Method and device for calculating coordinate frame based on automatic PPP and network adjustment process
Patent Information
- Application Number
- CN202610340503.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-03-19
- Publication Date
- 2026-10-30
AI Technical Summary
[0005]本发明提供了基于自动PPP和网平差流程的坐标框架计算方法及装置，解决现有技术在参考框架获取难度大、更新速度慢以及依赖外部数据源等方面的问题，提供一种更加自主、快速、精确和可靠的坐标框架计算方法
本发明通过集成全球均匀分布的70个IGS参考站和200余个自建站，构建了一个庞大的站网系统。这些自建站包含了多种接收机类型和天线类型，支持多频多模GNSS数据的接收和处理，自建站网络的集成提高了数据的自主性和安全性，减少对外部数据源（如IGS站）的依赖。同时，多频多模的支持也增强了数据的多样性和丰富性，为后续的精密数据处理提供了更广泛的选择。
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Abstract
Description
Technical Field
[0001] This invention belongs to the field of satellite navigation and positioning technology, specifically relating to a coordinate frame calculation method and apparatus based on automatic PPP and network adjustment processes. Background Technology
[0002] With the Global Navigation Satellite System (GNSS), Very Long Baseline Interferometry (VLBI), Satellite Laser Ranging (SLR), and Doppler Radio Positioning System (DORIS) becoming indispensable observation technologies for establishing global or regional coordinate frames, geocentric coordinate systems and their frames are gradually replacing traditional geocentric coordinate systems and their frames. The International Earth Reference System (ITRS) and its implementation, the International Earth Reference Frame (ITRF), are currently the most theoretically sound, widely used, and accurate global geocentric coordinate frames, providing a unified spatial reference for other global and regional coordinate frames.
[0003] The regional coordinate frame is based on ITRF and has established the BDS official Earth Reference Frame product, BDCS. The BDCS (2019V01) frame consists of over 100 globally distributed ground stations containing BeiDou dual-frequency data, including IGS reference stations, terrestrial network stations, IGS / MGEX, and IGMAS monitoring stations. Alignment with ITRF2014 is achieved through minimum constraints using 31 IGS stations, with centimeter-level consistency. However, the current reference frame faces two problems: first, data acquisition is difficult (terrestrial network station data is not publicly available), limiting the frame's autonomy and flexibility; second, the coordinate frame's update speed lags significantly behind international development. Furthermore, existing frame construction often relies on external reference stations such as the International GNSS Service (IGS) for constraint alignment, increasing dependence on external data sources and limiting the frame's autonomy, controllability, and application flexibility.
[0004] To address the aforementioned issues, there is an urgent need to develop a high-precision coordinate frame calculation method that can rely on an independent network of stations, achieve rapid updates, and not depend on publicly available external data. Summary of the Invention
[0005] This invention provides a coordinate frame calculation method and apparatus based on automatic PPP and network adjustment processes, which solves the problems of existing technologies such as difficulty in obtaining reference frames, slow update speed, and dependence on external data sources, and provides a more autonomous, faster, more accurate and reliable coordinate frame calculation method.
[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A coordinate frame calculation method based on automated PPP and network adjustment procedures, the method comprising: Step 1: Automatically establish a self-built website network and generate a configuration file. The self-built website network integrates globally distributed IGS reference sites and self-built websites. Step 2: Using precise single-point positioning PPP technology, calculate the initial coordinate values of the self-built station network based on the configuration file of the self-built station network; Step 3: Using the IGS reference station as a constraint, perform network adjustment calculations based on the initial coordinate values of the self-built station network to align the self-built station network with the International Earth Reference Frame (ITRF2020) and generate single-day solution coordinates and accuracy files. Step 4: Smooth the single-day solution coordinates for seven consecutive days, generate a seven-day comprehensive solution by superimposing normal equations, and perform network adjustment again to align it with the International Earth Reference Frame (ITRF2020) to obtain a highly stable seven-day solution coordinate frame.
[0007] On the other hand, the present invention also provides a coordinate frame calculation device based on automatic PPP and network adjustment process, comprising: The self-built website network generation module is used to automatically build a self-built website network and generate a configuration file. The self-built website network integrates globally distributed IGS reference sites and self-built websites. The calculation module is used to calculate the initial coordinate values of the self-built station network based on the configuration file of the self-built station network using the precise single-point positioning PPP technology. The single-day solution generation module is used to perform network adjustment calculations based on the IGS reference station and the initial coordinate values of the self-built station network, so that the self-built station network is aligned with the International Earth Reference Frame (ITRF2020) and generates single-day solution coordinates and accuracy files. The seven-day solution generation module is used to smooth the coordinates of the single-day solutions for seven consecutive days, generate a seven-day comprehensive solution by superimposing normal equations, and then perform network adjustment again to align it with the International Earth Reference Frame (ITRF2020) to obtain a highly stable seven-day solution coordinate frame.
[0008] Thirdly, the present invention provides an electronic device, comprising: one or more processors; and a memory for storing one or more programs; wherein, when the one or more programs are executed by the one or more processors, the one or more processors implement the aforementioned coordinate frame calculation method based on automatic PPP and network adjustment procedures.
[0009] Fourthly, the present invention provides a computer-readable storage medium having executable instructions stored thereon, which, when executed by a processor, enable the processor to implement the aforementioned coordinate frame calculation method based on automatic PPP and network adjustment procedures.
[0010] The beneficial effects of this invention are as follows: This invention constructs a vast network of GNSS stations by integrating 70 globally evenly distributed IGS reference stations and over 200 self-built stations. These self-built stations encompass various receiver and antenna types, supporting the reception and processing of multi-frequency, multi-mode GNSS data. The integration of this self-built network enhances data autonomy and security, reducing reliance on external data sources (such as IGS stations). Simultaneously, the support for multiple frequencies and modes enhances data diversity and richness, providing a wider range of options for subsequent precision data processing.
[0011] This invention uses the PPP process as an intermediate step, employing its solution results as initial values for the self-built station network, which then participates in the subsequent network adjustment process. Through automated scripts and measurement adjustment software, the entire process from raw observation data to final coordinate calculation is automated, not only improving the efficiency and accuracy of data processing but also significantly reducing the cost and complexity of manual intervention. Simultaneously, the automated process helps ensure the consistency and repeatability of data processing.
[0012] This invention proposes a seven-day solution smoothing method. By reading station coordinate files for seven consecutive days and using the intermediate time coordinate file obtained by superimposing normal equations as a reference, a seven-day composite station coordinate file is generated. Simultaneously, accuracy analysis and sequence analysis are performed to evaluate the consistency of the station network alignment with ITRF2020 and the stability of the entire station network. The seven-day solution smoothing effectively reduces the problem of single-day coordinate solutions being significantly affected by individual station GNSS observations, improving the stability and reliability of the station network results. Furthermore, accuracy analysis and sequence analysis provide users with more accurate and comprehensive evaluation results, helping them to better understand and utilize the data.
[0013] In summary, this invention has significant advantages in solving the technical problems of difficulty in obtaining national-level reference frames, slow update speed, and dependence on external data sources, and provides strong technical support for in-depth research and widespread application of GNSS data. Attached Figure Description
[0014] Figure 1 This is a flowchart of the coordinate frame calculation method based on automatic PPP and network adjustment process of the present invention; Figure 2 This is a single-day solution for the station network constructed according to the method of the present invention; Figure 3 The 7-day solution for the station network constructed according to the method of the present invention; Figure 4 For the station network accuracy file constructed according to the method of the present invention; Figure 5 A station network sequence file constructed according to the method of the present invention. Detailed Implementation
[0015] The present invention will be further described below with reference to the accompanying drawings and embodiments.
[0016] This invention provides a coordinate frame calculation method based on automatic PPP and network adjustment procedures, specifically, as follows: Figure 1 As shown, it includes the following steps: Step 1: Automatically establish a self-built website network and generate a configuration file. The self-built website network integrates globally distributed IGS reference sites and self-built websites. This paper constructs a network using 70 globally evenly distributed IGS reference stations and over 200 self-built stations. The self-built network information mainly includes station observation data and basic station information. A partial list of self-built stations used in this paper is shown in Table 1. This self-built network includes various receiver and antenna types, supporting the reception and processing of multi-frequency, multi-mode GNSS data. A special configuration file for measurement adjustment is automatically generated by a script based on the self-built station list.
[0017] Table 1 Step 2: Using PPP technology, calculate the initial coordinate values of the self-built website network based on the configuration file of the self-built website network; The PPP process is implemented using measurement adjustment software and a pre-designed network adjustment calculation process. This process utilizes the GNSS observations of the station network selected in step 1, along with general and specific configuration files. Since the PPP process is publicly known, it will not be elaborated upon here. The main innovation of this paper is that the PPP process is used as an intermediate step, with its results serving as the initial coordinate values for the self-built station network in the next network adjustment process, participating in subsequent calculations.
[0018] Step 3: Using the IGS reference station as a constraint, perform network adjustment calculations based on the initial coordinate values of the self-built station network to align the self-built station network with the International Earth Reference Frame (ITRF2020) and generate single-day solution coordinates and accuracy files. As mentioned above, the network adjustment process uses ITRF2020 as the benchmark framework, aligning the self-built station network with the IGS benchmark station network using the minimum constraint method. In this paper, the IGS benchmark station network, serving as the constraint, uses official reference values as initial values, while the self-built station network uses the PPP solution results generated in step 2 as initial values. An initial coordinate configuration file is automatically generated, and the network adjustment is automatically calculated using the network adjustment calculation process developed by the measurement adjustment software. Since the network adjustment process is also publicly known, it will not be elaborated here. In addition to the network adjustment results generated by the general network adjustment process, such as station coordinate files, SNX files, and normal equation files, this paper also simultaneously generates single-day solution accuracy files and sequence files. The results of this step are stored on the server, providing information for the seven-day solution.
[0019] Step 4: Smooth the single-day solution coordinates for seven consecutive days, generate a seven-day comprehensive solution by superimposing normal equations, and perform network adjustment again to align it with the International Earth Reference Frame (ITRF2020) to obtain a highly stable seven-day solution coordinate frame. Because the coordinates of the single-day solution are significantly affected by GNSS observations from individual stations, this paper further performs a seven-day network adjustment based on the single-day network adjustment to ensure the stability and reliability of the network results. This is done using measurement adjustment software and a pre-developed network adjustment calculation process. This process reads the station coordinate files generated in step 3 from 6 days ago to the current day, forming a 7-day composite station coordinate file based on the coordinate file at the intermediate time (i.e., 3 days ago), and then superimposes the normal equations sequentially. Combining this 7-day normal equation file, the network adjustment process is performed again, generating the seven-day solution station coordinate file, SNX file, normal equation file, and the accuracy and sequence files for the seven-day solution. The results of this step are stored on the server as the final results at the intermediate time and made available to users after accuracy and sequence analysis. Accuracy analysis primarily targets the IGS baseline station, comparing the coordinates of the IGS network, which are constrained and solved using the seven-day solution, with the official reference values. This reflects the consistency of the network alignment with ITRF2020. Sequence analysis focuses on the self-built network, comparing the difference between the current day's solution and the previous day's solution using the seven-day solution. This reflects the stability of the entire network. Through accuracy analysis, the alignment consistency of the network with ITRF2020 is at the centimeter level, and the stability of the entire network is also at the centimeter level.
[0020] This invention marks the first large-scale integration of 70 globally evenly distributed IGS reference stations and over 200 self-built stations, encompassing various receiver and antenna types and supporting comprehensive analysis of multi-frequency, multi-mode GNSS data. This integration significantly enhances data diversity and richness, providing a solid foundation for subsequent precise data processing and visualization. It innovatively uses the PPP (Precise Point Positioning) process as an intermediate step, employing its results as initial values for the self-built station network in subsequent network adjustment processes. This fusion approach not only improves data processing efficiency and accuracy but also automates the entire process from raw observation data to final coordinate calculation, greatly reducing the cost and complexity of manual intervention. Addressing the issue of single-day coordinate solutions being significantly influenced by individual station GNSS observations, this invention proposes a seven-day solution smoothing method. By reading station coordinate files from seven consecutive days and using the intermediate time coordinate file obtained by superimposing normal equations as a reference, a seven-day integrated station coordinate file is generated, and the network adjustment process is performed again. This method effectively improves the stability and reliability of the station network results, providing a more accurate data foundation for subsequent precision and sequence analysis. This invention not only performs consistency and accuracy analysis on the alignment of the station network with ITRF2020, but also conducts sequence analysis on self-built station networks. By comparing the difference between the current day's solution and the previous day's solution over seven days, the stability of the entire station network is evaluated. This comprehensive analysis method helps to promptly detect and handle data anomalies, ensuring the accuracy and reliability of the final results.
[0021] In summary, this invention has achieved innovations in the integration and analysis of large-scale satellite-ground multi-station multi-frequency multi-mode GNSS data, automated data processing procedures, and stability assessment methods, providing strong technical support for in-depth research and widespread application of GNSS data.
[0022] On the other hand, the present invention provides a coordinate frame calculation device based on automatic PPP and network adjustment processes, the various modules of which can implement the various steps of the aforementioned method, specifically including: The self-built website network generation module is used to automatically build a self-built website network and generate a configuration file. The self-built website network integrates globally distributed IGS reference sites and self-built websites. The calculation module is used to calculate the initial coordinate values of the self-built station network based on the configuration file of the self-built station network using the precise single-point positioning PPP technology. The single-day solution generation module is used to perform network adjustment calculations based on the IGS reference station and the initial coordinate values of the self-built station network, so that the self-built station network is aligned with the International Earth Reference Frame (ITRF2020) and generates single-day solution coordinates and accuracy files. The seven-day solution generation module is used to smooth the coordinates of the single-day solutions for seven consecutive days, generate a seven-day comprehensive solution by superimposing normal equations, and then perform network adjustment again to align it with the International Earth Reference Frame (ITRF2020) to obtain a highly stable seven-day solution coordinate frame.
[0023] Figure 2 An example of a single-day solution coordinate file obtained using this method is shown. The figure presents the coordinate estimates and accuracy information of all participating stations within a given day, in the form of a time series or scatter plot of station coordinates. It can be seen from the figure that the single-day solution can initially reflect the spatial structure of the station network, but there may be coordinate jumps or discrepancies at individual stations due to the influence of observation conditions.
[0024] Figure 3 The coordinate frame result after seven days of unsmoothing is shown. (Compared to...) Figure 2 Compared to the single-day solution, the seven-day solution coordinate sequence exhibits better smoothness and continuity, with a significant reduction in the dispersion of station coordinates. This result demonstrates the effectiveness of this invention in suppressing random errors and improving solution stability through multi-day data fusion and re-adjustment.
[0025] Figure 4 This diagram illustrates the accuracy analysis file, reflecting the consistency between the calculated coordinates of the IGS base station and its official reference values in the seven-day solution. The diagram visually demonstrates the accuracy level of the alignment between the station network and ITRF2020 through error distribution plots or time series comparisons, verifying the ability of the method of this invention to maintain frame alignment consistency within the centimeter range.
[0026] Figure 5 This diagram illustrates the sequence analysis file, highlighting the stability of the time series of coordinates for the self-built station network. The diagram reflects the short-term stability of the self-built station coordinates through the difference sequence or daily variation distribution of the calculation results from adjacent days. The results show that the daily variation of the entire station network generally remains within the centimeter level, demonstrating the effectiveness of the method of this invention in maintaining the overall stability of the station network.
[0027] Thirdly, the present invention provides an electronic device, comprising: one or more processors; and a memory for storing one or more programs; wherein, when the one or more programs are executed by the one or more processors, the one or more processors implement the aforementioned coordinate frame calculation method based on automatic PPP and network adjustment procedures.
[0028] Fourthly, the present invention provides a computer-readable storage medium having executable instructions stored thereon, which, when executed by a processor, enable the processor to implement the aforementioned coordinate frame calculation method based on automatic PPP and network adjustment procedures.
[0029] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above descriptions are merely specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.
Claims
1. A coordinate frame calculation method based on automatic PPP and network adjustment process, characterized in that, The method includes: Step 1: Automatically establish a self-built website network and generate a configuration file. The self-built website network integrates globally distributed IGS reference sites and self-built websites. Step 2: Using precise single-point positioning PPP technology, calculate the initial coordinate values of the self-built station network based on the configuration file of the self-built station network; Step 3: Using the IGS reference station as a constraint, perform network adjustment calculations based on the initial coordinate values of the self-built station network to align the self-built station network with the International Earth Reference Frame (ITRF2020) and generate single-day solution coordinates and accuracy files. Step 4: Smooth the single-day solution coordinates for seven consecutive days, generate a seven-day comprehensive solution by superimposing normal equations, and perform network adjustment again to align it with the International Earth Reference Frame (ITRF2020) to obtain a highly stable seven-day solution coordinate frame.
2. The coordinate frame calculation method based on automatic PPP and network adjustment process according to claim 1, characterized in that, In step 1, the self-built network includes various receiver types and antenna types, supporting the reception and processing of multi-frequency and multi-mode GNSS data.
3. The coordinate frame calculation method based on automatic PPP and network adjustment process according to claim 1, characterized in that, In step 2, the PPP solution is implemented using measurement adjustment software and network adjustment calculation process. The solution results are used as the initial coordinate values of the self-built station network and directly used for subsequent network adjustment calculations.
4. The coordinate frame calculation method based on automatic PPP and network adjustment process according to claim 1, characterized in that, The network adjustment calculation in step 3 adopts the minimum constraint method, using the official reference coordinates of the IGS base station as the constraint benchmark, and using the initial coordinate values of the self-built station network obtained in step 2 as the input initial values for network adjustment calculation.
5. The coordinate frame calculation method based on automatic PPP and network adjustment process according to claim 1, characterized in that, The smoothing process in step 4 uses the coordinate file of the fourth day as a reference and generates a seven-day comprehensive solution through the superposition algorithm of normal equations.
6. The coordinate frame calculation method based on automatic PPP and network adjustment process according to claim 5, characterized in that, Step 4 specifically includes: reading the station coordinate files generated in step 3 from 6 days ago to the current day, forming a coordinate file based on the intermediate time, superimposing the normal equations onto the 7-day comprehensive station coordinate file, and combining the 7-day comprehensive station coordinate file to perform the network adjustment process again, generating the 7-day solution station coordinate file, SNX file, normal equation file, as well as the accuracy file and sequence file of the 7-day solution.
7. The coordinate frame calculation method based on automatic PPP and network adjustment process according to claim 1, characterized in that, It also includes accuracy analysis and stability analysis. The accuracy analysis includes comparing the solution results of the IGS base station in the seven-day solution with the official reference values to verify the consistency of the frame alignment. The stability analysis includes evaluating the coordinate time series stability of the self-built station network by comparing the difference between the solution results of two adjacent days.
8. A coordinate frame calculation device based on automatic PPP and network adjustment process, characterized in that, include: The self-built website network generation module is used to automatically build a self-built website network and generate a configuration file. The self-built website network integrates globally distributed IGS reference sites and self-built websites. The calculation module is used to calculate the initial coordinate values of the self-built station network based on the configuration file of the self-built station network using the precise single-point positioning PPP technology. The single-day solution generation module is used to perform network adjustment calculations based on the IGS reference station and the initial coordinate values of the self-built station network, so that the self-built station network is aligned with the International Earth Reference Frame (ITRF2020) and generates single-day solution coordinates and accuracy files. The seven-day solution generation module is used to smooth the coordinates of the single-day solutions for seven consecutive days, generate a seven-day comprehensive solution by superimposing normal equations, and then perform network adjustment again to align it with the International Earth Reference Frame (ITRF2020) to obtain a highly stable seven-day solution coordinate frame.
9. An electronic device, characterized in that, include: One or more processors; Memory, used to store one or more programs; When one or more programs are executed by the one or more processors, the one or more processors implement the coordinate frame calculation method based on automatic PPP and network adjustment process as described in any one of claims 1-7.
10. A computer-readable storage medium, characterized in that, It stores executable instructions that, when executed by a processor, enable the processor to implement the coordinate frame calculation method based on automatic PPP and network adjustment process as described in any one of claims 1-7.