Method and device for determining atmospheric modeling coefficients, electronic equipment and storage medium
By identifying candidate baselines and eliminating ambiguity errors in the reference station network, the atmospheric modeling coefficients are dynamically updated, solving the problem of low accuracy of atmospheric modeling coefficients and improving the accuracy and reliability of network RTK positioning.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- BEIJING LIUFEN TECH CO LTD
- Filing Date
- 2025-12-11
- Publication Date
- 2026-06-23
AI Technical Summary
The accuracy of atmospheric modeling coefficients in existing technologies is relatively low, which affects the accuracy of network RTK positioning.
By identifying candidate baselines in the reference station network, atmospheric modeling coefficients are calculated based on coordinate values, observations, and ephemeris. The modeling residuals are used to determine whether the preset conditions are met, and baselines that may have ambiguity errors are eliminated. The reference station network is updated iteratively until the preset conditions are met, thereby improving the accuracy of atmospheric modeling coefficients.
By dynamically eliminating baselines with ambiguity errors, the accuracy and reliability of atmospheric modeling coefficients are improved, thereby enhancing the accuracy and reliability of network RTK positioning.
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Figure CN121857012B_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of real-time dynamic positioning technology, and in particular to a method, apparatus, electronic device and storage medium for determining atmospheric modeling coefficients. Background Technology
[0002] VRS (Virtual Reference Station) mode is the most commonly used positioning mode in network RTK (Real-Time Kinematic) positioning. It establishes multiple (three or more) GNSS (Global Navigation Satellite System) continuous reference stations in a certain area to form a mesh coverage of the area, providing real-time high-precision error correction information for positioning users in the area and improving the positioning accuracy of users.
[0003] The quality of network RTK services depends on the accuracy of the observations, which in turn depends on the accuracy of the atmospheric errors calculated between each pair of reference stations. In related technologies, improving the hardware quality of the reference stations can enhance the quality of the observation data and thus the quality of the atmospheric modeling coefficients. However, this approach still suffers from the problem of low accuracy in the atmospheric modeling coefficients. Summary of the Invention
[0004] This application provides a method for determining atmospheric modeling coefficients, an electronic device, a storage medium, and a program product to improve the accuracy of atmospheric modeling coefficients.
[0005] In a first aspect, embodiments of this application provide a method for determining atmospheric modeling coefficients, including:
[0006] Multiple candidate baselines are determined based on the coordinates, observations, and ephemeris of the common-view satellites in the reference station network; the reference stations include a primary reference station and multiple secondary reference stations.
[0007] Based on coordinate values, observation values, ephemeris and multiple candidate baselines, atmospheric modeling coefficients are determined, and modeling residuals of multiple candidate baselines are determined based on atmospheric modeling coefficients.
[0008] Based on the modeling residuals of multiple candidate baselines, determine whether the atmospheric modeling coefficients meet the preset conditions;
[0009] If the preset conditions are not met, the target baseline is determined from multiple candidate baselines based on the modeling residuals, and the target baseline is then eliminated.
[0010] The auxiliary reference stations in the reference station network are updated using the auxiliary reference stations corresponding to the remaining candidate baselines. Then, the process returns to continue executing the step of determining multiple candidate baselines based on the coordinates, observations, and ephemeris of the reference stations in the reference station network.
[0011] Under the premise of meeting the preset conditions, the atmospheric modeling coefficient is used as the target atmospheric modeling coefficient.
[0012] Secondly, embodiments of this application provide an apparatus for determining atmospheric modeling coefficients, comprising:
[0013] The baseline determination module is used to determine multiple candidate baselines based on the coordinates, observations, and ephemeris of the common-view satellites in the reference station network; the reference stations include a primary reference station and multiple secondary reference stations;
[0014] The modeling residual determination module is used to determine atmospheric modeling coefficients based on coordinate values, observation values, ephemeris and multiple candidate baselines, and to determine the modeling residuals of multiple candidate baselines based on atmospheric modeling coefficients;
[0015] The condition judgment module is used to determine whether the atmospheric modeling coefficients meet the preset conditions based on the modeling residuals of multiple candidate baselines.
[0016] The elimination module is used to determine the target baseline from multiple candidate baselines based on the modeling residuals when the preset conditions are not met, and then eliminate the target baseline.
[0017] The loop module is used to update the multiple auxiliary reference stations included in the reference station network using the auxiliary reference stations corresponding to the remaining candidate baselines, and then return to continue executing the step of determining multiple candidate baselines based on the coordinate values, observation values and ephemeris of the reference stations in the reference station network;
[0018] The target determination module is used to select atmospheric modeling coefficients as target atmospheric modeling coefficients when preset conditions are met.
[0019] Thirdly, embodiments of this application provide an electronic device, including: a memory and a processor; the memory stores computer-executable instructions; the processor executes the computer-executable instructions stored in the memory, causing the processor to perform the first aspect and / or various possible implementations of the first aspect as described above.
[0020] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the first aspect and / or various possible implementations of the first aspect.
[0021] Fifthly, embodiments of this application provide a computer program product, including a computer program that, when executed by a processor, implements the first aspect and / or various possible implementations of the first aspect.
[0022] The atmospheric modeling coefficient determination method, apparatus, electronic device, storage medium, and program product provided in this application determine multiple candidate baselines based on the coordinate values, observation values, and ephemeris of common-view satellites in a reference station network. Atmospheric modeling coefficients are then determined based on these coordinate values, observation values, ephemeris, and multiple candidate baselines. Under these atmospheric modeling coefficients, the modeling residuals of the candidate baselines are determined. Based on these residuals, candidate baselines that may have ambiguity errors are identified when the atmospheric modeling coefficients do not meet preset conditions. Based on these residuals, target baselines that may have ambiguity errors are eliminated. Using relevant data from the reference stations after eliminating target baselines, the atmospheric modeling coefficients and the modeling residuals of the candidate baselines are re-determined. The atmospheric modeling coefficients are then re-determined based on these residuals. This process is repeated until the atmospheric modeling coefficients meet the preset conditions based on the modeling residuals of the candidate baselines. Through this dynamically executed cyclical process, target baselines with ambiguity errors are eliminated, resulting in smaller modeling residuals for candidate baselines under the atmospheric modeling coefficients, thus improving the accuracy and reliability of the atmospheric modeling coefficients. Attached Figure Description
[0023] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.
[0024] Figure 1 A flowchart illustrating the method for determining atmospheric modeling coefficients provided in this application. Figure 1 ;
[0025] Figure 2 Schematic diagram of reference stations and candidate baselines provided for this application Figure 1 ;
[0026] Figure 3 Schematic diagram of reference stations and candidate baselines provided for this application Figure 2 ;
[0027] Figure 4 Flowchart of the atmospheric modeling method provided in this application Figure 2 ;
[0028] Figure 5 A schematic diagram of the structure of the device for determining atmospheric modeling coefficients provided in this application;
[0029] Figure 6 A schematic diagram of the structure of the electronic device provided in this application.
[0030] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation
[0031] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.
[0032] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.
[0033] Figure 1 Flowchart of the atmospheric modeling method provided in this application Figure 1 Atmospheric modeling methods can be applied to electronic devices, such as servers or terminals. Figure 1 As shown, atmospheric modeling methods include:
[0034] S101. Based on the coordinates, observations, and ephemeris of the common-view satellites in the reference station network, determine multiple candidate baselines; the reference stations include a primary reference station and multiple secondary reference stations.
[0035] The reference station network includes multiple reference stations, which consist of one main reference station and multiple auxiliary reference stations.
[0036] A common-view satellite is a satellite that can be observed by multiple reference stations; coordinates are the precise positions of the reference stations, and observations are the signal data received by the reference stations from the common-view satellite, including carrier phase and pseudorange; ephemeris is a file used to describe the precise position and velocity of the common-view satellite over time.
[0037] Candidate baselines are used to represent the relative position vectors between the primary and secondary reference stations; for example... Figure 2 As shown, the reference station network includes primary reference station A, secondary reference station B, secondary reference station C, secondary reference station D, secondary reference station E, and secondary reference station F; multiple candidate baselines include: candidate baseline AB, candidate baseline AC, candidate baseline AD, candidate baseline AE, and candidate baseline AF.
[0038] Specifically, taking the determination of candidate baselines between primary reference station A and secondary reference station B as an example, for the same common-view satellite, the observation values of primary reference station A and secondary reference station B for common-view satellite S1 are obtained; the carrier phase of secondary reference station B for common-view satellite S1 is subtracted from the carrier phase of primary reference station A for common-view satellite S1 to determine the inter-station single difference between primary reference station A and secondary reference station B for the common-view satellite.
[0039] Select a reference satellite from among multiple shared-view satellites. For example, use a shared-view satellite with good quality and high elevation angle as the reference satellite, and use other shared-view satellites besides the reference satellite as non-reference satellites.
[0040] For each non-reference satellite, the double-difference observation value corresponding to the non-reference satellite is determined based on the inter-station single difference between the main reference station A and the auxiliary reference station B for the non-reference satellite, and the inter-station single difference between the main reference station A and the auxiliary reference station B for the reference satellite. The double-difference observation equation is constructed based on the coordinate values of the main reference station A, the coordinate values of the reference satellite, the coordinate values of the non-reference satellite, and the double-difference observation value corresponding to the non-reference satellite.
[0041] For each non-reference satellite, a double-difference observation equation can be constructed according to the above process. The double-difference observation equation for each non-reference satellite is solved to obtain a fixed double-difference ambiguity. The fixed double-difference ambiguity is then substituted into the double-difference observation equation to obtain the precise coordinates of the auxiliary reference station B. Based on the coordinates of the primary reference station A and the precise coordinates of the auxiliary reference station B, a candidate baseline between the primary reference station A and the auxiliary reference station B is obtained.
[0042] S102. Based on coordinate values, observation values, ephemeris and multiple candidate baselines, determine atmospheric modeling coefficients, and determine the modeling residuals of multiple candidate baselines based on atmospheric modeling coefficients.
[0043] Specifically, based on the coordinates, observations, ephemeris, and multiple candidate baselines of the reference station, the wide-lane ambiguity and narrow-lane ambiguity are determined. Atmospheric errors are extracted based on the wide-lane ambiguity, narrow-lane ambiguity, coordinates, observations, and ephemeris of the reference station to obtain the atmospheric delay of the reference station. Based on the atmospheric delay and the coordinates of the reference station, the regional atmospheric modeling coefficients are calculated to obtain the atmospheric modeling coefficients.
[0044] Based on the atmospheric modeling coefficients and the coordinates of each reference station, atmospheric estimates are calculated inversely. Using the atmospheric delay and atmospheric estimates used to determine the atmospheric modeling coefficients, the modeling residuals of the reference stations are determined. Based on the modeling residuals of the reference stations, the modeling residuals of multiple candidate baselines are determined.
[0045] S103. Based on the modeling residuals of multiple candidate baselines, determine whether the atmospheric modeling coefficients meet the preset conditions.
[0046] Among them, the atmospheric modeling coefficients not meeting the preset conditions means that the comprehensive residuals corresponding to the atmospheric modeling coefficients are large, and there may be candidate baselines with ambiguity errors.
[0047] Specifically, based on the modeling residuals of multiple candidate baselines, the comprehensive residual corresponding to the atmospheric modeling coefficient is determined. If the comprehensive residual is greater than a preset threshold, it is determined that the preset condition is not met; if the comprehensive residual is not greater than the preset threshold, it is determined that the preset condition is met.
[0048] In some embodiments, the modeling residuals include ionospheric modeling residuals and tropospheric modeling residuals; determining whether the atmospheric modeling coefficients meet preset conditions based on the modeling residuals of multiple candidate baselines includes: determining the total ionospheric modeling residuals of the reference station network based on the ionospheric modeling residuals of multiple candidate baselines; determining the total tropospheric modeling residuals of the reference station network based on the tropospheric modeling residuals of multiple candidate baselines; and determining whether the atmospheric modeling coefficients meet preset conditions based on the total ionospheric modeling residuals and the total tropospheric modeling residuals.
[0049] Optionally, the ionospheric modeling residuals of multiple candidate baselines are weighted and summed to obtain the total ionospheric modeling residual of the reference station network; the tropospheric modeling residuals of multiple candidate baselines are weighted and summed to obtain the total tropospheric modeling residual of the reference station network.
[0050] Optionally, the ionospheric modeling residuals of multiple candidate baselines are averaged to obtain the total ionospheric modeling residuals of the reference station network, and the tropospheric modeling residuals of multiple candidate baselines are averaged and summed to obtain the total tropospheric modeling residuals of the reference station network.
[0051] Optionally, determining the total ionospheric modeling residual of the reference station network based on the ionospheric modeling residuals of multiple candidate baselines includes: determining a first sum of squares based on the ionospheric modeling residuals of multiple candidate baselines; determining the total ionospheric modeling residual of the reference station network based on the first sum of squares; determining the total tropospheric modeling residual of the reference station network based on the tropospheric modeling residuals of multiple candidate baselines includes: determining a second sum of squares based on the tropospheric modeling residuals of multiple candidate baselines; determining the total tropospheric modeling residual of the reference station network based on the second sum of squares.
[0052] Specifically, for the ionospheric modeling residuals corresponding to multiple candidate baselines, the first sum of squares is calculated, and then the square root of the first sum of squares is taken to obtain the ionospheric modeling residuals of the reference station network; for the tropospheric modeling residuals corresponding to multiple candidate baselines, the second sum of squares is calculated, and then the square root of the second sum of squares is taken to obtain the tropospheric modeling residuals of the reference station network.
[0053] For example, the ionospheric modeling residual of the reference station network is calculated according to formula (1); the tropospheric modeling residual of the reference station network is calculated according to formula (2).
[0054] Formula (1): ;
[0055] Formula (2): ;
[0056] in, It is the ionospheric modeling residual of the reference station network. It is the ionospheric modeling residual of candidate baseline A1 (the baseline of primary reference station A and secondary reference station 1). It is the ionospheric modeling residual of the candidate baseline AN (the baselines of the primary reference station A and the secondary reference station N). It is the tropospheric modeling residual of the reference station network. It is the tropospheric modeling residual of candidate baseline A1. It is the tropospheric modeling residual of the candidate baseline AN.
[0057] In the above embodiments, the total residuals of ionospheric modeling and tropospheric modeling of the reference station network are determined by the sum of squares of the residuals of ionospheric modeling of candidate baselines and the sum of squares of the residuals of tropospheric modeling of multiple candidate baselines. This can reflect the comprehensive performance of the reference station network in the ionosphere and troposphere under atmospheric modeling coefficients, thereby improving the accuracy of quality judgment of atmospheric modeling coefficients.
[0058] After determining the total residuals of ionospheric modeling and tropospheric modeling, it is determined whether the total residuals of ionospheric modeling are greater than a first preset threshold and whether the total residuals of tropospheric modeling are greater than a second preset threshold. If the total residuals of ionospheric modeling are greater than the first preset threshold or the total residuals of tropospheric modeling are greater than the second preset threshold, it is determined that the atmospheric modeling coefficients do not meet the preset conditions. If the total residuals of ionospheric modeling are not greater than the first preset threshold and the total residuals of tropospheric modeling are not greater than the second preset threshold, it is determined that the atmospheric modeling coefficients meet the preset conditions.
[0059] The first preset threshold and the second preset threshold can be set according to actual needs, and this application embodiment does not limit them. For example, the first preset threshold can be 0.3 or 0.1; for example, the second preset threshold can be 0.3 or 0.1.
[0060] In the above embodiments, the total residuals of ionospheric modeling and tropospheric modeling of the reference station network are determined by the ionospheric modeling residuals of candidate baselines and the tropospheric modeling residuals of multiple candidate baselines. This can reflect the comprehensive performance of the reference station network in the ionosphere and troposphere under atmospheric modeling coefficients, thereby improving the accuracy of quality judgment of atmospheric modeling coefficients.
[0061] S104. If the preset conditions are not met, determine the target baseline from multiple candidate baselines based on the modeling residuals and remove the target baseline.
[0062] Specifically, not meeting the preset conditions means that the total residual of the ionospheric modeling and / or the total residual of the tropospheric modeling of the reference station network is large, and there may be candidate baselines with ambiguity errors. The candidate baselines with ambiguity errors are likely to be baselines with large modeling residuals. Therefore, based on the modeling residuals of multiple candidate baselines, the target baseline with large modeling residuals is determined and proposed.
[0063] Optionally, the modeling residuals include ionospheric modeling residuals and tropospheric modeling residuals; it is determined whether the ionospheric modeling residuals of the candidate baselines are greater than a third preset threshold, and whether the tropospheric modeling residuals of the candidate baselines are greater than a fourth preset threshold. If the ionospheric modeling residuals of the candidate baselines are greater than the third preset threshold, or the tropospheric modeling residuals of the candidate baselines are greater than the fourth preset threshold, then the candidate baseline is taken as the baseline to be processed; the ionospheric modeling residuals and tropospheric modeling residuals of the baseline to be processed are weighted and summed to obtain the total baseline residuals of the baseline to be processed, and the baseline to be processed corresponding to the largest total baseline residual is taken as the target baseline.
[0064] In some embodiments, the modeling residuals include ionospheric modeling residuals and tropospheric modeling residuals; determining a target baseline among multiple candidate baselines based on the modeling residuals includes: for each candidate baseline, determining the total baseline residual of the candidate baseline based on the ionospheric modeling residuals and tropospheric modeling residuals of the candidate baseline; determining the largest total baseline residual among the total baseline residuals of multiple candidate baselines; and taking the candidate baseline corresponding to the largest total baseline residual as the target baseline.
[0065] Optionally, for each candidate baseline, the ionospheric modeling residual and the tropospheric modeling residual of the candidate baseline are averaged to obtain the total baseline residual of the candidate baseline; alternatively, the ionospheric modeling residual and the tropospheric modeling residual of the candidate baseline are weighted and summed to obtain the total baseline residual of the candidate baseline; wherein, the weights of the ionospheric modeling residual and the tropospheric modeling residual used for weighted summation can be set according to actual needs, and this embodiment of the application does not limit this.
[0066] After obtaining the total baseline residuals of the candidate baselines, the maximum total baseline residual is obtained from the total baseline residuals of each baseline, and the candidate baseline corresponding to the maximum total baseline residual is taken as the target baseline.
[0067] In the above embodiments, the total baseline residual of the candidate baseline is determined based on the ionospheric modeling residual and the tropospheric modeling residual of the candidate baseline. Then, the target baseline is determined by combining the modeling residuals of the ionosphere and the troposphere, which improves the reliability that the target baseline is a candidate baseline with ambiguity error.
[0068] S105. Update the multiple auxiliary reference stations included in the reference station network using the auxiliary reference stations corresponding to the remaining candidate baselines, and return to continue executing the step of determining multiple candidate baselines based on the coordinate values, observation values and ephemeris of the reference stations in the reference station network;
[0069] It should be noted that removing the target baseline can be understood as canceling the auxiliary reference station corresponding to the target baseline. For example... Figure 3 As shown, the reference station network includes primary reference station A, secondary reference station B, secondary reference station C, secondary reference station D, secondary reference station E, and secondary reference station F; multiple candidate baselines include: candidate baseline AB, candidate baseline AC, candidate baseline AD, candidate baseline AE, and candidate baseline AF; candidate baseline AB is the target baseline, and removing the target baseline AB means canceling secondary reference station B.
[0070] Specifically, the remaining candidate baselines are the other candidate baselines besides the target baseline among the multiple candidate baselines; updating the multiple auxiliary reference stations included in the reference station network with the auxiliary reference stations corresponding to the other candidate baselines means replacing the multiple auxiliary reference stations included in the reference station network in S101 with the multiple auxiliary reference stations corresponding to the remaining candidate baselines.
[0071] For example, continue to refer to Figure 3 After removing the target baseline AB, the remaining candidate baselines are: candidate baseline AC, candidate baseline AD, candidate baseline AE, and candidate baseline AF. The multiple auxiliary reference stations corresponding to the remaining candidate baselines include: auxiliary reference station C, auxiliary reference station D, auxiliary reference station E, and auxiliary reference station F. The multiple auxiliary reference stations included in the reference station network are: auxiliary reference station B, auxiliary reference station C, auxiliary reference station D, auxiliary reference station E, and auxiliary reference station F. The multiple auxiliary reference stations corresponding to the remaining candidate baselines are used to update the multiple auxiliary reference stations included in the reference station network, so that S101 is executed subsequently based on auxiliary reference stations C, D, E, and F. That is, multiple candidate baselines are determined based on the coordinates, observations, and ephemeris of the common-view satellites of auxiliary reference stations C, D, E, and F, the main reference station A, and the auxiliary reference station F.
[0072] Understandably, during the first execution of S101, the coordinates, observations, and ephemeris of the primary reference station and all secondary reference stations in the reference station network are used to determine multiple candidate baselines, and then atmospheric modeling coefficients are determined. If the atmospheric modeling coefficients determined in the first execution do not meet the preset conditions, the target baseline with the largest modeling residual is eliminated, and S101 is executed a second time using updated secondary reference stations. Since the secondary reference stations used in the first execution of S101 and the secondary reference stations used in the second execution of S101 are different, the atmospheric modeling coefficients determined in the first execution and the atmospheric modeling coefficients determined in the second execution are also different.
[0073] When the target baseline is an ambiguity error, removing the target baseline and constructing atmospheric modeling coefficients can reduce the residuals corresponding to the atmospheric modeling coefficients or make the atmospheric modeling coefficients meet preset conditions.
[0074] It should be noted that if the atmospheric modeling coefficients determined in the second step still do not meet the preset conditions, the following steps will be performed: if the preset conditions are not met, the target baseline will be determined from multiple candidate baselines based on the modeling residuals, and the target baseline will be eliminated; the auxiliary reference stations corresponding to the remaining candidate baselines will be used to update the multiple auxiliary reference stations included in the reference station network, and the steps of determining multiple candidate baselines based on the coordinate values, observation values and ephemeris of the reference stations in the reference station network will be performed again.
[0075] S106. Under the premise of meeting the preset conditions, the atmospheric modeling coefficient shall be used as the target atmospheric modeling coefficient.
[0076] It should be noted that the atmospheric modeling coefficients meet the preset conditions, which means that the residuals of the reference station network are small and negligible under the atmospheric modeling coefficients. In practical applications, these atmospheric modeling coefficients are considered to be accurate coefficients.
[0077] Based on the ionospheric and tropospheric modeling residuals of the candidate baselines, the total ionospheric and tropospheric modeling residuals of the reference station network are determined. When the total ionospheric modeling residual is not greater than a first preset threshold and the total tropospheric modeling residual is not greater than a second preset threshold, the atmospheric modeling coefficient is determined to meet the preset conditions, and then the atmospheric modeling coefficient is used as the target atmospheric modeling coefficient. The target atmospheric modeling coefficient can be applied to real-time dynamic positioning technology to compensate for atmospheric interference with satellite signal propagation and improve the accuracy and reliability of real-time dynamic positioning technology.
[0078] In related technologies, improving the quality of observational data is usually aimed at improving the accuracy of atmospheric modeling coefficients. However, in practical applications, there may be baselines with ambiguity or errors. In this case, improving the quality of observational data cannot improve the accuracy of atmospheric modeling coefficients.
[0079] In this embodiment, multiple candidate baselines are determined based on the coordinates, observations, and ephemeris of the common-view satellites in the reference station network. Atmospheric modeling coefficients are determined based on the coordinates, observations, ephemeris, and multiple candidate baselines. Under the atmospheric modeling coefficients, the modeling residuals of the candidate baselines are determined. Based on the modeling residuals of the candidate baselines, candidate baselines that may have ambiguity errors are identified when the atmospheric modeling coefficients do not meet preset conditions. Target baselines that may have ambiguity errors are eliminated based on the modeling residuals of the candidate baselines. Using relevant data from the reference stations after eliminating target baselines, the atmospheric modeling coefficients and the modeling residuals of the candidate baselines are re-determined. Then, the atmospheric modeling coefficients are determined to meet the preset conditions based on the modeling residuals of the candidate baselines. This process is repeated until the atmospheric modeling coefficients meet the preset conditions based on the modeling residuals of the candidate baselines. Through this dynamically executed cyclic process, target baselines with ambiguity errors are eliminated, resulting in smaller modeling residuals of the candidate baselines under the atmospheric modeling coefficients, thus improving the accuracy and reliability of the atmospheric modeling coefficients.
[0080] In some embodiments, atmospheric modeling coefficients are determined based on coordinate values, observations, ephemeris, and multiple candidate baselines, including: determining the ionospheric delay and tropospheric delay of the reference station based on coordinate values, observations, ephemeris, and multiple candidate baselines; and determining atmospheric modeling coefficients based on the ionospheric delay, tropospheric delay, and coordinate values of the reference station.
[0081] The atmospheric modeling coefficients include: ionospheric modeling coefficients and tropospheric modeling coefficients; the ionospheric modeling coefficients are used to reflect the functional relationship between ionospheric delay and geographical location; the tropospheric modeling coefficients are used to define the functional relationship between process layer delay and geographical location.
[0082] Specifically, the wide-lane ambiguity is determined based on the observations; the ionospheric ambiguity is determined based on multiple candidate baselines, the wide-lane ambiguity, the observations, and the ephemeris; the narrow-lane ambiguity is determined based on the wide-lane ambiguity and the ionospheric ambiguity; the ionospheric delay and tropospheric delay of multiple candidate baselines are determined based on the wide-lane ambiguity, the narrow-lane ambiguity, the coordinates, and the observations; and the ionospheric modeling coefficients and tropospheric modeling coefficients are determined based on the ionospheric delay, tropospheric delay, and coordinates of multiple candidate baselines.
[0083] The determination of wide-lane ambiguity based on observations can be achieved as follows: For the same common-view satellite, based on the observations of the primary reference station A for the common-view satellite S1 at two frequencies, and the observations of the secondary reference station B for the common-view satellite S1 at two frequencies, a combined MW observation value corresponding to the candidate baseline between the primary reference station A and the secondary reference station B is constructed. Based on the combined MW observation value, the initial wide-lane ambiguity corresponding to the candidate baseline is determined. To eliminate the influence of noise, the initial wide-lane ambiguity at multiple epochs is determined in the above manner, and the initial wide-lane ambiguity at multiple epochs is smoothed to obtain the mean of the wide-lane ambiguity. The mean of the wide-lane ambiguity is then rounded to obtain the wide-lane ambiguity.
[0084] The determination of ionospheric ambiguity based on multiple candidate baselines, wide-lane ambiguity, observations, and ephemeris can be achieved as follows: For each candidate baseline, determine the primary reference station A and secondary reference station B corresponding to that baseline; for the same common-view satellite, construct the combined ionospheric observations corresponding to primary reference station A and secondary reference station B based on the observations of primary reference station A for common-view satellite S1 at two frequencies, and the observations of secondary reference station B for common-view satellite S1 at two frequencies; construct the ionospheric observation equation based on the combined ionospheric observations; estimate the ionospheric observation equation using Kalman filtering to obtain the floating-point solution of the ionospheric ambiguity; and perform transformation and LAMBDA search processing based on the wide-lane ambiguity and the floating-point solution of the ionospheric ambiguity to obtain the fixed ionospheric ambiguity.
[0085] The determination of narrow alley ambiguity based on wide alley ambiguity and ionosphere-free ambiguity can be achieved by: calculating the floating-point solution of narrow alley ambiguity based on the mathematical relationship between ionosphere-free ambiguity, wide alley ambiguity, and narrow alley ambiguity, as well as fixed wide alley ambiguity and ionosphere-free ambiguity; and using LAMBDA search to search and verify the floating-point solution of narrow alley ambiguity to obtain fixed narrow alley ambiguity.
[0086] Specifically, determining the ionospheric delay and tropospheric delay of the reference station based on the wide-lane ambiguity, narrow-lane ambiguity, coordinate values, and observation values can be achieved by: obtaining fixed wide-lane ambiguity and narrow-lane ambiguity, determining precise carrier phase observation values, determining residual tropospheric delay and residual ionospheric delay based on precise carrier phase observation values and the distance between the reference station and the common-view satellite; and interpolating the coordinate values of the reference station, residual tropospheric delay, and residual ionospheric delay to obtain the ionospheric delay and tropospheric delay of the reference station.
[0087] The atmospheric modeling coefficients are determined based on the ionospheric delay, tropospheric delay, and coordinate values of the reference station. This can be achieved by: establishing an ionospheric model and a tropospheric model; substituting the ionospheric delay, tropospheric delay, and coordinate values of the reference station into the ionospheric model and the tropospheric model, respectively; and performing least squares adjustment to obtain the ionospheric modeling coefficients and the tropospheric modeling coefficients.
[0088] In the above embodiments, the ionospheric delay and tropospheric delay of the reference station are determined based on coordinate values, observation values, ephemeris, and multiple candidate baselines. Atmospheric modeling coefficients can be quickly determined based on the ionospheric delay and tropospheric delay of the reference station, which improves the efficiency of determining atmospheric modeling coefficients. Furthermore, it provides a basis for calculating the modeling residuals of candidate baselines based on the ionospheric delay and tropospheric delay of the reference station.
[0089] In some embodiments, atmospheric modeling coefficients include ionospheric modeling coefficients and tropospheric modeling coefficients; determining the modeling residuals of multiple candidate baselines based on atmospheric modeling coefficients includes: determining ionospheric and tropospheric estimates for a reference station based on ionospheric modeling coefficients, tropospheric modeling coefficients, and coordinate values; determining the modeling residuals of the reference station based on ionospheric delay, tropospheric delay, ionospheric estimates, and tropospheric estimates; and determining the modeling residuals of multiple candidate baselines based on the modeling residuals of the reference station.
[0090] The modeling residuals of the reference station include the ionospheric modeling residuals and the tropospheric modeling residuals of the reference station.
[0091] Specifically, the ionospheric delay and tropospheric delay are determined based on coordinate values, observations, ephemeris, and multiple candidate baselines. They are used to determine atmospheric modeling coefficients and represent the true ionospheric and tropospheric delays of the reference station.
[0092] Based on the ionospheric modeling coefficients and the tropospheric modeling coefficients, ionospheric model formulas and tropospheric model formulas are constructed respectively. For each reference station, the coordinate values of the reference station are substituted into the ionospheric model formulas and the tropospheric model formulas respectively to obtain the ionospheric estimate and tropospheric estimate corresponding to the reference station.
[0093] The difference between the estimated ionospheric delay corresponding to the reference station and the actual ionospheric delay is used as the ionospheric modeling residual corresponding to the reference station, and the difference between the estimated tropospheric delay corresponding to the reference station and the actual tropospheric delay is used as the tropospheric modeling residual corresponding to the reference station.
[0094] For example, the ionospheric modeling residual and the tropospheric modeling residual corresponding to the reference station are determined according to formulas (3) and (4).
[0095] Formula (3): ;
[0096] Formula (4): ;
[0097] in, It is the actual ionospheric delay at the reference station. This is the ionospheric estimate from the reference station. It is the ionospheric modeling residual of the reference station; It is the actual tropospheric delay at the reference station. This is a tropospheric estimate from the reference station; It is the tropospheric modeling residual of the reference station.
[0098] After determining the ionospheric and tropospheric modeling residuals of the reference stations, for each candidate baseline, the primary and secondary reference stations corresponding to the candidate baseline are determined. Based on the modeling residuals of the primary and secondary reference stations, the inter-station single-difference residuals between the candidate baseline and each common-view satellite are determined. Among the common-view satellites, reference satellites and non-reference satellites are identified. Based on the inter-station single-difference residuals between the candidate baseline and the reference satellites, and the inter-station single-difference residuals between the candidate baseline and the non-reference satellites, the double-difference residuals between the candidate baseline and each non-reference satellite are determined. The double-difference residuals include ionospheric residuals and tropospheric residuals. Therefore, the double-difference residuals between the candidate baseline and each non-reference satellite are the ionospheric modeling residuals and tropospheric modeling residuals of the candidate baseline.
[0099] In the above embodiments, the modeling residuals of the candidate baselines are determined based on the ionospheric delay, tropospheric delay, ionospheric estimate, and tropospheric estimate of the reference station. This allows the modeling residuals of the candidate baselines to effectively reflect the accuracy of the atmospheric modeling coefficients and improve the accuracy of quality assessment of the atmospheric modeling coefficients.
[0100] In a specific example, such as Figure 4 As shown, multiple candidate baselines are determined based on the coordinates, observations, and ephemeris of the reference stations in the reference station network. Specifically, double-difference observations are determined using the coordinates, observations, and ephemeris of the reference stations and the common-view satellites. Double-difference measurement equations are constructed based on these observations. Fixed double-difference ambiguities are obtained by solving the double-difference measurement equations. The fixed double-difference ambiguities are then substituted into the double-difference measurement equations to obtain multiple candidate baselines.
[0101] The wide alley ambiguity is determined based on the observations from the reference station. The narrow alley ambiguity is determined based on multiple candidate baselines, the wide alley ambiguity, the observations, and the ephemeris. The ionospheric delay and tropospheric delay of multiple candidate baselines are determined based on the wide alley ambiguity, the narrow alley ambiguity, the coordinates, and the observations. The ionospheric modeling coefficient and the tropospheric modeling coefficient are determined based on the ionospheric delay, tropospheric delay, and coordinates of multiple candidate baselines.
[0102] Based on the ionospheric modeling coefficients, tropospheric modeling coefficients, and coordinate values, the ionospheric and tropospheric estimates for the reference station are determined; based on the ionospheric delay, tropospheric delay, ionospheric estimates, and tropospheric estimates, the modeling residuals for the reference station are determined; based on the modeling residuals for the reference station, the modeling residuals for multiple candidate baselines are determined.
[0103] Based on the modeling residuals of multiple candidate baselines, determine the total residuals of ionospheric modeling and tropospheric modeling for the reference station network. Based on the total residuals of ionospheric modeling and tropospheric modeling for the reference station network, determine whether the atmospheric modeling coefficients meet the preset conditions, such as whether the total residuals of ionospheric modeling and tropospheric modeling are both less than 0.3. If so, the preset conditions are met; otherwise, the preset conditions are not met.
[0104] If the preset conditions are not met, the target baseline with the largest modeling residual among multiple candidate baselines is removed, and the auxiliary reference stations corresponding to the remaining candidate baselines are used to update the multiple auxiliary reference stations included in the reference station network. Then, the process of determining multiple candidate baselines based on the coordinate values, observation values and ephemeris of the reference stations in the reference station network is resumed.
[0105] If the preset conditions are met, the atmospheric modeling coefficients will be used as the target atmospheric modeling coefficients.
[0106] In this embodiment, multiple candidate baselines are determined based on the coordinates, observations, and ephemeris of the common-view satellites in the reference station network. Atmospheric modeling coefficients are determined based on the coordinates, observations, ephemeris, and multiple candidate baselines. Under the atmospheric modeling coefficients, the modeling residuals of the candidate baselines are determined. Based on the modeling residuals of the candidate baselines, candidate baselines that may have ambiguity errors are identified when the atmospheric modeling coefficients do not meet preset conditions. Target baselines that may have ambiguity errors are eliminated based on the modeling residuals of the candidate baselines. Using relevant data from the reference stations after eliminating target baselines, the atmospheric modeling coefficients and the modeling residuals of the candidate baselines are re-determined. Then, the atmospheric modeling coefficients are determined to meet the preset conditions based on the modeling residuals of the candidate baselines. This process is repeated until the atmospheric modeling coefficients meet the preset conditions based on the modeling residuals of the candidate baselines. Through this dynamically executed cyclic process, target baselines with ambiguity errors are eliminated, resulting in smaller modeling residuals of the candidate baselines under the atmospheric modeling coefficients, thus improving the accuracy and reliability of the atmospheric modeling coefficients.
[0107] It should be understood that although the steps in the flowcharts of the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.
[0108] Figure 5 A schematic diagram of the device for determining atmospheric modeling coefficients provided in this application is shown below. Figure 5 As shown, the atmospheric modeling coefficient determination device 50 provided in this embodiment includes:
[0109] The baseline determination module 501 is used to determine multiple candidate baselines based on the coordinates, observations, and ephemeris of the common-view satellites in the reference station network; the reference stations include a primary reference station and multiple secondary reference stations;
[0110] The modeling residual determination module 502 is used to determine atmospheric modeling coefficients based on coordinate values, observation values, ephemeris and multiple candidate baselines, and to determine the modeling residuals of multiple candidate baselines based on atmospheric modeling coefficients;
[0111] The condition judgment module 503 is used to determine whether the atmospheric modeling coefficients meet the preset conditions based on the modeling residuals of multiple candidate baselines.
[0112] The elimination module 504 is used to determine the target baseline from multiple candidate baselines based on the modeling residuals when the preset conditions are not met, and to eliminate the target baseline.
[0113] The loop module 505 is used to update the multiple auxiliary reference stations included in the reference station network using the auxiliary reference stations corresponding to the remaining candidate baselines, and return to continue executing the step of determining multiple candidate baselines based on the coordinate values, observation values and ephemeris of the reference stations in the reference station network;
[0114] The target determination module 506 is used to use atmospheric modeling coefficients as target atmospheric modeling coefficients when preset conditions are met.
[0115] In some embodiments, the modeling residuals include ionospheric modeling residuals and tropospheric modeling residuals; the condition judgment module is used to determine the total ionospheric modeling residuals of the reference station network based on the ionospheric modeling residuals of multiple candidate baselines; to determine the total tropospheric modeling residuals of the reference station network based on the tropospheric modeling residuals of multiple candidate baselines; and to determine whether the atmospheric modeling coefficients meet preset conditions based on the total ionospheric modeling residuals and the total tropospheric modeling residuals.
[0116] In some embodiments, the condition judgment module determines a first sum of squares based on the ionospheric modeling residuals of multiple candidate baselines; determines the total ionospheric modeling residual of the reference station network based on the first sum of squares; determines a second sum of squares based on the tropospheric modeling residuals of multiple candidate baselines; and determines the total tropospheric modeling residual of the reference station network based on the second sum of squares.
[0117] In some embodiments, the modeling residuals include ionospheric modeling residuals and tropospheric modeling residuals; the baseline determination module is used to determine the total baseline residual of each candidate baseline based on the ionospheric modeling residuals and tropospheric modeling residuals of the candidate baseline; determine the largest total baseline residual among the total baseline residuals of multiple candidate baselines; and take the candidate baseline corresponding to the largest total baseline residual as the target baseline.
[0118] In some embodiments, the modeling residual determination module is used to determine the ionospheric delay and tropospheric delay of the reference station based on coordinate values, observation values, ephemeris and multiple candidate baselines; and to determine atmospheric modeling coefficients based on the ionospheric delay, tropospheric delay and coordinate values of the reference station.
[0119] In some embodiments, atmospheric modeling coefficients include ionospheric modeling coefficients and tropospheric modeling coefficients; the modeling residual determination module is used to determine the ionospheric estimate and tropospheric estimate of the reference station based on the ionospheric modeling coefficients, tropospheric modeling coefficients, and coordinate values; determine the modeling residual of the reference station based on the ionospheric delay, tropospheric delay, ionospheric estimate, and tropospheric estimate; and determine the modeling residual of multiple candidate baselines based on the modeling residual of the reference station.
[0120] The atmospheric modeling coefficient determination device provided in this embodiment can execute the atmospheric modeling coefficient determination method provided in the above method embodiment. Its implementation principle and technical effect are similar, and will not be described in detail here.
[0121] Figure 6 A schematic diagram of the structure of the electronic device provided in this application. Figure 6 As shown, the electronic device 60 provided in this embodiment includes at least one processor 601 and a memory 602. Optionally, the device 60 further includes a communication component 603. The processor 601, memory 602, and communication component 603 are connected via a bus.
[0122] In a specific implementation, at least one processor 601 executes computer execution instructions stored in memory 602, causing at least one processor 601 to perform the above-described method.
[0123] The specific implementation process of processor 601 can be found in the above method embodiments, and its implementation principle and technical effect are similar. It will not be repeated here.
[0124] In the above embodiments, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor.
[0125] The memory may include random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage device.
[0126] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.
[0127] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described method.
[0128] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the above-described method.
[0129] The aforementioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.
[0130] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and the readable storage medium can exist as discrete components in the device.
[0131] The division of units is merely a logical functional division; in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.
[0132] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.
[0133] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.
[0134] If a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.
[0135] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.
[0136] Finally, it should be noted that other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.
Claims
1. A method for determining atmospheric modeling coefficients, characterized in that, include: Multiple candidate baselines are determined based on the coordinates, observations, and ephemeris of the reference stations in the reference station network; The reference station includes a main reference station and multiple auxiliary reference stations; Based on the coordinate values, the observed values, the ephemeris, and the multiple candidate baselines, atmospheric modeling coefficients are determined, and modeling residuals of the multiple candidate baselines are determined based on the atmospheric modeling coefficients. Based on the modeling residuals of the multiple candidate baselines, determine whether the atmospheric modeling coefficients meet the preset conditions; If the preset conditions are not met, a target baseline is determined from the multiple candidate baselines based on the modeling residuals, and the target baseline is then eliminated. The auxiliary reference stations in the reference station network are updated using the auxiliary reference stations corresponding to the remaining candidate baselines, and the process returns to continue executing the step of determining multiple candidate baselines based on the coordinate values, observation values, and ephemeris of the reference stations in the reference station network; Under the condition that the preset conditions are met, the atmospheric modeling coefficient is taken as the target atmospheric modeling coefficient.
2. The method according to claim 1, characterized in that, The modeling residuals include ionospheric modeling residuals and tropospheric modeling residuals; determining whether the atmospheric modeling coefficients meet preset conditions based on the modeling residuals of the multiple candidate baselines includes: Based on the ionospheric modeling residuals of the multiple candidate baselines, the total ionospheric modeling residual of the reference station network is determined. Based on the tropospheric modeling residuals of the multiple candidate baselines, the total tropospheric modeling residuals of the reference station network are determined. Based on the total residual of the ionospheric modeling and the total residual of the tropospheric modeling, determine whether the atmospheric modeling coefficients meet the preset conditions.
3. The method according to claim 2, characterized in that, The determination of the total ionospheric modeling residual of the reference station network based on the ionospheric modeling residuals of the multiple candidate baselines includes: The first sum of squares is determined based on the ionospheric modeling residuals of the multiple candidate baselines; The total residual for ionospheric modeling of the reference station network is determined based on the first sum of squares; The determination of the total tropospheric modeling residual of the reference station network based on the tropospheric modeling residuals of the multiple candidate baselines includes: The second sum of squares is determined based on the tropospheric modeling residuals of the multiple candidate baselines; The total residual for tropospheric modeling of the reference station network is determined based on the second sum of squares.
4. The method according to claim 1, characterized in that, The modeling residuals include ionospheric modeling residuals and tropospheric modeling residuals; The step of determining the target baseline from the plurality of candidate baselines based on the modeling residuals includes: For each candidate baseline, the total baseline residual is determined based on the ionospheric modeling residual and the tropospheric modeling residual of the candidate baseline. Determine the largest total baseline residual among the total baseline residuals of the plurality of candidate baselines; The candidate baseline corresponding to the largest total baseline residual is taken as the target baseline.
5. The method according to any one of claims 1 to 4, characterized in that, The determination of atmospheric modeling coefficients based on the coordinate values, the observed values, the ephemeris, and the multiple candidate baselines includes: Based on the coordinate values, the observation values, the ephemeris, and the multiple candidate baselines, the ionospheric delay and tropospheric delay of the reference station are determined. Atmospheric modeling coefficients are determined based on the ionospheric delay of the reference station, the tropospheric delay, and the coordinate values.
6. The method according to claim 5, characterized in that, The atmospheric modeling coefficients include ionospheric modeling coefficients and tropospheric modeling coefficients; The determination of the modeling residuals of the multiple candidate baselines based on the atmospheric modeling coefficients includes: Based on the ionospheric modeling coefficients, the tropospheric modeling coefficients, and the coordinate values, the estimated values of the ionospheric and tropospheric spheres of the reference station are determined. The modeling residuals of the reference station are determined based on the ionospheric delay, the tropospheric delay, the ionospheric estimate, and the tropospheric estimate. The modeling residuals of the multiple candidate baselines are determined based on the modeling residuals of the reference station.
7. A device for determining atmospheric modeling coefficients, characterized in that, The device includes: The baseline determination module is used to determine multiple candidate baselines based on the coordinates, observations, and ephemeris of the common-view satellites in the reference station network; the reference stations include a primary reference station and multiple secondary reference stations; The modeling residual determination module is used to determine atmospheric modeling coefficients based on the coordinate values, the observed values, the ephemeris, and the multiple candidate baselines, and to determine the modeling residuals of the multiple candidate baselines based on the atmospheric modeling coefficients; The condition judgment module is used to determine whether the atmospheric modeling coefficients meet preset conditions based on the modeling residuals of the multiple candidate baselines. The elimination module is used to determine the target baseline from the multiple candidate baselines based on the modeling residuals when the preset conditions are not met, and to eliminate the target baseline. The loop module is used to update the multiple auxiliary reference stations included in the reference station network using the auxiliary reference stations corresponding to the remaining candidate baselines, and then return to continue executing the step of determining multiple candidate baselines based on the coordinate values, observation values and ephemeris of the reference stations in the reference station network; The target determination module is used to select the atmospheric modeling coefficients as target atmospheric modeling coefficients when preset conditions are met.
8. An electronic device, characterized in that, include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory to implement the method as described in any one of claims 1 to 6.
9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method as described in any one of claims 1 to 6.
10. A computer program product, characterized in that, Includes computer execution instructions, which, when executed by a processor, implement the method as described in any one of claims 1 to 6.