Method and device for evaluating differential correction precision of reference station network, equipment and medium

Abstract

The invention provides a reference station network differential correction precision evaluation method, device and equipment and a medium, and the method comprises the steps: taking the coverage of each reference station in a reference station network as a purpose, constructing a virtual monitoring station for the reference station, and enabling every three virtual monitoring stations to form a triangular monitoring unit; performing exception elimination on the to-be-selected satellites which can be observed by the reference station differential correction based on the monitoring unit to obtain a target satellite after exception elimination; and based on the observation data of the target satellite and all the monitoring units, evaluating the positioning precision of the base station network. According to the embodiment of the invention, a mode of constructing the virtual monitoring station for each reference station is adopted, all-weather evaluation of the precision of the reference stations is realized, and the accuracy of the used data is ensured.

Description

Technical Field

[0001] This application relates to the field of satellite positioning technology, and more specifically, to a method, apparatus, equipment, and medium for evaluating the differential correction accuracy of a reference station network. Background Technology

[0002] With the accelerating pace of global digitalization, spatiotemporal information and positioning and navigation services have become important new infrastructure. Centimeter-level real-time differential positioning assisted by reference station networks has become a standard method for high-precision positioning in satellite navigation systems and has been widely applied.

[0003] With the rapid development of intelligent driving and the low-altitude economy, the security and reliability of real-time high-precision differential positioning have become crucial. Current base station network services primarily rely on statistical analysis of ionospheric and tropospheric interpolation model errors to assess overall accuracy, or introduce individual independent physical check stations (non-networked base stations) to compare positioning results with known coordinates for accuracy evaluation. Currently, establishing sporadic physical check stations within the base station network to evaluate differential corrections for individual base stations incurs an annual maintenance cost of approximately 86,000 yuan per physical base station, making it impractical to establish a physical check station for every base station. These existing methods cannot provide 24 / 7 accuracy evaluation of the differential information generated by each base station, and the construction and maintenance costs of physical check stations are substantial. Summary of the Invention

[0004] In view of this, the purpose of this application is to provide a method, apparatus, equipment and medium for evaluating the differential correction accuracy of a reference station network, so as to overcome the problems in the prior art.

[0005] In a first aspect, embodiments of this application provide a method for evaluating the differential correction accuracy of a reference station network, the method comprising: With the aim of covering each base station in the base station network, virtual monitoring stations are constructed for the base stations, wherein every three virtual monitoring stations form a triangular monitoring unit; Based on the monitoring unit, anomalies are eliminated from the candidate satellites observable by the differential correction of the reference station, and the target satellites after anomaly elimination are obtained. Based on the observation data of the target satellite and all monitoring units, the positioning accuracy of the reference station network is evaluated.

[0006] In some technical solutions of this application, the above-mentioned virtual monitoring stations are constructed for the purpose of covering each base station in the base station network. Each set of three virtual monitoring stations forms a triangular monitoring unit, including: From the Delaunay triangulation constructed with the base stations as vertices, select independent triangles that cover all base stations as target triangles; Using the center of the circumcircle of the target triangle as the center, each vertex of the target triangle is scaled down proportionally to obtain the virtual monitoring station corresponding to the base station at each vertex. The three virtual monitoring stations corresponding to the target triangle constitute a monitoring unit.

[0007] In some technical solutions of this application, the above-mentioned anomaly elimination of candidate satellites observable by differential correction of the reference station based on the monitoring unit to obtain the target satellite after anomaly elimination includes: Based on the monitoring unit, the candidate satellites are individually anomaly eliminated to obtain the preliminary selected satellites after elimination; The initial satellites are subjected to multi-satellite anomaly elimination to obtain the target satellites after elimination.

[0008] In some technical solutions of this application, the above-mentioned method of eliminating individual satellite anomalies based on the monitoring unit to obtain a preliminary selection of satellites includes: Based on the observation data of the candidate satellite at the reference station at each vertex of the target triangle and the corresponding virtual monitoring station, the observation error of the candidate satellite at the virtual monitoring station of the monitoring unit corresponding to the target triangle is calculated. Based on the observation error and error threshold, the candidate satellites are excluded from single-satellite anomaly screening to obtain the preliminary selected satellites.

[0009] In some technical solutions of this application, the above-mentioned multi-satellite anomaly elimination of the preliminary satellites to obtain the excluded target satellites includes: Based on the observation error of the initial satellite, chi-square distribution monitoring is performed, and multiple satellite anomalies are eliminated from the initial satellite to obtain the target satellite after elimination.

[0010] In some technical solutions of this application, the above-mentioned evaluation of the positioning accuracy of the reference station network based on the observation data of the target satellite and all monitoring units includes: Based on the monitoring unit, the root mean square error of the observed values ​​and the standard deviation of the positioning of the target satellite observation data are calculated; The positioning accuracy of the reference station network is evaluated by combining the root mean square error and positioning standard deviation of the observations from all monitoring units.

[0011] Secondly, embodiments of this application provide an evaluation device for the differential correction accuracy of a reference station network, the device comprising: A construction module is used to construct virtual monitoring stations for the reference stations with the aim of covering each reference station in the reference station network, wherein every three virtual monitoring stations form a triangular monitoring unit; The exclusion module is used to exclude anomalies from the candidate satellites observable by the differential correction of the base station based on the monitoring unit, so as to obtain the target satellites after anomaly exclusion. The evaluation module is used to evaluate the positioning accuracy of the reference station network based on the observation data of the target satellite and all monitoring units.

[0012] Thirdly, embodiments of this application provide an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the above-described method for evaluating the differential correction accuracy of a reference station network.

[0013] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the steps of the above-described method for evaluating the differential correction accuracy of a reference station network.

[0014] The technical solutions provided by the embodiments of this application may include the following beneficial effects: This application's method includes constructing virtual monitoring stations for each reference station in a reference station network, wherein every three virtual monitoring stations form a triangular monitoring unit; based on the monitoring units, anomaly elimination is performed on the candidate satellites observable by differential correction for each reference station to obtain the target satellites after anomaly elimination; based on the observation data of the target satellites and all monitoring units, the positioning accuracy of the reference station network is evaluated. This application's embodiment, by constructing virtual monitoring stations for each reference station, achieves all-weather evaluation of the reference station accuracy, ensuring the accuracy of the data used.

[0015] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 A flowchart illustrating a method for evaluating the differential correction accuracy of a reference station network provided in an embodiment of this application is shown. Figure 2 This illustration shows a schematic diagram of a specific implementation of a method for evaluating the differential correction accuracy of a reference station network provided in an embodiment of this application; Figure 3 A schematic diagram of a target triangle provided in an embodiment of this application is shown; Figure 4 A schematic diagram of a virtual monitoring station provided in an embodiment of this application is shown; Figure 5 A schematic diagram of an evaluation device for the differential correction accuracy of a reference station network provided in an embodiment of this application is shown; Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the accompanying drawings in this application are for illustrative and descriptive purposes only and are not intended to limit the scope of protection of this application. Furthermore, it should be understood that the schematic drawings are not drawn to scale. The flowcharts used in this application illustrate operations implemented according to some embodiments of this application. It should be understood that the operations in the flowcharts may not be implemented in sequence, and steps without logical contextual relationships may be reversed or implemented simultaneously. In addition, those skilled in the art, guided by the content of this application, may add one or more other operations to the flowcharts, or remove one or more operations from the flowcharts.

[0019] Furthermore, the described embodiments are merely some, not all, of the embodiments of this application. The components of the embodiments of this application described and illustrated herein can typically be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0020] It should be noted that the term "comprising" will be used in the embodiments of this application to indicate the presence of the features declared thereafter, but does not exclude the addition of other features.

[0021] With the accelerating pace of global digitalization, spatiotemporal information and positioning and navigation services have become important new infrastructure. Centimeter-level real-time differential positioning assisted by reference station networks has become a standard method for high-precision positioning in satellite navigation systems and has been widely applied.

[0022] With the rapid development of intelligent driving and the low-altitude economy, the security and reliability of real-time high-precision differential positioning have become crucial. Current base station network services primarily rely on statistical analysis of ionospheric and tropospheric interpolation model errors to assess overall accuracy, or introduce individual independent physical check stations (non-networked base stations) to compare positioning results with known coordinates for accuracy evaluation. Currently, establishing sporadic physical check stations within the base station network to evaluate differential corrections for individual base stations incurs an annual maintenance cost of approximately 86,000 yuan per physical base station, making it impractical to establish a physical check station for every base station. These existing methods cannot provide 24 / 7 accuracy evaluation of the differential information generated by each base station, and the construction and maintenance costs of physical check stations are substantial.

[0023] Based on this, this application provides a method, apparatus, device, and medium for evaluating the differential correction accuracy of a reference station network, which will be described below through embodiments.

[0024] Figure 1 The diagram illustrates a flowchart of a method for evaluating the differential correction accuracy of a reference station network according to an embodiment of this application. The method includes steps S101-S103; specifically: S101. To cover each base station in the base station network, construct virtual monitoring stations for the base stations, wherein every three virtual monitoring stations form a triangular monitoring unit; S102. Based on the monitoring unit, anomalies are eliminated from the candidate satellites observable by the differential correction of the reference station to obtain the target satellites after anomaly elimination. S103. Based on the observation data of the target satellite and all monitoring units, evaluate the positioning accuracy of the reference station network.

[0025] This application's embodiment adopts a method of constructing a virtual monitoring station for each base station, which enables all-weather evaluation of the base station's accuracy and ensures the accuracy of the data used.

[0026] The following describes some embodiments of this application in detail. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0027] Reference stations are a new type of infrastructure in satellite navigation systems (such as BeiDou and GPS), primarily used to provide data support for high-precision positioning services. A reference station is a fixed ground-based observation station that continuously observes satellite navigation signals over a long period and transmits differential data to a data center in real-time or periodically via communication facilities. Multiple reference stations are typically established on the ground to form a reference station network for service provision.

[0028] To achieve the evaluation of each base station in the base station network, this application embodiment adopts a method of constructing virtual monitoring stations for each base station in the base station network. When constructing virtual monitoring stations, it is necessary to ensure comprehensive coverage of each base station in the base station network.

[0029] In an optional embodiment, this application employs a Delaunay triangulation method to cover each base station in the base station network. Specifically, each base station is treated as a vertex, and the base stations are connected into triangles using the Delaunay triangulation algorithm to obtain the Delaunay triangulation. Then, target triangles are extracted from the Delaunay triangulation. It should be noted that the target triangles in this application include independent triangles and non-independent triangles. Whether the target triangles include non-independent triangles is determined by the number of base stations. An independent triangle is one where each triangle has three independent vertices, meaning that the vertices of one triangle are not reused by another triangle.

[0030] In specific implementation, such as Figure 2 and Figure 3 As shown, the target triangle can be extracted by following these steps: S1011. Calculation of the number of target triangles: Divide the number of base stations by 3. If the remainder is zero, the quotient is the number of target triangles. It should be noted that each target triangle in this case is a truly independent triangle (without a common vertex). If the remainder is not zero, the quotient + 1 is the number of target triangles. It should be noted that the target triangles in this case include independent triangles and two non-independent triangles, which share a remainder of a certain number of common vertices. That is, in this embodiment, when the number of base stations is a multiple of 3, the target triangles include independent triangles; otherwise, the target triangles include both independent and non-independent triangles.

[0031] S1012. Create empty sets T and S. S is used to store the finally selected independent triangles, and T is used to store the triangles in the base station's triangulation network. When using T and S for allocation, the priority of allocation is based on how close the triangle is to an equilateral triangle. Specifically, the priority score is the sum of the absolute values ​​of the deviations of the three angles of the triangle from 60°.

[0032] S1013. Select a triangle t with high priority from set T. Iterate through the triangles s in set S. If t shares a vertex or edge with s, then t is "coherent" and the current triangle is skipped. If t is incoherent, add t to set S and remove all triangles that share a vertex or edge with t from set T.

[0033] S1014. Repeat S1013. If the remainder when the number of base stations is divided by 3 is zero, continue until set T is empty. If the remainder when the number of base stations is divided by 3 is not zero, stop and directly put the last triangle in T into S. Finally, obtain the set S of the target triangles.

[0034] After obtaining the target triangles, this embodiment constructs virtual monitoring stations by proportionally reducing the size of the target triangles. Specifically, taking the circle of the circumcircle of the target triangle as the center, each vertex of the target triangle is proportionally reduced to obtain the virtual monitoring station corresponding to the base station at each vertex. The three virtual monitoring stations corresponding to the target triangle constitute a monitoring unit.

[0035] In practice, the following steps can be followed: Figure 4 As shown, for example, the coordinates of the three vertices of the target triangle of the base station network are A(x1,y1), B(x2,y2), and C(x3,y3); The circumcenter O(x, y) can be represented as:

[0036]

[0037] Monitoring stations A′, B′, and C′ are generated proportionally along the line connecting the center O and the base stations A, B, and C. Let the scaling parameter be t, and the corresponding coordinates be... , , The coordinates of virtual monitoring stations A′, B′, and C′ can be represented as: ; ; ; Repeat the above steps to determine the virtual monitoring station corresponding to each base station.

[0038] After obtaining the virtual monitoring stations of each reference station, in order to ensure the accuracy of the evaluation process, the reference station in this embodiment of the application performs anomaly elimination on the candidate satellites generated by the corresponding virtual monitoring stations with differential correction, and obtains the target satellite after anomaly elimination. Then, the positioning accuracy is evaluated based on the observation data of the target satellite.

[0039] In an optional implementation, in S102 above, in order to improve the elimination efficiency, according to the generation method of each virtual monitoring station, the virtual monitoring stations in this application embodiment constitute a monitoring unit, and then the anomaly of the satellite to be selected is eliminated based on the monitoring unit.

[0040] Furthermore, when performing anomaly elimination on the candidate satellites based on the monitoring unit, to avoid missing any abnormal satellites, this application embodiment uses different anomaly elimination methods to eliminate anomalies on the candidate satellites respectively. These different anomaly elimination methods can be two, three, etc. Preferably, this application embodiment uses two anomaly elimination methods to eliminate anomalies on the candidate satellites. Specifically, the two anomaly elimination methods include a single-satellite elimination method and a multi-satellite elimination method. Therefore, in specific implementation, S102 includes: performing single-satellite anomaly elimination on the candidate satellites based on the monitoring unit to obtain the initially selected satellites after elimination; and performing multi-satellite anomaly elimination on the initially selected satellites to obtain the target satellites after elimination.

[0041] In an optional implementation, for the single-satellite exclusion method: based on the observation data of the candidate satellite at the reference station at each vertex of the target triangle corresponding to the virtual monitoring station, the observation error of the candidate satellite at the virtual monitoring station of the monitoring unit corresponding to the target triangle is calculated; based on the observation error and the error threshold, the candidate satellite is excluded from single-satellite anomaly exclusion to obtain the initially selected satellites after exclusion.

[0042] Specifically, for single-satellite exclusion, a single-satellite threshold monitoring method is used. The double-difference ambiguity of the three baselines in the monitoring unit is calculated by direct rounding and then checked for zero sum of closed polygons.

[0043]

[0044] Select two baselines, construct inter-station and inter-satellite differential observation equations for each common satellite, and calculate the observation error of a single candidate satellite:

[0045] in, For BeiDou phase frequency point identification, The identifier for the candidate satellites, For carrier phase observations, For wavelength, For integer ambiguity, The geometric distance between the stars is the distance between the stations. Here, v represents the observation noise, and v represents the observation residual. For station-to-star double difference operators.

[0046] Calculate the residual threshold based on the elevation angle of the candidate satellites:

[0047] in, This is the satellite's elevation angle.

[0048] Determine if the residual of the candidate satellite exceeds the limit (in centimeters). If it does, the satellite's accuracy is deemed substandard, and it is eliminated from the candidate list. Repeat the above steps for all monitoring units to obtain the initial selection of satellites.

[0049] In an optional implementation, for the multi-satellite exclusion method: chi-square distribution monitoring is performed based on the observation error of the initial satellites to exclude multiple satellite anomalies from the initial satellites, thereby obtaining the excluded target satellites.

[0050] Specifically, the multi-satellite exclusion method is single-epoch multi-satellite chi-square distribution monitoring: According to the invariance of Gaussian linear transformation, Let V be the residual vector of all visible satellites (initial selected satellites). Calculate the standardized variable SSE of V:

[0051] Determine whether SSE follows a sequence of n degrees of freedom X 2 Distribution, where n is the number of available satellites (initial selection satellites). If the distribution does not comply, the satellite with the largest error among the initial selection satellites is removed and recorded, and the calculation is repeated until it is qualified. If the number of initial selection satellites is less than 5 (preset quantity threshold), the epoch is deemed unqualified.

[0052] If a baseline epoch is found to be non-compliant, the third baseline of the monitoring unit will be activated for judgment. If the original two baselines were non-compliant, and two of the three baselines are non-compliant, then there is a problem with the common reference station. If all three baselines are non-compliant, then this monitoring unit epoch is non-compliant.

[0053] Repeat the above steps for all monitoring units to obtain the target satellite.

[0054] In an optional implementation, when performing a reliable assessment of positioning accuracy, this embodiment of the application calculates the root mean square error and positioning standard deviation of the target satellite observation data based on the monitoring unit; and evaluates the positioning accuracy of the reference station network by integrating all monitoring units based on the root mean square error and positioning standard deviation of the monitoring unit's observation data.

[0055] Specifically, the three baselines of the monitoring unit are relatively positioned, and the coordinates of another reference station are calculated sequentially using each reference station as the starting point. The calculations are performed using the three frequency points of the BDS, and the observation equations are as follows:

[0056] Where B is the coefficient matrix of the observation equation, and X is the position correction vector (a quantity to be determined).

[0057] Calculate the root mean square error (RMSE) of the observations at each frequency point, with the mean of the three frequency points serving as the index:

[0058] Calculate the standard deviation of the positioning for the three baselines. The average of the differences between the positioning values ​​and the true values ​​at the three frequency points of the BDS for the three baselines is used as the index.

[0059] Each monitoring unit uses RMSE and As the final reliable indicator of accuracy, it meets the requirements of 3cm for horizontal plane and 5cm for vertical plane.

[0060] Based on the service principle of the reference station network, this application establishes virtual monitoring stations corresponding one-to-one with the reference stations. Using independent triangles as monitoring units, it achieves monitoring of all reference stations by single satellite, single epoch, and single monitoring unit. This evaluates the magnitude of the observation residuals of visible satellites, the consistency analysis of residuals from multiple satellites, and the relative positioning accuracy between monitoring stations, thereby realizing the accuracy assessment of the triangular monitoring units. Furthermore, by using all independent monitoring units, the efficiency and scope of monitoring are improved, achieving the assessment of the differential correction accuracy of all reference stations. This comprehensively ensures the reliability of differential correction while avoiding the high costs associated with physical monitoring stations.

[0061] Figure 5 This illustration shows a schematic diagram of a device for evaluating the differential correction accuracy of a reference station network according to an embodiment of this application. The device includes: A construction module is used to construct virtual monitoring stations for the reference stations with the aim of covering each reference station in the reference station network, wherein every three virtual monitoring stations form a triangular monitoring unit; The exclusion module is used to exclude anomalies from the candidate satellites observable by the differential correction of the base station based on the monitoring unit, so as to obtain the target satellites after anomaly exclusion. The evaluation module is used to evaluate the positioning accuracy of the reference station network based on the observation data of the target satellite and all monitoring units.

[0062] To cover all base stations in the base station network, virtual monitoring stations are constructed for the base stations, wherein every three virtual monitoring stations form a triangular monitoring unit, including: From the Delaunay triangulation constructed with the base stations as vertices, select independent triangles that cover all base stations as target triangles; Using the center of the circumcircle of the target triangle as the center, each vertex of the target triangle is scaled down proportionally to obtain the virtual monitoring station corresponding to the base station at each vertex. The three virtual monitoring stations corresponding to the target triangle constitute a monitoring unit.

[0063] Based on the monitoring unit, anomalies are eliminated from the candidate satellites observable by the differential correction of the reference station, resulting in target satellites after anomaly elimination, including: Based on the monitoring unit, the candidate satellites are individually anomaly eliminated to obtain the preliminary selected satellites after elimination; The initial satellites are subjected to multi-satellite anomaly elimination to obtain the target satellites after elimination.

[0064] The step of performing single-satellite anomaly elimination on the candidate satellites based on the monitoring unit to obtain the preliminary selected satellites after elimination includes: Based on the observation data of the candidate satellite at the reference station at each vertex of the target triangle and the corresponding virtual monitoring station, the observation error of the candidate satellite at the virtual monitoring station of the monitoring unit corresponding to the target triangle is calculated. Based on the observation error and error threshold, the candidate satellites are excluded from single-satellite anomaly screening to obtain the preliminary selected satellites.

[0065] The process of eliminating multiple satellite anomalies from the initially selected satellites to obtain the excluded target satellites includes: Based on the observation error of the initial satellite, chi-square distribution monitoring is performed, and multiple satellite anomalies are eliminated from the initial satellite to obtain the target satellite after elimination.

[0066] The evaluation of the positioning accuracy of the reference station network based on the observation data of the target satellite and all monitoring units includes: Based on the monitoring unit, the root mean square error of the observed values ​​and the standard deviation of the positioning of the target satellite observation data are calculated; The positioning accuracy of the reference station network is evaluated by combining the root mean square error and positioning standard deviation of the observations from all monitoring units.

[0067] like Figure 6 As shown, this application provides an electronic device for executing the method for evaluating the differential correction accuracy of a reference station network in this application. The device includes a memory, a processor, a bus, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps of the method for evaluating the differential correction accuracy of a reference station network.

[0068] Specifically, the aforementioned memory and processor can be general-purpose memory and processor, without any specific limitations. When the processor runs the computer program stored in the memory, it can execute the aforementioned method for evaluating the differential correction accuracy of the reference station network.

[0069] Corresponding to the method for evaluating the differential correction accuracy of a reference station network in this application, this application also provides a computer-readable storage medium storing a computer program, which is executed by a processor to perform the steps of the above-described method for evaluating the differential correction accuracy of a reference station network.

[0070] Specifically, the storage medium can be a general-purpose storage medium, such as a removable disk or hard disk. When the computer program on the storage medium is run, it can execute the aforementioned evaluation method for the differential correction accuracy of the reference station network.

[0071] In the embodiments provided in this application, it should be understood that the disclosed systems and methods can be implemented in other ways. The system embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and there may be other division methods in actual implementation. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the coupling or direct coupling or communication connection shown or discussed may be through some communication interface; the indirect coupling or communication connection between systems or units may be electrical, mechanical, or other forms.

[0072] 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; 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.

[0073] In addition, the functional units in the embodiments provided in this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0074] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion 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 described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0075] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. In addition, the terms "first", "second", "third", etc. are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0076] Finally, it should be noted that the above-described embodiments are merely specific implementations of this application, used to illustrate the technical solutions of this application, and not to limit them. The protection scope of this application is not limited thereto. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features, within the scope of the technology disclosed in this application; and these modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application. All should be covered within the protection scope of this application. Therefore, the protection scope of this application should be determined by the protection scope of the claims.

Claims

1. A method for evaluating the accuracy of differential correction of a reference station network, characterized in that, The method includes: With the aim of covering each base station in the base station network, virtual monitoring stations are constructed for the base stations, wherein every three virtual monitoring stations form a triangular monitoring unit; Based on the monitoring unit, anomalies are eliminated from the candidate satellites observable by the differential correction of the reference station, and the target satellites after anomaly elimination are obtained. Based on the observation data of the target satellite and all monitoring units, the positioning accuracy of the reference station network is evaluated.

2. The method according to claim 1, characterized in that, The purpose is to construct virtual monitoring stations for each base station in the base station network, wherein every three virtual monitoring stations form a triangular monitoring unit, including: From the Delaunay triangulation constructed with the base stations as vertices, select independent triangles that cover all base stations as target triangles; Using the center of the circumcircle of the target triangle as the center, each vertex of the target triangle is scaled down proportionally to obtain the virtual monitoring station corresponding to the base station at each vertex. The three virtual monitoring stations corresponding to the target triangle constitute a monitoring unit.

3. The method according to claim 1, characterized in that, The process of anomaly elimination based on the monitoring unit for the observable candidate satellites of the base station after differential correction, to obtain the target satellites after anomaly elimination, includes: Based on the monitoring unit, the candidate satellites are individually anomaly eliminated to obtain the preliminary selected satellites after elimination; The initial satellites are subjected to multi-satellite anomaly elimination to obtain the target satellites after elimination.

4. The method according to claim 3, characterized in that, The step of performing single-satellite anomaly elimination on the candidate satellites based on the monitoring unit to obtain the preliminary selected satellites after elimination includes: Based on the observation data of the candidate satellite at each vertex of the target triangle from the reference station at the corresponding virtual monitoring station, the observation error of the candidate satellite at the virtual monitoring station of the monitoring unit corresponding to the target triangle is calculated. Based on the observation error and error threshold, the candidate satellites are excluded from single-satellite anomaly screening to obtain the preliminary selected satellites.

5. The method according to claim 3, characterized in that, The process of eliminating multiple satellite anomalies from the initially selected satellites to obtain the excluded target satellites includes: Based on the observation error of the initial satellite, chi-square distribution monitoring is performed, and multiple satellite anomalies are eliminated from the initial satellite to obtain the target satellite after elimination.

6. The method according to claim 1, characterized in that, The evaluation of the positioning accuracy of the reference station network based on the observation data of the target satellite and all monitoring units includes: Based on the monitoring unit, the root mean square error of the observed values ​​and the standard deviation of the positioning of the target satellite observation data are calculated; The positioning accuracy of the reference station network is evaluated by combining the root mean square error and positioning standard deviation of the observations from all monitoring units.

7. An evaluation device for the differential correction accuracy of a reference station network, characterized in that, The device includes: A construction module is used to construct virtual monitoring stations for the reference stations with the aim of covering each reference station in the reference station network, wherein every three virtual monitoring stations form a triangular monitoring unit; The exclusion module is used to exclude anomalies from the candidate satellites observable by the differential correction of the reference station based on the monitoring unit, so as to obtain the target satellites after anomaly exclusion. The evaluation module is used to evaluate the positioning accuracy of the reference station network based on the observation data of the target satellite and all monitoring units.

8. An electronic device, characterized in that, include: The device includes a processor, a memory, and a bus. The memory stores machine-readable instructions executable by the processor. When the electronic device is running, the processor communicates with the memory via the bus. When the machine-readable instructions are executed by the processor, they perform the steps of the method for evaluating the differential correction accuracy of a reference network 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 a computer program that, when executed by a processor, performs the steps of the method for evaluating the accuracy of the differential correction of the reference network as described in any one of claims 1 to 6.

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