Data processing method and device, virtual reference station generation method and device, system and medium

Abstract

The invention discloses a data processing method and device, a virtual reference station generation method and device, a system and a medium, and relates to the technical field of navigation positioning, and the method comprises the steps: obtaining continuous operation reference station observation data and an error correction number represented by a GNSS state space threshold; under the condition that the observation data of the continuous operation reference station is double-frequency observation data, converting the double-frequency observation data into multi-frequency observation data based on an error correction number represented by a GNSS state space threshold so as to generate multi-frequency virtual reference station data based on the multi-frequency observation data and use the multi-frequency virtual reference station data for positioning calculation of a terminal to be positioned; the multi-frequency observation data comprises observation data of at least three frequency points. The multi-frequency observation data of the continuous operation reference station can be obtained without replacing hardware such as a receiver and an antenna of the continuous operation reference station, so that the positioning calculation performance is improved.

Description

Technical Field

[0001] This article relates to the field of navigation and positioning technology, and in particular to a data processing method and apparatus, a virtual reference station generation method and apparatus, a system and medium. Background Technology

[0002] GNSS (Global Navigation Satellite Systems) technology offers high-precision navigation, positioning, and timing services to users around the clock, at low cost, and with high reliability. Therefore, it is widely used in surveying and mapping, engineering and construction, smart agricultural machinery, drones and robots, vehicle networking and autonomous driving, and high-precision positioning for the general public. Among these, RTK (Real-Time Kinematic) is currently the most widely used high-precision satellite positioning technology. However, because errors in the ionosphere, troposphere, and satellite orbits between reference stations are strongly correlated with the distance between stations, the larger the distance between reference stations, the more difficult it is to eliminate these errors, making RTK positioning unsuitable for large-scale applications. To address this, network RTK technology has been proposed. Data centers collect observation data from continuously operating reference stations distributed throughout the country. After processing, a virtual "Virtual Reference Station (VRS)" is created near the user terminal's uploaded location. This virtual reference station allows for high-precision calculation of the user terminal's location based on VRS data.

[0003] For the RTK method, the more frequency points (or frequencies) included in the observation data, the faster the positioning accuracy and convergence speed. However, the number of frequency points in the virtual base station data strongly depends on the observation data of the continuously operating reference station. If the observation data of the continuously operating reference station is dual-frequency observation data (i.e., observation data containing only 2 frequency points), the virtual base station data generated in this way will contain observation data of a maximum of 2 frequency points, thus limiting the positioning accuracy. Summary of the Invention

[0004] This application provides a data processing method and apparatus, a virtual reference station generation method and apparatus, a system, and a medium.

[0005] In a first aspect, embodiments of this application provide a data processing method, comprising: acquiring observation data from a continuously operating reference station and error corrections represented by a GNSS state space threshold; when the observation data from the continuously operating reference station is dual-frequency observation data, converting the dual-frequency observation data into multi-frequency observation data based on the error corrections represented by the GNSS state space threshold, so as to generate a virtual reference station based on the multi-frequency observation data and use it for positioning calculation of a terminal to be positioned; the multi-frequency observation data includes observation data from at least three frequency points.

[0006] Secondly, embodiments of this application provide a method for generating a virtual reference station, applied to a global satellite navigation and positioning system. The method includes: determining the location information of a target grid point based on the location information of the terminal to be positioned; determining the target continuously operating reference station to be accessed for generating the virtual reference station based on the location information of the target grid point; acquiring the original observation data of the target continuously operating reference station; if the original observation data is full-frequency observation data, using the original observation data as target observation data; if the original observation data is dual-frequency observation data, converting the dual-frequency observation data into multi-frequency observation data using the data processing method described in the above embodiments, and using the multi-frequency observation data as target observation data; and generating a virtual reference station to be accessed for the positioning of the terminal to be positioned based on the target observation data, so as to determine the precise location of the terminal to be positioned based on the data of the virtual reference station.

[0007] Thirdly, embodiments of this application provide a data processing apparatus applied to a global satellite navigation and positioning system. The data processing apparatus is configured to convert dual-frequency observation data of continuously operating reference stations into multi-frequency observation data using the data processing method described in the above embodiments, so that the global satellite navigation and positioning system can perform positioning calculations based on the multi-frequency observation data.

[0008] Fourthly, embodiments of this application provide a virtual reference station generation apparatus for use in a global satellite navigation and positioning system. The virtual reference station generation apparatus is configured to generate a virtual reference station using the virtual reference station generation method described in the above embodiments.

[0009] Fifthly, embodiments of this application provide a network RTK service system, including the data processing device in the above embodiments or the virtual reference station generation device in the above embodiments.

[0010] Sixthly, embodiments of this application provide a non-transient computer storage medium storing a computer program. When the computer program is executed by a processor, it implements the data processing method or the virtual reference station generation method described in the above embodiments.

[0011] The data processing method in this application embodiment can convert dual-frequency observation data of a continuously operating reference station into multi-frequency observation data with more frequency points based on the error correction number represented by the GNSS state space threshold. This can be achieved without replacing the receiver, antenna, or other hardware of the continuously operating reference station, thereby improving the accuracy of positioning calculation.

[0012] Other features and advantages of this application will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the application. Other advantages of this application can be realized and obtained by means of the solutions described in the description and the accompanying drawings. Attached Figure Description

[0013] The accompanying drawings are used to provide an understanding of the technical solutions of this application and constitute a part of the specification. They are used together with the embodiments of this application to explain the technical solutions of this application and do not constitute a limitation on the technical solutions of this application.

[0014] Figure 1 This is a flowchart illustrating one embodiment of the data processing method of this application; Figure 2 This is a schematic diagram of the process for generating multi-frequency observation data in one embodiment of the data processing method of this application; Figure 3 This is a schematic diagram of a process for determining single-station process delay and single-station ionospheric delay in one embodiment of the data processing method of this application; Figure 4 This is a flowchart illustrating one embodiment of the virtual reference station generation method of this application. Detailed Implementation

[0015] This application describes several embodiments, but these descriptions are exemplary and not restrictive, and it will be apparent to those skilled in the art that many more embodiments and implementations are possible within the scope of the embodiments described herein. Although many possible combinations of features are shown in the drawings and discussed in the detailed description, many other combinations of the disclosed features are also possible. Unless specifically limited, any feature or element of any embodiment may be used in combination with, or may replace, any feature or element of any other embodiment.

[0016] This application includes and contemplates combinations of features and elements known to those skilled in the art. The embodiments, features, and elements disclosed in this application can also be combined with any conventional features or elements to form unique inventive solutions. Any feature or element of any embodiment can also be combined with features or elements from other inventive solutions to form another unique inventive solution. Therefore, it should be understood that any feature shown and / or discussed in this application can be implemented individually or in any suitable combination. Therefore, the embodiments are not limited except by the limitations imposed by the appended claims and their equivalents. Furthermore, various modifications and changes can be made within the scope of the appended claims.

[0017] Furthermore, in describing representative embodiments, the specification may have presented methods and / or processes as a specific sequence of steps. However, the method or process should not be limited to the specific order of steps described herein, to the extent that it does not depend on such a specific order. As will be understood by those skilled in the art, other sequences of steps are also possible. Therefore, the specific order of steps set forth in the specification should not be construed as a limitation of the claims. Moreover, the claims concerning the method and / or process should not be limited to the steps performed in the written order, and those skilled in the art will readily understand that these orders can be varied and still remain within the spirit and scope of the embodiments of this application.

[0018] Figure 1 A flowchart illustrating one embodiment of the data processing method of this application is shown, as follows: Figure 1 As shown, the process may include the following steps.

[0019] Step 110: Obtain the observation data of the continuously operating reference station and the error correction number represented by the GNSS state space threshold.

[0020] Among them, the observation data of the continuously operating reference station is dual-frequency observation data, that is, it includes observation data of two frequency points in the GNSS system. The observation data can include pseudorange observations and carrier observations.

[0021] Typically, the frequency points of a GNSS system can include: 3 frequency points of GPS (Global Positioning System), 5 frequency points of the BeiDou system, 3 frequency points of the GAL (Galileo) system, 2 frequency points of the GLO (Global Navigation Satellite System), and 3 frequency points of the QZSS (Quasi-Zenith Satellite System). A Continuously Operating Reference Station (CORS) can acquire observation data from one or more frequency points in the GNSS system through a receiver. For example, a dual-frequency receiver can receive observation data from two frequency points in the GNSS system, i.e., the dual-frequency observation data in this embodiment; a full-frequency receiver can receive observation data from all frequency points in the GNSS system.

[0022] Continuously operating reference stations can send acquired dual-frequency observation data to a data processing center via a network. The data processing center performs calculations, modeling, interpolation, and geometric distance corrections based on the observation data from multiple continuously operating reference stations to generate virtual reference station data. Here, the computing device used to implement the data processing method of this application is located in a server within the data processing center or in another standalone machine; this application does not impose any restrictions on this.

[0023] In this embodiment, the error correction of the GNSS State Space Representation (SSR) can be obtained from the SSR server, and may include, for example, satellite orbit, satellite clock bias, carrier hardware delay, and pseudorange hardware delay, etc.

[0024] Step 120: When the observation data of the continuously running reference station is dual-frequency observation data, the dual-frequency observation data is converted into multi-frequency observation data based on the error correction number represented by the GNSS state space threshold, so as to generate virtual reference station data based on the multi-frequency observation data and use it for the positioning calculation of the terminal to be positioned.

[0025] The multi-frequency observation data includes observation data from at least three frequency points. For example, the multi-frequency observation data may include observation data from all frequency points in the GNSS system or observation data from some (three or more) frequency points in the GNSS system.

[0026] As an example, based on the error correction number of GNSS state space threshold representation and dual-frequency observation data, the tropospheric delay (also known as tropospheric error) and ionospheric delay (also known as ionospheric error) of a continuously operating reference station are calculated by PPPAR (Precise Point Positioning with Ambiguity Resolution). Then, the dual-frequency observation data are converted into multi-frequency observation data by the SSR2OSR (Observation Space Representation) algorithm.

[0027] In a specific example, the dual-frequency observation data from reference station a to satellite s can be represented by the following formulas (1) and (2).

[0028] (1) (2) In the formula, the subscript "1 / 2" indicates the first or second frequency in the dual-frequency observation data, for example, Indicates a continuously operating reference station a In satellite sThe pseudorange observation value at the first frequency point, Indicates a continuously operating reference station a In satellite s The carrier observations at the first frequency point, together with the observations at the first frequency point, constitute the continuously operating reference station. a Observational data at the first frequency point; Indicates a continuously operating reference station a In satellite s The pseudorange observation value at the second frequency point, Indicates a continuously operating reference station a The carrier observations at the second frequency point, together with the other two, form a continuously operating reference station. a Observational data at the second frequency point. Continuously operating reference station. a The observation data at the first and second frequency points are the dual-frequency observation data in this embodiment. Indicates frequency, Indicates satellite s To the continuously operating reference station a Geometric distance between them Represents the speed of light. Indicates wavelength. Indicates a continuously operating reference station a Receiver clock bias, Indicates the clock bias of satellite s. Indicates satellite s To the continuously operating reference station a The tropospheric delay between them Indicates satellite s To the continuously operating reference station a Ionospheric delay between This indicates the integer ambiguity between the first and second frequency points. Continuous operation reference station a The receiver pseudorange hardware delay, Indicates satellite s pseudorange hardware delay, Indicates a continuously operating reference station a Receiver carrier hardware delay, Indicates satellite s carrier hardware delay, Pseudorange observation noise, This represents the observation noise of the carrier data.

[0029] In this example, the following error correction values ​​representing the GNSS state space threshold can be obtained from the SSR server: precise satellite orbit, satellite clock bias (e.g., - ), satellite-end carrier hardware delay (such as ), satellite pseudorange hardware delay (e.g.) ) and ionospheric delay (e.g. ) and tropospheric delay (e.g. Since the subsequent RTK positioning calculation using multi-frequency observation data includes a baseline calculation step, the receiver's clock error and pseudorange hardware delay (e.g., ...) can be considered here. ) and carrier hardware delay (e.g. Setting the value of 0 can simplify calculations without sacrificing precision.

[0030] After substituting the error correction number represented by the obtained GNSS state space threshold into the above formulas (1) and (2), the above step 120 can convert the dual-frequency observation data into multi-frequency observation data through the following formulas (3) and (4).

[0031] (3) (4) In the formula, Indicates a continuously operating reference station a In satellite s The i Pseudorange observations at each frequency point Indicates a continuously operating reference station a In satellite s The i Carrier observations at each frequency point Indicates a continuously operating reference station a To satellite s The geometric distance between them c Represents the speed of light. Indicates satellite s The clock difference, Indicates a continuously operating reference station a With satellite s The tropospheric delay between them Indicates a continuously operating reference station a With satellite s Ionospheric delay between Indicates the first i The frequency of each frequency point Indicates satellite s In the i The pseudorange hardware delay at each frequency point Indicates satellite s In the i Carrier hardware delay at each frequency point Indicates the first i Wavelength at each frequency point.

[0032] In this example, each frequency point in the GNSS system can be pre-numbered, and then... i The value of can represent the observation data at different frequencies, thus...i The number of possible values ​​for can characterize the number of frequency points included in multi-frequency observation data. For example, i When the number of values ​​is 3, the multi-frequency observation data includes observation data at 3 frequency points.

[0033] In this embodiment, the dual-frequency observation data of a continuously operating reference station can be converted into multi-frequency observation data with more frequency points based on the error correction number represented by the GNSS state space threshold. This can be achieved without replacing the receiver, antenna, or other hardware of the continuously operating reference station, thereby obtaining multi-frequency virtual reference station data and improving the accuracy of positioning calculation.

[0034] In some embodiments, step 120 described above can be achieved through... Figure 2 The process shown converts dual-frequency observation data into multi-frequency observation data, such as... Figure 2 As shown, the process may include the following steps.

[0035] Step 210: Based on the error correction number characterized by the GNSS state space threshold, determine the single-station tropospheric delay and single-station ionospheric delay of the continuously operating reference station.

[0036] Step 220: Based on the error correction, single-station tropospheric delay, and single-station ionospheric delay characterized by the GNSS state space threshold, determine the pseudorange observation and carrier observation values ​​of the continuously operating reference station at each preset frequency point.

[0037] As an example, the error correction value obtained from the GNSS state space threshold representation may not include the single-station tropospheric delay (as in the above formula). ) and single-site ionospheric delay (as in the above formula) Then, based on the error correction number represented by the obtained state space threshold, the single-station tropospheric delay and single-station ionospheric delay of the continuously operating reference station are determined, and the pseudorange observation value and carrier observation value of the continuously operating reference station at each preset frequency point are determined using the above formulas (3) and (4).

[0038] exist Figure 1 In the example of the embodiment shown, the single-station tropospheric delay (as in the above formula) ) and single-site ionospheric delay (as in the above formula) The result is calculated based on ionospheric and tropospheric error corrections obtained from the SSR server. However, this embodiment does not directly utilize the single-site tropospheric delay obtained from the SSR server (as shown in the above formula). ) and single-site ionospheric delay (as in the above formula) Instead of determining the observation data of continuously operating reference stations, the error correction values ​​represented by the state space threshold obtained from the SSR server are used to determine the single-station tropospheric delay and single-station ionospheric delay of continuously operating reference stations. Then, the multi-frequency observation data of continuously operating reference stations are determined based on these values. This avoids the accuracy loss caused by atmospheric modeling in the SSR algorithm and helps to improve the accuracy of multi-frequency observation data.

[0039] In some optional implementations of this embodiment, step 210 can be performed by... Figure 3 The illustrated procedure determines the single-station tropospheric delay and single-station ionospheric delay of a continuously operating reference station, such as Figure 3 As shown, the process may include the following steps.

[0040] Step 310: Based on the precise satellite orbit, satellite clock bias, satellite carrier hardware delay, and satellite pseudorange hardware delay in the error correction data represented by the GNSS state space threshold, calculate the integer ambiguity from the continuously operating reference station to the satellite and the receiver clock bias of the continuously operating reference station.

[0041] Step 320: Determine the single-station tropospheric delay and single-station ionospheric delay based on integer ambiguity and receiver clock bias of continuously operating reference stations.

[0042] As an example, this can be based on the obtained precise satellite orbit and satellite-end clock bias (as shown in the formula above). ), satellite-end carrier hardware delay (as shown in the above formula) ), satellite pseudorange hardware delay (as shown in the above formula) The PPPAR algorithm is used to estimate floating-point ambiguities and receiver clock errors based on Kalman filtering. Then, a lambda search is used to determine a fixed solution for the integer ambiguities from the continuously running reference station to the satellite and the receiver clock error (as shown in the above formula). Substituting these values ​​into equations (1) and (2) yields the tropospheric delay at a single station (as shown in the above equations). ) and single-site ionospheric delay (as in the above formula) ).

[0043] In this embodiment, the error corrections characterized by the obtained GNSS state space threshold can be used to determine the single-station tropospheric delay and single-station ionospheric delay of the continuously operating reference station, in place of the tropospheric delay and ionospheric delay from the satellite to the continuously operating reference station obtained in the SSR corrections. This can avoid the accuracy loss of the atmospheric corrections in the SSR caused by atmospheric modeling.

[0044] In an optional example of this implementation, after determining the integer ambiguity from the continuously running reference station to the satellite in step 310, the single-station tropospheric delay and single-station ionospheric delay can be determined by the following formulas (5) and (6): (5) (6) In the formula, Indicates a continuously operating reference station a With satellite s The tropospheric delay between them Indicates a continuously operating reference station a With satellite s Ionospheric delay between This indicates the frequency of the first frequency point in the dual-frequency observation data. This indicates the frequency of the second frequency point in the dual-frequency observation data. This represents the wavelength of the first frequency point in the dual-frequency observation data. This represents the wavelength of the second frequency point in the dual-frequency observation data. Indicates a continuously operating reference station a The carrier observation value at the first frequency point in the dual-frequency observation data. Indicates a continuously operating reference station a The carrier observation value at the second frequency point in the dual-frequency observation data. This represents the integer ambiguity of the reference station at the first frequency point during continuous operation. This represents the integer ambiguity at the second frequency point for continuously operating reference stations. c Represents the speed of light. Indicates satellite s The clock difference, Indicates satellite s Carrier hardware delay at the first frequency point, Indicates satellite s Carrier hardware delay at the second frequency point, Indicates a continuously operating reference station a The receiver has a carrier hardware delay at the first frequency point. Indicates a continuously operating reference station a The receiver has a carrier hardware delay at the second frequency point. Indicates a continuously operating reference station a Receiver clock bias.

[0045] like Figure 4 As shown, this application also provides a method for generating a virtual reference station, applied to a global satellite navigation and positioning system, such as... Figure 4 As shown, the method may include the following steps.

[0046] Step 410: Determine the location information of the target grid point based on the location information of the terminal to be located.

[0047] Step 420: Based on the location information of the target grid points, determine the target continuously operating reference station that needs to be connected to generate the virtual reference station.

[0048] Typically, a GNSS system has multiple continuously operating reference stations evenly distributed within its service area. The coverage area of ​​each continuously operating reference station is pre-divided into multiple grid points. Each continuously operating reference station can receive signals from various satellites and frequencies through a receiver to acquire observation data. The acquired observation data is then transmitted to the GNSS system's data processing center, where the data processing center performs cleaning, calculation, and modeling on the observation data uploaded by each continuously operating reference station.

[0049] In this embodiment, the terminal to be located refers to a terminal device requesting location services, such as a mobile phone or a car. When requesting location services, the terminal to be located can send a request carrying location information to the server (e.g., the data center of a global navigation satellite positioning system). Here, the location information has low positioning accuracy. The server can determine the location information of the target grid point (usually the grid point closest to the terminal to be located) based on the location information of the target grid point, and then determine the target continuously operating reference stations that need to be accessed to generate a virtual reference station based on the location information of the target grid point. For example, these could be multiple continuously operating reference stations closest to the terminal to be located.

[0050] Step 430: Obtain the raw observation data of the target continuously operating reference station.

[0051] In this embodiment, the original observation data can be the observation data (including pseudorange observations and carrier observations) acquired by the target continuously operating reference station through the receiver. If the receiver of the target continuously operating reference station can receive observation data from all frequencies in the GNSS system, then the original observation data is full-frequency observation data; if the receiver of the target continuously operating reference station can only receive observation data from two frequencies in the GNSS system, then the original observation data is dual-frequency observation data.

[0052] Step 440: If the original observation data is full-frequency observation data, use the original observation data as the target observation data.

[0053] Step 450: If the original observation data is dual-frequency observation data, the dual-frequency observation data is converted into multi-frequency observation data using the data processing method in the above embodiment, and the multi-frequency observation data is used as the target observation data.

[0054] Step 460: Based on the target observation data, generate a virtual reference station that the terminal to be located needs to access, so as to determine the precise location of the terminal to be located based on the data of the virtual reference station.

[0055] As an example, the data processing center can determine the location information of the target grid point based on the location information of the terminal to be located. Based on the location information of the target grid point, multiple continuously operating reference stations are identified for modeling, and the reference station closest to the target grid point is selected as the master station. Then, baseline calculation is performed based on the location information of the target continuously operating reference station and other continuously operating reference stations to obtain baseline data (i.e., the baseline clearance delay and ionospheric delay). Next, based on the location information of the target grid point, the required baseline data for atmospheric modeling is determined, and the atmospheric model is interpolated based on the location information of the target grid point to obtain the clearance delay and ionospheric delay of the target grid point relative to the target continuously operating reference station. Furthermore, the geometric distance difference between the target grid point and the target continuously operating reference station can be calculated through broadcast ephemeris. Finally, the calculated clearance delay, ionospheric delay, and geometric distance difference of the target grid point relative to the target continuously operating reference station are compensated into the target observation data to obtain virtual reference station data for the target grid point, which is then broadcast to the terminal to be located. The terminal to be located then determines its precise location based on this virtual reference station data.

[0056] In this embodiment, when the raw observation data acquired by the continuously operating reference station is full-frequency observation data, the raw observation data can be used as the target observation data; when the raw observation data acquired by the continuously operating reference station is dual-frequency observation data, the dual-frequency observation data can be converted into multi-frequency observation data with more frequency points and used as the target observation data. Thus, virtual reference station data can be generated based on the target observation data with a larger number of frequency points and used for the positioning calculation of the terminal to be located, which helps to improve positioning accuracy.

[0057] This application also provides a data processing device for use in a global satellite navigation and positioning system. The data processing device is configured to convert dual-frequency observation data of a continuously operating reference station into multi-frequency observation data using the data processing method in any of the above embodiments, so that the global satellite navigation and positioning system can perform positioning calculations based on the multi-frequency observation data.

[0058] This application also provides a virtual reference station generation device for use in a global satellite navigation and positioning system. The virtual reference station generation device is configured to generate a virtual reference station using the virtual reference station generation method described in the above embodiments.

[0059] This application also provides a network RTK service system, including the data processing device or the virtual reference station generation device in the above embodiments.

[0060] Embodiments of this application also provide a non-transient computer storage medium storing a computer program. In some embodiments, when the computer program is executed by a processor, it implements the data processing method in any of the above embodiments or the virtual reference station generation method in the above embodiments.

[0061] It will be understood by those skilled in the art that all or some of the steps, systems, or apparatuses disclosed above, and their functional modules / units, can be implemented as software, firmware, hardware, or suitable combinations thereof. In hardware implementations, the division between functional modules / units mentioned above does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed collaboratively by several physical components. Some or all components may be implemented as software executed by a processor, such as a digital signal processor or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit (ASIC). Such software may be distributed on a computer-readable medium, which may include computer storage media (or non-transitory media) and communication media (or transient media). As is known to those skilled in the art, the term "computer storage medium" includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and can be accessed by a computer. Furthermore, it is well known to those skilled in the art that communication media typically contain computer-readable instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

Claims

1. A data processing method, characterized by, The method comprises: obtaining error corrections of continuous operating reference station observation data and GNSS state space threshold characterization; in the case that the observation data of the continuous operating reference station is dual-frequency observation data, converting the dual-frequency observation data into multi-frequency observation data based on the error corrections of the GNSS state space threshold characterization, so as to generate virtual reference station data based on the multi-frequency observation data and use the virtual reference station data for positioning solution of a terminal to be positioned; the multi-frequency observation data comprises observation data of at least three frequency points.

2. The method of claim 1, wherein, converting the dual-frequency observation data into multi-frequency observation data based on the error corrections of the GNSS state space threshold characterization comprises: determining single-station tropospheric delay and single-station ionospheric delay of the continuous operating reference station based on the error corrections of the GNSS state space threshold characterization; determining pseudo-range observation values and carrier observation values of the continuous operating reference station at each preset frequency point based on the error corrections of the GNSS state space threshold characterization, the single-station tropospheric delay and the single-station ionospheric delay.

3. The method of claim 2, wherein, determining single-station tropospheric delay and single-station ionospheric delay of the continuous operating reference station based on the error corrections of the GNSS state space threshold characterization comprises: solving integer ambiguity of the continuous operating reference station to a satellite and receiver clock bias based on precise satellite orbit, satellite end clock bias, satellite end carrier hardware delay and satellite end pseudo-range hardware delay in the error corrections of the GNSS state space threshold characterization; determining the single-station tropospheric delay and the single-station ionospheric delay based on the integer ambiguity and the receiver clock bias of the continuous operating reference station.

4. The method of claim 3, wherein, The single-station tropospheric delay and the single-station ionospheric delay are determined by the following formula: ； ； In the formula, Indicates the continuously operating reference station a With satellite s The tropospheric delay between them Indicates the continuously operating reference station a With satellite s Ionospheric delay between This represents the frequency of the first frequency point in the dual-frequency observation data. This represents the frequency of the second frequency point in the dual-frequency observation data. This represents the wavelength of the first frequency point in the dual-frequency observation data. This represents the wavelength of the second frequency point in the dual-frequency observation data. Indicates the continuously operating reference station a The carrier observation value at the first frequency point in the dual-frequency observation data, Indicates the continuously operating reference station a The carrier observation value at the second frequency point in the dual-frequency observation data, This represents the integer ambiguity of the continuously operating reference station at the first frequency point. This represents the integer ambiguity of the continuously operating reference station at the second frequency point. c Represents the speed of light. Indicates satellite s The clock difference, Indicates satellite s Carrier hardware delay at the first frequency point, Indicates satellite s Carrier hardware delay at the second frequency point, Indicates the continuously operating reference station a The receiver has a carrier hardware delay at the first frequency point. Indicates the continuously operating reference station a The receiver has a carrier hardware delay at the second frequency point. Indicates the continuously operating reference station a Receiver clock bias.

5. The method according to one of claims 1 to 4, characterized in that, converting the dual-frequency observation data into multi-frequency observation data based on the error corrections of the GNSS state space threshold characterization comprises: determining pseudo-range observation values and carrier observation values of the continuous operating reference station at each preset frequency point by the following formula: ； ； In the formula, Indicates the continuously operating reference station a In satellite s The i Pseudorange observations at each frequency point Indicates the continuously operating reference station a In satellite s The i Carrier observations at each frequency point Indicates the continuously operating reference station a To satellite s The geometric distance between them c Represents the speed of light. Indicates satellite s The clock difference, Indicates the continuously operating reference station a With satellite s The tropospheric delay between them Indicates the continuously operating reference station a With satellite s Ionospheric delay between Indicates the first i The frequency of each frequency point Indicates satellite s In the i The pseudorange hardware delay at each frequency point Indicates satellite s In the i Carrier hardware delay at each frequency point Indicates the first i Wavelength at each frequency point.

6. A method for generating a virtual reference station, applied to a global satellite navigation and positioning system, characterized in that, The method comprises: determining position information of a target grid point based on position information of a terminal to be positioned; determining a target continuous operating reference station needed to be accessed for generating a virtual reference station based on the position information of the target grid point; obtaining original observation data of the target continuous operating reference station; in the case that the original observation data is full-frequency point observation data, using the original observation data as target observation data; in the case that the original observation data is dual-frequency observation data, converting the dual-frequency observation data into multi-frequency observation data by the data processing method of any one of claims 1 to 5, and using the multi-frequency observation data as target observation data; generating a virtual reference station needed to be accessed for positioning of the terminal to be positioned based on the target observation data, so as to determine accurate position of the terminal to be positioned based on data of the virtual reference station.

7. A data processing apparatus, applied to a global satellite navigation and positioning system, characterized in that, The data processing device is configured to convert dual-frequency observation data of a continuous operating reference station into multi-frequency observation data by the data processing method of any one of claims 1 to 5, so that the global satellite navigation positioning system performs positioning solution based on the multi-frequency observation data.

8. A virtual reference station generation device, applied to a global satellite navigation and positioning system, characterized in that, The virtual reference station generation device is configured to generate a virtual reference station by the virtual reference station generation method of claim 6.

9. A network RTK service system, characterized in that, The data processing device of claim 7 or the virtual reference station generation device of claim 8.

10. A non-transitory computer storage medium storing a computer program, the computer program comprising instructions that when executed at a computing device cause the computing device to perform the method of any one of claims 1-9. The computer program, when executed by a processor, implements the data processing method of one of claims 1 to 5 or the virtual reference station generation method of claim 6.

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