Standard Global Navigation Satellite System (GNSS) high-precision positioning terminal, BeiDou satellite navigation and positioning terminal under test, data post-processing computer, standard GNSS high-precision navigation and positioning antenna and power divider; The power divider is connected to the standard global satellite navigation system high-precision navigation and positioning antenna, and simultaneously connects the standard global satellite navigation system high-precision positioning terminal and the BeiDou satellite navigation and positioning terminal under test, so as to enable the standard global satellite navigation system high-precision positioning terminal and the BeiDou satellite navigation terminal under test to receive consistent satellite navigation signals; The data post-processing computer is connected to the standard global navigation satellite system high-precision positioning terminal and the tested BeiDou satellite navigation positioning terminal, respectively, and is used to receive and acquire the test data of the standard global navigation satellite system high-precision positioning terminal and the tested BeiDou satellite navigation positioning terminal, and perform post-processing based on the test data.

[0005] One possible implementation also includes: a global satellite navigation signal simulator; The global satellite navigation signal simulator is connected to the standard global satellite navigation system high-precision positioning terminal and is used to verify whether the pseudorange and carrier phase observation accuracy of the standard global satellite navigation system high-precision positioning terminal meets the verification requirements.

[0006] Based on the same inventive concept, this application also provides a dynamic testing method for a BeiDou satellite navigation and positioning terminal, including: The accuracy of the observation data from the high-precision positioning terminal of the standard global satellite navigation system meets the verification requirements; In response to the test event, the standard global satellite navigation system high-precision positioning terminal and the Beidou satellite navigation positioning terminal under test synchronously receive satellite navigation signals in real time and store test data; Based on the acquired precise ephemeris, precise clock difference data, broadcast messages, and the test data, post-calculation is performed to obtain the true value positioning result; The final test result is determined based on the truth value localization result.

[0007] In one possible implementation, determining that the accuracy of the observation data from the high-precision positioning terminal of the standard global navigation satellite system meets the verification requirements includes: The pseudorange and carrier phase measurement accuracy of each receiving channel of the high-precision positioning terminal of the global satellite navigation system is checked using a global satellite navigation signal simulator. The high-precision positioning terminal of the global satellite navigation system whose accuracy meets the preset threshold is used as the standard high-precision positioning terminal of the global satellite navigation system.

[0008] In one possible implementation, the test data includes pseudorange and carrier phase observations of each satellite received and measured by the high-precision positioning terminal of the standard global satellite navigation system, and the three-dimensional positioning coordinates of the BeiDou satellite navigation and positioning terminal under test at each epoch.

[0009] In one possible implementation, the broadcast message includes regional ionospheric grid correction information; The process of obtaining the true-value positioning result by post-calculation based on the acquired precise ephemeris, precise clock difference data, broadcast messages, and the test data includes: The ionospheric delay error is determined based on the ionospheric grid correction information of the region. The true positioning result is obtained by post-calculation based on the precise ephemeris, the precise clock error data, the ionospheric delay error, and the test data.

[0010] In one possible implementation, the broadcast message includes regional ionospheric grid correction information; The process of obtaining the true-value positioning result by post-calculation based on the acquired precise ephemeris, precise clock difference data, and the test data also includes: The ionospheric delay error is determined based on the ionospheric grid correction information of the region. Based on the constructed regional tropospheric delay model, the tropospheric delay error is calculated. The true location result is obtained by calculating the precise ephemeris, the precise clock error data, the ionospheric delay error, the tropospheric delay error, and the test data.

[0011] In one possible implementation, the regional tropospheric delay model is expressed by the following equation: ; in, Represents the wetted delay polynomial coefficients of the zenith troposphere; , indicating the global navigation satellite system reference station latitude and longitude of the location latitude and longitude of the central point of the region difference, Indicates the reference station of the global satellite navigation system latitude and longitude of the location latitude and longitude of the central point of the region difference; This indicates the geodetic height of the global satellite navigation system's reference station.

[0012] In one possible implementation, the step of calculating the true location result based on the precise ephemeris, the precise clock error data, the ionospheric delay error, the tropospheric delay error, and the test data includes: The precise ephemeris is used as a parameter to calculate the true geometric distance between the high-precision positioning terminal of the standard global satellite navigation system and the satellite at an epoch. The observed values ​​of pseudorange and carrier phase are corrected based on the precise clock error data of the high-precision positioning terminal of the standard global satellite navigation system, the ionospheric delay error, the tropospheric delay error, and the test data. The true location result is obtained by performing post-processing based on the corrected pseudorange and the corrected carrier phase observations.

[0013] In one possible implementation, The solution model for the pseudorange is expressed by the following formula: ; in, Indicates a high-precision positioning terminal for the standard global satellite navigation system. By receiving BeiDou satellites Launched High-precision positioning terminal of standard global satellite navigation system obtained by frequency point signal observation With BeiDou satellite Between the epochs pseudorange, Indicates a high-precision positioning terminal for the standard global satellite navigation system. With BeiDou satellite Between the epochs The true geometric distance, Indicates a high-precision positioning terminal for the standard global satellite navigation system. At the epochal moment The clock difference, Indicates satellite At the epochal moment The clock difference, Indicates the speed of electromagnetic wave propagation. Indicates satellite High-precision positioning terminal with standard global satellite navigation system Inter-epoch signal propagation at epoch time Ionospheric delay error, Indicates satellite High-precision positioning terminal with standard global satellite navigation system Inter-epoch signal propagation at epoch time Tropospheric delay error, Indicates a high-precision positioning terminal for the standard global satellite navigation system. exist Code deviation at frequency points, Indicates satellite exist Code deviation at frequency points, Indicates a high-precision positioning terminal for the standard global satellite navigation system. By receiving satellite Launched Pseudorange observation of frequency signals at epoch time Random error; The solution model for the carrier phase is expressed by the following formula: ; in, Indicates satellite launch The wavelength of the frequency signal Indicates a standard GNSS high-precision positioning terminal By receiving satellite Launched Standard GNSS high-precision positioning terminal obtained from frequency point signal observation With satellite Between the epochs The small value of the carrier phase, Indicates a standard GNSS high-precision positioning terminal By receiving satellite Launched Standard GNSS high-precision positioning terminal obtained from frequency point signal observation With satellite Between the epochs The carrier integer ambiguity value, Indicates a high-precision positioning terminal for the standard global satellite navigation system. exist Phase deviation at frequency points Indicates satellite exist Phase deviation at frequency points Indicates a high-precision positioning terminal for the standard global satellite navigation system. By receiving satellite Launched When performing carrier phase observation on a frequency signal at an epoch, Random error.

[0014] As can be seen from the above description, the BeiDou satellite navigation and positioning terminal dynamic testing system and method provided in this application include: a standard global navigation satellite system (GNSS) high-precision positioning terminal, a BeiDou satellite navigation and positioning terminal under test, a data post-processing computer, a standard GNSS high-precision navigation and positioning antenna, and a power divider. The power divider is connected to the standard GNSS high-precision navigation and positioning antenna and simultaneously connected to both the standard GNSS high-precision positioning terminal and the BeiDou satellite navigation and positioning terminal under test, enabling both terminals to receive consistent satellite navigation signals. The data post-processing computer is connected to both the standard GNSS high-precision positioning terminal and the BeiDou satellite navigation and positioning terminal under test, respectively, to receive and acquire test data from both terminals and perform post-processing based on the test data. This application embodiment designs a BeiDou satellite navigation and positioning dynamic testing system and its application method to achieve high-precision positioning performance evaluation of the BeiDou satellite navigation and positioning terminal under test. High-precision pseudorange and carrier phase observation data are recorded using a standard Global Navigation Satellite System (GNSS) high-precision positioning terminal. Error correction is performed by combining precise ephemeris data, clock bias data, regional ionospheric grid correction information, and regional tropospheric delay models to obtain true positioning results. Simultaneously, the positioning data of the tested terminal is compared and analyzed with the true values ​​to accurately evaluate the positioning performance of the tested terminal. The system design is simple, and the power divider ensures that both terminals receive consistent satellite navigation signals, thereby ensuring the consistency of test conditions and the reliability of results. Precise processing by a computer in post-processing corrects errors in pseudorange and carrier phase, significantly improving positioning accuracy. The testing method includes real-time data acquisition, post-processing, and error analysis in dynamic test scenarios, supporting joint correction of ionospheric and tropospheric data to ensure high accuracy and reliability of test results, and is suitable for dynamic test scenarios. The overall technical solution features optimized structure, high accuracy, high reliability, and wide applicability, providing reliable technical support for the dynamic performance testing of BeiDou satellite navigation and positioning terminals. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in this application or related technologies, the drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1This is a schematic diagram of the structure of the Beidou satellite navigation and positioning terminal dynamic testing system according to an embodiment of this application; Figure 2 This is a schematic diagram of the dynamic testing method for a Beidou satellite navigation and positioning terminal according to an embodiment of this application. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with specific embodiments and the accompanying drawings.

[0018] It should be noted that, unless otherwise defined, the technical or scientific terms used in the embodiments of this application should have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The terms "first," "second," and similar terms used in the embodiments of this application do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are only used to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0019] It is understood that before using the technical solutions of the various embodiments in this disclosure, users will be informed of the type, scope of use, and usage scenarios of the personal information involved in an appropriate manner, and user authorization will be obtained.

[0020] For example, upon receiving a user's active request, a prompt message is sent to the user to explicitly inform them that the requested operation will require the acquisition and use of the user's personal information. This allows the user to independently choose, based on the prompt message, whether to provide personal information to the software or hardware such as electronic devices, applications, servers, or storage media performing the operations of this disclosed technical solution.

[0021] As an optional but not limited implementation, in response to a user's active request, sending a prompt message to the user can be done via a pop-up window, where the prompt message can be presented in text format. Furthermore, the pop-up window can also include a selection control allowing the user to choose "agree" or "disagree" to provide personal information to the electronic device.

[0022] It is understood that the above notification and user authorization process are merely illustrative and do not constitute a limitation on the implementation of this disclosure. Other methods that comply with relevant laws and regulations may also be applied to the implementation of this disclosure.

[0023] As described in the background section, current dynamic testing of BeiDou satellite navigation and positioning terminals typically involves connecting the BeiDou satellite navigation and positioning terminal under test and a standard GNSS high-precision positioning terminal to the same GNSS high-precision antenna via a power divider, achieving zero-baseline installation. The standard GNSS high-precision positioning terminal uses RTK or network RTK positioning methods to achieve dynamic centimeter-level high-precision positioning. During the test, the carrier moves as required, and the positioning data from both are recorded, compared, and processed to obtain the test results. However, this method suffers from system complexity, reliance on network RTK service performance, and issues affecting the convenience, accuracy, and reliability of the test.

[0024] Based on the above considerations, this application proposes a dynamic testing system and method for BeiDou satellite navigation and positioning, comprising: a standard global navigation satellite system (GNSS) high-precision positioning terminal, a BeiDou satellite navigation and positioning terminal under test, a data post-processing computer, a standard GNSS high-precision navigation and positioning antenna, and a power divider; the power divider is connected to the standard GNSS high-precision navigation and positioning antenna, and simultaneously connected to the standard GNSS high-precision positioning terminal and the BeiDou satellite navigation and positioning terminal under test, to ensure that the standard GNSS high-precision positioning terminal and the BeiDou satellite navigation and positioning terminal under test receive consistent satellite navigation signals; the data post-processing computer is connected to both the standard GNSS high-precision positioning terminal and the BeiDou satellite navigation and positioning terminal under test, and is used to receive and acquire test data from both terminals, and perform post-processing based on the test data. The method includes: determining that the accuracy of the observation data of the standard GNSS high-precision positioning terminal meets the verification requirements; responding to a test event, the standard GNSS high-precision positioning terminal and the tested BeiDou satellite navigation positioning terminal synchronously receive satellite navigation signals in real time and store test data; based on the acquired precise ephemeris, precise clock bias data, broadcast messages, and the test data, performing post-calculation to obtain the true positioning result; and determining the final test result based on the true positioning result. This application embodiment designs a BeiDou satellite navigation positioning dynamic testing system and its application method to evaluate the high-precision positioning performance of the tested BeiDou satellite navigation positioning terminal. High-precision pseudorange and carrier phase observation data are recorded by the standard GNSS high-precision positioning terminal, and error correction is performed by combining precise ephemeris, clock bias data, regional ionospheric grid correction information, and regional tropospheric delay models, etc., to obtain the true positioning result. Simultaneously, the positioning data of the tested terminal is compared and analyzed with the true value to accurately evaluate the positioning performance of the tested terminal. The system design is simple, and the power divider ensures that both terminals receive consistent satellite navigation signals, thereby ensuring the consistency of test conditions and the reliability of results. Through precise computer processing of post-processing data, errors in pseudorange and carrier phase are corrected, significantly improving positioning accuracy. The testing method includes real-time data acquisition, post-processing, and error analysis in dynamic testing scenarios, supporting joint correction of ionospheric and tropospheric conditions to ensure high accuracy and reliability of test results, and is suitable for dynamic testing scenarios. The overall technical solution features optimized structure, high accuracy, high reliability, and wide applicability, providing reliable technical support for the performance testing of BeiDou satellite navigation and positioning terminals.

[0025] The technical solutions of the embodiments of this application will be described in detail below through specific examples.

[0026] refer to Figure 1The BeiDou satellite navigation and positioning terminal dynamic testing system of this application includes: a standard global navigation satellite system high-precision positioning terminal, a BeiDou satellite navigation and positioning terminal under test, a data post-processing computer, a standard global navigation satellite system high-precision navigation and positioning antenna, and a power divider. The power divider is connected to the standard global navigation satellite system high-precision navigation and positioning antenna, and simultaneously connected to the standard global navigation satellite system high-precision positioning terminal and the BeiDou satellite navigation and positioning terminal under test, so as to enable the standard global navigation satellite system high-precision positioning terminal and the BeiDou satellite navigation and positioning terminal under test to receive consistent satellite navigation signals. The data post-processing computer is connected to the standard global navigation satellite system high-precision positioning terminal and the BeiDou satellite navigation and positioning terminal under test respectively, and is used to receive and acquire test data from the standard global navigation satellite system high-precision positioning terminal and the BeiDou satellite navigation and positioning terminal under test, and perform post-processing based on the test data.

[0027] In some embodiments, the system further includes: a global satellite navigation signal simulator; the global satellite navigation signal simulator is connected to the standard global satellite navigation system high-precision positioning terminal and is used to verify whether the pseudorange and carrier phase observation accuracy of the standard global satellite navigation system high-precision positioning terminal meets the verification requirements.

[0028] In this embodiment, the GNSS high-precision navigation and positioning antenna is connected to both the standard GNSS high-precision positioning terminal and the BeiDou satellite navigation and positioning terminal under test via a power divider, ensuring that both terminals receive consistent satellite navigation signals. The standard GNSS high-precision positioning terminal serves as a reference device, recording high-precision raw observation data, including pseudorange and carrier phase. This data is then combined with precise ephemeris and precise clock bias data of the GNSS satellite at the corresponding epoch, downloaded from the International GNSS Service (IGS) website, for post-calculation to obtain the true positioning result under dynamic test scenarios. The BeiDou satellite navigation and positioning terminal under test records its positioning data in real time, comparing and analyzing it with the true positioning result of the standard terminal to evaluate the positioning performance of the terminal under test. The application of the power divider effectively simplifies the hardware connection method, reduces the number of antennas, and ensures the consistency of test conditions, avoiding test result deviations caused by differences in signal sources.

[0029] To further ensure the observation accuracy of the standard GNSS high-precision positioning terminal, the system is equipped with a GNSS signal simulator to check the pseudorange and carrier phase measurement accuracy of each receiving channel of the standard GNSS high-precision positioning terminal. Using simulated satellite navigation signals provided by the simulator, it can be verified whether the pseudorange measurement accuracy of the standard GNSS high-precision positioning terminal is better than 16cm and the carrier phase measurement accuracy is better than 1.3mm, thereby ensuring the high accuracy and reliability of its observation data. This calibration process provides a fundamental guarantee for the standard terminal to solve for true positioning results, enabling it to participate in dynamic testing as a high-precision reference device and providing data support for the performance evaluation of the terminal under test.

[0030] During the test, the standard GNSS high-precision positioning terminal and the BeiDou satellite navigation and positioning terminal under test were mounted on the same mobile platform and received BeiDou / GNSS satellite signals through the GNSS high-precision navigation and positioning antenna. The standard GNSS high-precision positioning terminal was able to continuously record the pseudorange and carrier phase observations of each satellite, as well as broadcast messages containing regional ionospheric grid correction information transmitted by GEO satellites via SBAS-B1C signals. The terminal under test recorded positioning result data in real time, including positioning coordinates at epoch times. The mobile platform operated at a specified speed according to the test requirements to ensure the standardization and repeatability of dynamic test conditions.

[0031] After the test is completed, the data post-processing computer processes the raw observation data recorded by the standard GNSS high-precision positioning terminal using the Precise Point Positioning - Real Time Kinematic (PPP-RTK) post-processing method.

[0032] As can be seen from the above embodiments, the BeiDou satellite navigation and positioning dynamic testing system described in this application includes: a standard global navigation satellite system high-precision positioning terminal, a BeiDou satellite navigation and positioning terminal under test, a data post-processing computer, a standard global navigation satellite system high-precision navigation and positioning antenna, and a power divider; the power divider is connected to the standard global navigation satellite system high-precision navigation and positioning antenna, and simultaneously connected to the standard global navigation satellite system high-precision positioning terminal and the BeiDou satellite navigation and positioning terminal under test, so as to enable the standard global navigation satellite system high-precision positioning terminal and the BeiDou satellite navigation and positioning terminal under test to receive consistent satellite navigation signals; the data post-processing computer is connected to the standard global navigation satellite system high-precision positioning terminal and the BeiDou satellite navigation and positioning terminal under test respectively, and is used to receive and acquire test data from the standard global navigation satellite system high-precision positioning terminal and the BeiDou satellite navigation and positioning terminal under test, and perform post-processing based on the test data. The system structure of this embodiment is simple, consisting of a standard GNSS high-precision positioning terminal, a BeiDou satellite navigation and positioning terminal under test, a GNSS high-precision navigation and positioning antenna, a power divider, and a data post-processing computer. It is also equipped with a GNSS signal simulator to improve the reliability and accuracy of the test system. The GNSS high-precision navigation and positioning antenna is connected to the standard GNSS high-precision positioning terminal and the BeiDou satellite navigation and positioning terminal under test via the power divider, ensuring that both terminals receive consistent satellite navigation signals, guaranteeing consistent test conditions, and avoiding test result deviations caused by differences in signal sources. The standard GNSS high-precision positioning terminal serves as a reference device, recording high-precision pseudorange and carrier phase observation data. It then combines this data with precise ephemeris, clock bias data, regional ionospheric grid correction information, and regional tropospheric models to perform error correction and post-processing, outputting centimeter-level true-value positioning results, providing a reliable reference for evaluating the positioning performance of the terminal under test. The BeiDou satellite navigation and positioning terminal under test records its positioning results in real time, compares them with the true-value positioning results of the standard terminal, calculates the positioning error, and statistically analyzes the positioning accuracy indicators, thereby accurately evaluating the dynamic positioning performance of the terminal under test.

[0033] To ensure the observation accuracy of the standard GNSS high-precision positioning terminal, a GNSS signal simulator was introduced into the system. The simulator provided satellite navigation signals to check the pseudorange and carrier phase measurement accuracy of each receiving channel of the standard terminal, verifying whether its pseudorange measurement accuracy was better than 16cm and its carrier phase measurement accuracy was better than 1.3mm, thus ensuring its reliability as a high-precision reference device. The use of the GNSS signal simulator further improved the accuracy assurance capability of the test system and optimized the test preparation process, enabling the system to be quickly deployed and adaptable to different dynamic test scenarios. During the test, the standard terminal and the terminal under test were installed on the same mobile carrier, receiving BeiDou / GNSS satellite signals through the GNSS high-precision navigation and positioning antenna. Test data was recorded in real time, and the data was processed by a computer to generate the final test results.

[0034] The overall technical solution of this application, through systematic design, significantly improves the accuracy, convenience, and reliability of the testing system. The standard terminal provides high-precision true-value positioning results, the GNSS signal simulator ensures the stable performance of the testing equipment, and the power divider design simplifies the hardware connection structure and ensures the consistency of testing conditions. The system is suitable for dynamic testing scenarios and can efficiently evaluate the positioning performance of BeiDou satellite navigation and positioning terminals, providing accurate and reliable technical support for related fields.

[0035] Based on the same inventive concept, corresponding to any of the above embodiments, this application also provides a dynamic testing method for BeiDou satellite navigation and positioning terminals.

[0036] refer to Figure 2 The dynamic testing method for the BeiDou satellite navigation and positioning terminal includes: Step S201: Determine that the accuracy of the observation data of the high-precision positioning terminal of the standard global satellite navigation system meets the verification requirements; Step S202: In response to the test event, the standard global satellite navigation system high-precision positioning terminal and the Beidou satellite navigation positioning terminal under test synchronously receive satellite navigation signals in real time and store test data. Step S203: Based on the acquired precise ephemeris data, precise clock difference data, broadcast message and the test data, perform post-calculation to obtain the true value positioning result; Step S204: Determine the final test result based on the truth value location result.

[0037] Regarding step S201, in some embodiments, determining that the accuracy of the observation data of the standard global navigation satellite system high-precision positioning terminal meets the verification requirements includes: using a global satellite navigation signal simulator to check the pseudorange and carrier phase measurement accuracy of each receiving channel of the global satellite navigation system high-precision positioning terminal, and using the global satellite navigation system high-precision positioning terminal whose accuracy meets a preset threshold as the standard global satellite navigation system high-precision positioning terminal.

[0038] In this embodiment, the core objective is to select GNSS high-precision positioning terminals whose accuracy meets the verification test requirements through a rigorous verification process, thereby ensuring the data reliability and high accuracy of the reference equipment during subsequent dynamic testing. To achieve this goal, in some embodiments, the process of determining the standard GNSS high-precision positioning terminal includes verifying each receiving channel of the candidate GNSS high-precision positioning terminal using a GNSS signal simulator. The verification mainly involves the measurement accuracy of pseudorange and carrier phase, which are key parameters for the performance of high-precision positioning terminals.

[0039] In practical implementation, a GNSS signal simulator is first required. This device can simulate signals from BeiDou / GNSS satellites, including pseudorange, carrier phase, satellite orbit data, and clock bias information. The signal simulator provides a high-precision, controllable satellite signal source, ensuring the standardization and accuracy of the verification process. After connecting the candidate GNSS high-precision positioning terminal to the simulator, the simulator continuously generates satellite navigation signals and transmits these signals to the positioning terminal. The various receiving channels of the positioning terminal observe the signals generated by the simulator, recording data such as pseudorange and carrier phase observations.

[0040] During the verification process, the known true value data of the signal generated by the GNSS signal simulator is compared with the pseudorange and carrier phase data observed by the candidate positioning terminals to calculate the measurement accuracy of each receiving channel. Pseudorange measurement accuracy reflects the positioning terminal's measurement error of the signal propagation distance, while carrier phase measurement accuracy measures the terminal's ability to measure changes in signal phase. Pseudorange measurement accuracy is typically measured in centimeters, while carrier phase measurement accuracy can reach the millimeter level. During verification, it is necessary to ensure that the positioning terminal's pseudorange measurement accuracy is better than 16cm and its carrier phase measurement accuracy is better than 1.3mm; this is the basic standard for judging whether candidate equipment meets the requirements for high-precision positioning.

[0041] To further enhance the reliability of the verification process, multiple satellite navigation signal frequencies (such as the B1 and B2 frequencies of the BeiDou satellite system) should be covered during the verification process to validate the positioning accuracy of the positioning terminal using different frequency signal combinations. In addition, the simulator can generate dynamic signal scenarios (such as simulating multipath effects or obstruction of satellite signals) to test the anti-interference performance of the positioning terminal in complex environments. During the long-term verification process, the observation data of the positioning terminal should be recorded, and the measurement results should be statistically analyzed, including calculating indicators such as the root mean square error (RMS), maximum error, and minimum error, to comprehensively evaluate the performance of the positioning terminal.

[0042] After verification, based on the statistical analysis results, the GNSS high-precision positioning terminal equipment whose pseudorange and carrier phase measurement accuracy met the verification test requirements was selected as the standard GNSS high-precision positioning terminal. This equipment will serve as a reference device for the BeiDou satellite navigation and positioning dynamic test system, used to record high-precision true-value positioning results, and to compare its performance with the tested BeiDou satellite navigation and positioning terminal during subsequent testing.

[0043] This rigorous screening process ensures the high precision and stability of the test reference equipment, thus providing a reliable foundation for evaluating positioning accuracy in dynamic test scenarios. The verification method in step S201 not only improves the accuracy assurance capability of the test system but also simplifies the test preparation process, enabling the entire dynamic test system to be quickly deployed and adapted to complex test scenarios, significantly improving test efficiency and the reliability of results.

[0044] Regarding step S202, in some embodiments, the test data includes the pseudorange and carrier phase observations of each satellite received and measured by the high-precision positioning terminal of the standard global satellite navigation system, and the three-dimensional positioning coordinates of the BeiDou satellite navigation and positioning terminal under test at each epoch.

[0045] In this embodiment, the core of step S202 lies in the fact that during the dynamic test, the standard GNSS high-precision positioning terminal and the BeiDou satellite navigation positioning terminal under test synchronously receive satellite navigation signals and store test data in real time. This process directly relates to the accuracy of the test results and the scientific nature of subsequent analysis. At the start of the test, in response to a preset test event, the mobile carrier starts and moves according to the path and speed required by the test, ensuring the standardization of dynamic test conditions. The standard GNSS high-precision positioning terminal and the BeiDou satellite navigation positioning terminal under test are fixedly installed on the mobile carrier and connected to the GNSS high-precision navigation positioning antenna through a power divider, ensuring that the satellite navigation signals received by the two terminals are consistent and avoiding inconsistencies or deviations in test results due to differences in signal sources.

[0046] During testing, the standard GNSS high-precision positioning terminal recorded the pseudorange and carrier phase observations and broadcast messages for each satellite in real time. Pseudorange observations were calculated by measuring signal propagation time to determine the distance between the receiver and the satellite, while carrier phase observations were calculated based on changes in signal phase. Together, these constitute the core data for positioning calculation. The broadcast messages included regional ionospheric grid correction information broadcast by the BeiDou Navigation Satellite System via its GEO satellite SBAS-B1C signal. This information was used for subsequent error correction of the pseudorange and carrier phase observations. Simultaneously, the standard GNSS high-precision positioning terminal also recorded quality indicators of the received signal (such as signal strength and multipath effects) to assess signal reliability during subsequent analysis.

[0047] Meanwhile, the tested BeiDou satellite navigation and positioning terminal records its positioning coordinates, including longitude, latitude, and geodetic height, in real time for each epoch. The positioning data from the tested terminal and the true positioning results from the standard terminal will be compared and analyzed in subsequent processing stages to evaluate the positioning performance of the tested terminal. During dynamic testing, it is necessary to ensure the time synchronization of the observation data and positioning results output from both terminals. Precise timestamps are used to record the observation data for each epoch, ensuring that the test data from the standard terminal and the tested terminal can be compared and analyzed at the same point in time.

[0048] Furthermore, to adapt to the complex environmental conditions in different test scenarios, the motion information of the carrier, such as velocity, acceleration, and test path, must be recorded during the test. If there are obstructions or multipath effects at the test site, this information must also be recorded so that the test results can be comprehensively evaluated in conjunction with environmental factors in subsequent analysis. The pseudorange and carrier phase observations and broadcast messages stored by the standard GNSS high-precision positioning terminal, as well as the three-dimensional positioning coordinates recorded by the BeiDou satellite navigation and positioning terminal under test, together constitute the data foundation for the entire dynamic test. The completeness and quality of this data acquisition directly determine the results of subsequent accuracy evaluation and performance analysis.

[0049] By implementing step S202, complete and high-quality test data is ensured to be obtained during dynamic testing. The raw observation data from the standard GNSS high-precision positioning terminal will be used to subsequently calculate the true positioning results, while the comparative analysis of the positioning results of the tested BeiDou satellite navigation and positioning terminal with the true positioning results will directly reflect the positioning performance of the tested terminal. This step is not only a key link in dynamic testing but also the core of the entire testing process, supporting the overall effectiveness of the testing system and providing a reliable data foundation for subsequent accuracy evaluation and performance verification.

[0050] Regarding step S203, in some embodiments, the broadcast message includes regional ionospheric grid correction information; the step of obtaining the true location result by post-calculation based on the acquired precise ephemeris, precise clock error data, broadcast message, and test data includes: determining the ionospheric delay error based on the regional ionospheric grid correction information; and obtaining the true location result by post-calculation based on the precise ephemeris, the precise clock error data, the ionospheric delay error, and the test data.

[0051] In some embodiments, the post-resolution process is based solely on precise ephemeris data, precise clock bias data, ionospheric delay error, and test data, without involving the calculation of tropospheric delay error. In this case, the resolution process of the true-value positioning result can still effectively correct for the influence of environmental factors on signal propagation. Specifically, the true geometric distance calculated based on precise ephemeris provides the spatial distance parameters between the satellite and the receiver; precise clock bias data corrects for the time deviation between the satellite and the receiver; and ionospheric delay error is corrected by regional ionospheric grid correction information in the broadcast message, eliminating the influence of changes in the propagation speed of the satellite signal as it traverses the ionosphere. These corrected data work together in the processing of pseudorange and carrier phase observations to ensure the high accuracy of the post-resolution result.

[0052] In some embodiments, the broadcast message includes regional ionospheric grid correction information; the step of obtaining a true location result by post-calculation based on the acquired precise ephemeris, precise clock error data, and the test data further includes: determining the ionospheric delay error based on the regional ionospheric grid correction information; calculating the tropospheric delay error according to the constructed regional tropospheric delay model; and obtaining the true location result by calculation based on the precise ephemeris, the precise clock error data, the ionospheric delay error, the tropospheric delay error, and the test data.

[0053] In some embodiments, the regional tropospheric delay model is expressed by the following equation: ; in, Represents the wetted delay polynomial coefficients of the zenith troposphere; , indicating the global navigation satellite system reference station latitude and longitude of the location latitude and longitude of the central point of the region difference, Indicates the reference station of the global satellite navigation system latitude and longitude of the location latitude and longitude of the central point of the region difference; This indicates the geodetic height of the global satellite navigation system's reference station.

[0054] In some embodiments, the step of calculating the true positioning result based on the precise ephemeris, the precise clock error data, the ionospheric delay error, the tropospheric delay error, and the test data includes: using the precise ephemeris as a parameter to calculate the true geometric distance between the standard global navigation satellite system high-precision positioning terminal and the satellite at an epoch; correcting the observed values ​​of pseudorange and carrier phase based on the precise clock error data of the standard global navigation satellite system high-precision positioning terminal, the ionospheric delay error, the tropospheric delay error, and the test data; and calculating the true positioning result based on the corrected pseudorange and the corrected carrier phase observed values ​​through post-calculation processing.

[0055] In some embodiments, the solution model for the pseudorange is expressed by the following formula: ; in, Indicates a high-precision positioning terminal for the standard global satellite navigation system. By receiving BeiDou satellites Launched High-precision positioning terminal of standard global satellite navigation system obtained by frequency point signal observation With BeiDou satellite Between the epochs pseudorange, Indicates a high-precision positioning terminal for the standard global satellite navigation system. With BeiDou satellite Between the epochs The true geometric distance, Indicates a high-precision positioning terminal for the standard global satellite navigation system. At the epochal moment The clock difference, Indicates satellite At the epochal moment The clock difference, Indicates the speed of electromagnetic wave propagation. Indicates satellite High-precision positioning terminal with standard global satellite navigation system Inter-epoch signal propagation at epoch time Ionospheric delay error, Indicates satellite High-precision positioning terminal with standard global satellite navigation system Inter-epoch signal propagation at epoch time Tropospheric delay error, Indicates a high-precision positioning terminal for the standard global satellite navigation system. exist Code deviation at frequency points, Indicates satellite exist Code deviation at frequency points, Indicates a high-precision positioning terminal for the standard global satellite navigation system. By receiving satellite Launched Pseudorange observation of frequency signals at epoch time Random error; The solution model for the carrier phase is expressed by the following formula: ; in, Indicates satellite launch The wavelength of the frequency signal Indicates a standard GNSS high-precision positioning terminal By receiving satellite Launched Standard GNSS high-precision positioning terminal obtained from frequency point signal observation With satellite Between the epochs The small value of the carrier phase, Indicates a standard GNSS high-precision positioning terminal By receiving satellite Launched Standard GNSS high-precision positioning terminal obtained from frequency point signal observation With satellite Between the epochs The carrier integer ambiguity value, Indicates a high-precision positioning terminal for the standard global satellite navigation system. exist Phase deviation at frequency points Indicates satellite exist Phase deviation at frequency points Indicates a high-precision positioning terminal for the standard global satellite navigation system. By receiving satellite Launched When performing carrier phase observation on a frequency signal at an epoch, Random error.

[0056] In this embodiment, step S203 involves obtaining precise ephemeris, clock bias data, and test data through a standard GNSS high-precision positioning terminal, and then calculating the true positioning result. This process aims to perform high-precision processing on dynamic test data to obtain reference positioning results, providing a reliable basis for performance evaluation of the tested BeiDou satellite navigation and positioning terminal. In some embodiments, the broadcast message includes regional ionospheric grid correction information, which can be used to determine the ionospheric delay error. The ionospheric delay error is caused by the electron density distribution in the ionosphere. The electron content value (TEC) is obtained by interpolation using the regional ionospheric grid correction information, and the ionospheric delay correction value of the signal is determined by combining the geometric relationship of the signal propagation path, thereby improving the accuracy of pseudorange and carrier phase observations.

[0057] With the support of precise ephemeris and clock bias data, these parameters can be used to calculate the true geometric distance and clock bias between the standard GNSS high-precision positioning terminal and the satellite. The true geometric distance is the actual distance between the receiver and the satellite, calculated by combining the satellite's precise orbital data with the receiver's three-dimensional positioning coordinates. Based on the regional tropospheric model of the test site, the tropospheric delay error is further calculated. Tropospheric delay error is mainly divided into wet delay and dry delay, with wet delay being more complex. The tropospheric model constructed using regional reference station observation data can accurately correct for wet delay. The model interpolates the difference between the user's latitude and longitude and the reference station's latitude and longitude, as well as the reference station's geodetic height, to obtain the zenith tropospheric wet delay parameter for the user's location.

[0058] Based on data such as the true geometric distance calculated using precise ephemeris, precise clock bias, ionospheric delay error, and tropospheric delay error, pseudorange and carrier phase are corrected and jointly calculated. The corrected pseudorange, expressed by a formula, includes the true geometric distance calculated using precise ephemeris, precise clock bias, ionospheric delay error, tropospheric delay error, code bias, and random errors. The corrected carrier phase, expressed by a formula, includes the true geometric distance calculated using precise ephemeris, precise clock bias, ionospheric delay error, tropospheric delay error, integer ambiguity, phase bias, and random errors. By correcting and jointly calculating the pseudorange and carrier phase, the influence of environmental factors, equipment deviations, and errors during signal propagation can be effectively eliminated, further improving the accuracy of the positioning results.

[0059] In some embodiments, after correction processing of pseudorange and carrier phase observations, PPP-RTK technology is used for calculation to obtain the true positioning result of the standard GNSS high-precision positioning terminal in the dynamic test scenario. This true positioning result is output with centimeter-level accuracy, providing a reference basis for the performance evaluation of the tested BeiDou satellite navigation and positioning terminal. The generation process of the true positioning result also includes random error filtering to eliminate noise interference in signal observations. By comparing the positioning result of the tested BeiDou satellite navigation and positioning terminal with the true positioning result epoch-by-epoch, the positioning error is further calculated, and the root mean square (RMS) value or the error range at 95% confidence level is statistically analyzed, thereby forming the final test report.

[0060] Step S203, through comprehensive processing of precise data and joint correction of various errors, ensures the high accuracy and reliability of the true value positioning results, providing an important guarantee for the overall performance of the dynamic testing system. This step not only improves the accuracy and reliability of the testing system, but also lays a solid technical foundation for the comprehensive evaluation of the performance of the terminal under test.

[0061] Regarding step S204, in this embodiment, step S204 aims to evaluate the positioning performance of the tested BeiDou satellite navigation and positioning terminal in a dynamic test scenario based on the true positioning results of the standard GNSS high-precision positioning terminal obtained in step S203, thereby determining the final test result. This process involves accurately comparing and analyzing the positioning data of the tested terminal with the true positioning results epoch by epoch, calculating the positioning error, and comprehensively evaluating the error using statistical methods to generate a detailed test report.

[0062] First, the true-value positioning result, serving as a reference standard, possesses centimeter-level positioning accuracy and is calculated by a standard GNSS high-precision positioning terminal using PPP-RTK technology. This true-value positioning result includes the longitude, latitude, and geodetic height coordinates at each epoch, reflecting the actual positioning trajectory of the moving vehicle during dynamic testing. The positioning data recorded by the tested BeiDou satellite navigation and positioning terminal, on the other hand, includes the positioning coordinates and relevant accuracy indicators (such as the DOP value) at each epoch. These data represent the positioning output of the tested terminal under dynamic testing conditions. By comparing the two sets of data epoch by epoch, the difference between the tested terminal's positioning result and the true value can be calculated, yielding the positioning error at each epoch.

[0063] Furthermore, under dynamic testing conditions, the test results need to be comprehensively evaluated by incorporating the carrier's motion information. If the test site has complex environmental factors such as obstruction or multipath effects, this information needs to be included in the analysis to gain a more comprehensive understanding of the positioning performance of the tested terminal under different environmental conditions. Simultaneously, the impact of accuracy indicators (such as DOP value) recorded by the tested terminal on positioning quality needs to be assessed, and the presence of abnormal positioning data or significant deviations needs to be analyzed.

[0064] Finally, based on the comparative analysis of the true positioning results and the positioning data of the tested terminal, as well as the statistical evaluation of the positioning error, a detailed test report is generated. The test report includes the following: a description of the test scenario, statistical analysis results of the positioning error (including error distribution maps, time-series curves, RMS values, etc.), performance evaluation conclusions of the tested terminal, and optimization suggestions. The test results can intuitively reflect the positioning accuracy, stability, and adaptability of the tested terminal under dynamic conditions, thus providing a scientific basis for the development, optimization, and application of BeiDou navigation and positioning terminals.

[0065] Step S204, through the high-precision reference of the true value positioning results and combined with detailed analysis of the data from the tested terminal, comprehensively evaluates the positioning performance of the tested terminal in dynamic test scenarios. This step not only significantly improves the accuracy and reliability of the test results but also provides important technical support for the improvement and application of BeiDou navigation and positioning technology, possessing broad application value and practical significance.

[0066] As can be seen from the above embodiments, the BeiDou satellite navigation terminal positioning dynamic testing method described in this application determines that the accuracy of the observation data of the standard GNSS high-precision positioning terminal meets the verification requirements; in response to a test event, the standard GNSS high-precision positioning terminal and the BeiDou satellite navigation positioning terminal under test synchronously receive satellite navigation signals in real time and store test data; based on the acquired precise ephemeris, precise clock difference data, broadcast messages, and the test data, post-calculation is performed to obtain the true positioning result; the final test result is determined based on the true positioning result. This application embodiment achieves dynamic evaluation of high-precision positioning performance through the collaborative work of the standard GNSS high-precision positioning terminal and the BeiDou satellite navigation positioning terminal under test. First, by using a GNSS signal simulator to check the candidate positioning terminals, a high-precision terminal with a pseudorange measurement accuracy better than 16cm and a carrier phase measurement accuracy better than 1.3mm is selected as the standard device to ensure its reliability and accuracy as a reference terminal. During the test, the standard positioning terminal recorded pseudorange observations, carrier phase observations, and broadcast messages for each satellite. The broadcast messages included regional ionospheric grid correction information broadcast by the BeiDou Navigation Satellite System via its GEO satellite SBAS-B1C signal. The terminal under test recorded the three-dimensional positioning coordinates at each epoch. In the dynamic test scenario, both terminals received satellite navigation signals in real time and stored test data to ensure the synchronization and integrity of data acquisition. Subsequently, based on the precise test data collected by the standard positioning terminal, combined with precise ephemeris and clock bias data provided by the IGS organization, ionospheric delay error correction was performed using regional ionospheric grid correction information. The tropospheric delay error was then calculated using a constructed regional tropospheric delay model. The model interpolated based on the latitude and longitude difference of the reference station and geodetic height to obtain high-precision tropospheric wet delay parameters. Furthermore, by correcting for ionospheric errors, tropospheric errors, clock bias, and other deviations in pseudorange and carrier phase, the true positioning result of the standard positioning terminal is calculated. The pseudorange and carrier phase correction formulas consider factors such as random errors, code bias, and integer ambiguity, thus ensuring centimeter-level accuracy of the positioning result. Finally, the positioning result of the tested terminal is compared epoch-by-epoch with the true positioning result to calculate the positioning error. A test report is generated through statistical analysis, including the root mean square value of the positioning error and the error at 95% confidence level. The test results reflect the positioning accuracy, stability, and environmental adaptability of the tested terminal in dynamic scenarios, verifying its performance indicators. This method, using the high-precision positioning result of the standard terminal as a reference, combined with error correction and comprehensive evaluation techniques, significantly improves the accuracy and reliability of the test results, providing technical support for the optimization and application of BeiDou navigation and positioning terminals.

[0067] It should be noted that the method in this embodiment can be executed by a single device, such as a computer or server. The method can also be applied in a distributed scenario, where multiple devices cooperate to complete the task. In such a distributed scenario, one of these devices may execute only one or more steps of the method in this embodiment, and the multiple devices will interact with each other to complete the method described.

[0068] It should be noted that the above description describes some embodiments of this application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in a different order than that shown in the above embodiments and still achieve the desired result. Furthermore, the processes depicted in the drawings do not necessarily require a specific or sequential order to achieve the desired result. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0069] Those skilled in the art should understand that the discussion of any of the above embodiments is merely exemplary and is not intended to imply that the scope of this application (including the claims) is limited to these examples; within the framework of this application, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of the embodiments of this application as described above, which are not provided in the details for the sake of brevity.

[0070] The embodiments of this application are intended to cover all such substitutions, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the embodiments of this application should be included within the protection scope of this application.

Claims

1. A dynamic testing system for a BeiDou satellite navigation and positioning terminal, characterized in that, include: Standard Global Navigation Satellite System (GNSS) high-precision positioning terminal, BeiDou satellite navigation and positioning terminal under test, data post-processing computer, standard GNSS high-precision navigation and positioning antenna and power divider; The power divider is connected to the standard global satellite navigation system high-precision navigation and positioning antenna, and simultaneously connects the standard global satellite navigation system high-precision positioning terminal and the BeiDou satellite navigation and positioning terminal under test, so as to enable the standard global satellite navigation system high-precision positioning terminal and the BeiDou satellite navigation terminal under test to receive consistent satellite navigation signals; The data post-processing computer is connected to the standard global navigation satellite system high-precision positioning terminal and the tested BeiDou satellite navigation positioning terminal, respectively, and is used to receive and acquire the test data of the standard global navigation satellite system high-precision positioning terminal and the tested BeiDou satellite navigation positioning terminal, and perform post-processing based on the test data.

2. The system according to claim 1, characterized in that, Also includes: Global satellite navigation signal simulator; The global satellite navigation signal simulator is connected to the standard global satellite navigation system high-precision positioning terminal and is used to verify whether the pseudorange and carrier phase observation accuracy of the standard global satellite navigation system high-precision positioning terminal meets the verification requirements.

3. A dynamic testing method for a BeiDou satellite navigation and positioning terminal, characterized in that, The method, applied to the BeiDou satellite navigation and positioning terminal dynamic testing system as described in any one of claims 1 to 2, comprises: The accuracy of the observation data from the high-precision positioning terminal of the standard global satellite navigation system meets the verification requirements; In response to the test event, the standard global satellite navigation system high-precision positioning terminal and the Beidou satellite navigation positioning terminal under test synchronously receive satellite navigation signals in real time and store test data; Based on the acquired precise ephemeris, precise clock difference data, broadcast messages, and the test data, post-calculation is performed to obtain the true value positioning result; The final test result is determined based on the truth value localization result.

4. The method according to claim 3, characterized in that, The accuracy of the observation data from the high-precision positioning terminal of the standard global satellite navigation system meets the verification requirements, including: The pseudorange and carrier phase measurement accuracy of each receiving channel of the high-precision positioning terminal of the global satellite navigation system is checked using a global satellite navigation signal simulator. The high-precision positioning terminal of the global satellite navigation system whose accuracy meets the preset threshold is used as the standard high-precision positioning terminal of the global satellite navigation system.

5. The method according to claim 3, characterized in that, The test data includes the pseudorange and carrier phase observations of each satellite received and measured by the high-precision positioning terminal of the standard global satellite navigation system, and the three-dimensional positioning coordinates of the BeiDou satellite navigation and positioning terminal under test at each epoch.

6. The method according to claim 5, characterized in that, The broadcast message includes regional ionospheric grid correction information; The process of obtaining the true-value positioning result by post-calculation based on the acquired precise ephemeris, precise clock difference data, broadcast messages, and the test data includes: The ionospheric delay error is determined based on the ionospheric grid correction information of the region. The true positioning result is obtained by post-calculation based on the precise ephemeris, the precise clock error data, the ionospheric delay error, and the test data.

7. The method according to claim 5, characterized in that, The broadcast message includes regional ionospheric grid correction information; The process of obtaining the true-value positioning result by post-calculation based on the acquired precise ephemeris, precise clock difference data, and the test data also includes: The ionospheric delay error is determined based on the ionospheric grid correction information of the region. Based on the constructed regional tropospheric delay model, the tropospheric delay error is calculated. The true location result is obtained by calculating the precise ephemeris, the precise clock error data, the ionospheric delay error, the tropospheric delay error, and the test data.

8. The method according to claim 7, characterized in that, The regional tropospheric delay model is expressed by the following equation: ； in, Represents the wetted delay polynomial coefficients of the zenith troposphere; , indicating the global navigation satellite system reference station latitude and longitude of the location latitude and longitude of the central point of the region difference, Indicates the reference station of the global satellite navigation system latitude and longitude of the location latitude and longitude of the central point of the region difference; This indicates the geodetic height of the global satellite navigation system's reference station.

9. The method according to claim 7, characterized in that, The process of obtaining the true location result based on the precise ephemeris, the precise clock error data, the ionospheric delay error, the tropospheric delay error, and the test data includes: The precise ephemeris is used as a parameter to calculate the true geometric distance between the high-precision positioning terminal of the standard global satellite navigation system and the satellite at an epoch. The observed values ​​of pseudorange and carrier phase are corrected based on the precise clock error data of the high-precision positioning terminal of the standard global satellite navigation system, the ionospheric delay error, the tropospheric delay error, and the test data. The true location result is obtained by performing post-processing based on the corrected pseudorange and the corrected carrier phase observations.

10. The method according to claim 9, characterized in that, The solution model for the pseudorange is expressed by the following formula: ； in, Indicates a high-precision positioning terminal for the standard global satellite navigation system. By receiving BeiDou satellites Launched High-precision positioning terminal of standard global satellite navigation system obtained by frequency point signal observation With BeiDou satellite Between the epochs pseudorange, Indicates a high-precision positioning terminal for the standard global satellite navigation system. With BeiDou satellite Between the epochs The true geometric distance, Indicates a high-precision positioning terminal for the standard global satellite navigation system. At the epochal moment The clock difference, Indicates satellite At the epochal moment The clock difference, Indicates the speed of electromagnetic wave propagation. Indicates satellite High-precision positioning terminal with standard global satellite navigation system Inter-epoch signal propagation at epoch time Ionospheric delay error, Indicates satellite High-precision positioning terminal with standard global satellite navigation system Inter-epoch signal propagation at epoch time Tropospheric delay error, Indicates a high-precision positioning terminal for the standard global satellite navigation system. exist Code deviation at frequency points, Indicates satellite exist Code deviation at frequency points, Indicates a high-precision positioning terminal for the standard global satellite navigation system. By receiving satellite Launched Pseudorange observation of frequency signals at epoch time Random error; The solution model for the carrier phase is expressed by the following formula: ； in, Indicates satellite launch The wavelength of the frequency signal Indicates a standard GNSS high-precision positioning terminal By receiving satellite Launched Standard GNSS high-precision positioning terminal obtained from frequency point signal observation With satellite Between the epochs The small value of the carrier phase, Indicates a standard GNSS high-precision positioning terminal By receiving satellite Launched Standard GNSS high-precision positioning terminal obtained from frequency point signal observation With satellite Between the epochs The carrier integer ambiguity value, Indicates a high-precision positioning terminal for the standard global satellite navigation system. exist Phase deviation at frequency points Indicates satellite exist Phase deviation at frequency points Indicates a high-precision positioning terminal for the standard global satellite navigation system. By receiving satellite Launched When performing carrier phase observation on a frequency signal at an epoch, Random error.

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