31 results about "Correction number" patented technology

The invention belongs to the technical field of satellite positioning, and particularly discloses a high-precision PPP (Point-to-Point Protocol) positioning method based on SSR (Simple Sequence Repeat) correction prediction, which comprises the following steps that: a receiver receives and stores an SSR correction in real time to obtain an SSR sequence; inputting the stored SSR sequence into a pre-trained prediction model, and outputting an SSR correction number prediction value in a future time period; the broadcast ephemeris is corrected through the predicted SSR correction number, and a precise satellite orbit and clock correction are obtained; and constructing an ionosphere-free combination model based on the double-frequency observation value, and resolving the position of the receiver through Kalman filtering in combination with the corrected satellite orbit and clock correction. According to the method, long-time-sequence prediction is carried out on the SSR correction number through the prediction model, the problem of positioning precision jump caused by satellite correction data interruption is effectively solved, it is guaranteed that PPP positioning continuously outputs centimeter-level precision results under the scenes of signal shielding, network delay and the like, and the limitation that traditional PPP strongly depends on real-time SSR data is broken through.

The invention provides a re-convergence method and device for precise point positioning, and the method comprises the steps: obtaining first GNSS measurement data of a current epoch and second GNSS measurement data of a previous effective epoch after a signal is recovered, and determining a difference age between the first GNSS measurement data and the second GNSS measurement data; if the differential age is not greater than the age threshold, performing inter-epoch differential positioning calculation according to the first GNSS measurement data and the second GNSS measurement data, and determining an estimated position of the receiver; according to the first GNSS measurement data, the second GNSS measurement data and the estimated position, determining an initial state parameter required by precise point positioning updating; the initial state parameter comprises a receiver position correction number, and the receiver position correction number is determined according to an estimated position; and according to the initial state parameter and a precise single-point positioning observation equation, carrying out filtering calculation processing, and determining the target position of the receiver. Thus, through inter-epoch differential positioning resolving processing, the accurate position of the receiver is determined, and therefore rapid reconvergence of the PPP can be achieved.

The invention provides a frequency point GNSS observation value determination method and device, and a storage medium. The method comprises the following steps: determining a satellite-ground distance difference value between a first frequency point of a known observation value and a second frequency point of an unknown observation value; according to the satellite-to-earth distance difference value between the first frequency point and the second frequency point, the observation value of the first frequency point, the state space representation correction number of the satellite and the center frequencies of the first frequency point and the second frequency point, the pseudo-range observation value of the second frequency point and / or the phase observation value of the second frequency point are / is determined, on one hand, the satellite-to-earth distance difference between different frequency points is fully considered; on the one hand, the precision of pseudo-range observation and / or phase observation values of the recovered frequency points is higher, the requirements for the first frequency point and the second frequency point are reduced, the universality of the method is improved, on the other hand, high-precision ionized layer delay in the SSR correction number and pseudo-range hardware delay and phase hardware delay of a satellite end are effectively utilized for error compensation, and the error compensation accuracy is improved. The implementation difficulty is reduced, and the feasibility of the method is improved.

The invention discloses an unmanned aerial vehicle positioning method, device and system during signal interruption, and a storage medium. The method comprises the following steps: receiving a broadcast ephemeris broadcasted by a satellite, observation value data and a real-time orbital clock error correction number; judging whether the real-time orbital clock error correction is interrupted or not; if the real-time orbital clock error correction is interrupted, performing short-term forecasting on the correction by establishing a quartic polynomial; combining the correction number with the broadcast ephemeris to generate a real-time precise ephemeris and a real-time track; if the predicted correction number is used, an observation equation is established through epoch difference to settle a coordinate difference; if the received correction number is used, an observation equation is established through a PPP model, and the real-time coordinates of the unmanned aerial vehicle are settled. By adopting the technical scheme of the invention, high-precision positioning of the unmanned aerial vehicle during short-term signal interruption is realized.

This invention relates to a method and system for broadcasting PPP-RTK corrections. The method includes acquiring grid point information; determining correction information according to a dynamic partitioning method based on the satellite's orbital direction, satellite signal coverage area, and the grid point information; the correction information includes a header file, the grid point information, tropospheric corrections, and oblique ionospheric corrections; and uploading the correction information to an uplink station to control satellite broadcasting of the correction information. This invention solves the problems of satellite bandwidth allocation, correction area division, and correction data format encoding for PPP-RTK atmospheric delay corrections broadcast in low-Earth orbit satellite broadcasting areas.

The invention discloses a satellite orbit prediction method based on an attention mechanism long-short term memory network, and relates to the technical field of satellite orbit prediction. The method comprises the following steps: preprocessing broadcast ephemeris data and precise ephemeris data, subtracting the two processed data to obtain a correction number sequence, and normalizing the correction number sequence to obtain standardized data; inputting the standardized data into a satellite orbit prediction model to obtain a multi-step correction number prediction result; and performing broadcast ephemeris correction according to a correction number prediction result to obtain final predicted orbit information. Wherein the satellite orbit prediction model adopts an Attention-LSTM (Long Short Term Memory) model, and captures an implicit relationship among input characteristics and a non-linear uncertain time trend of a time sequence for a plurality of fully connected layers of a periodic term. According to the method, the real-time orbit data is calculated by using the precise ephemeris data and the broadcast ephemeris, and high-precision and real-time prediction of the satellite orbit is realized according to the satellite orbit prediction model.

The present invention relates to a GNSS terminal positioning data processing method, and belongs to the field of GNSS positioning data processing technology. The present invention starts from the consistency of SSR and OSR theories, and integrates the two correction numbers of SSR and OSR; when the OSR correction number is used for error correction, no secondary difference is made, and only a single difference is made between the user observation data and the OSR correction number, so that the error information contained in the OSR can be used for error correction while retaining its ability to form non-difference observation equations; in the equation formation stage, non-difference observation equations are formed for SSR and OSR at the same time, and no double-difference observation equations are contained, and they can be solved at the same time. The present invention can realize the fusion of the two correction numbers of SSR and OSR, and at the same time has the advantages of SSR's wide range of use and OSR's fast convergence speed, thereby improving positioning accuracy and reliability, and can adaptively and seamlessly switch between the two positioning modes of SSR and OSR.

The present application provides a simulation method for simulating harsh environment errors in satellite navigation positioning, comprising: obtaining original observation data of a reference station; generating correction numbers based on the original observation data of the reference station; determining the type of correction number to be adjusted based on the type of harsh environment simulation; injecting errors into the correction numbers of the correction number type; obtaining an error-containing positioning result of a terminal based on the error-injected correction numbers and the original observation data of the terminal; and comparing the error-containing positioning result of the terminal with the position of the terminal and performing deviation analysis.

An inkjet printing method and an inkjet printing apparatus are provided. The inkjet printing method includes: generating an initial sequence in which a plurality of initial numbers are arranged in a matrix form; generating a correction sequence by correcting the plurality of initial numbers with a plurality of correction numbers on the basis of a variable range of the amount of liquid droplets ejected into the plurality of pixel regions and a measurement error range of the discharge amount of a plurality of nozzles that discharge the liquid droplets into the plurality of pixel regions; and discharging the droplets to the plurality of pixel regions while adjusting the discharge amount of each nozzle based on the correction sequence.

The present application is applicable to the field of satellite navigation technology and provides a PPP‑B2b precise positioning method with accelerated convergence, including calculating the satellite precise orbit parameters of each epoch; for the first epoch, obtaining the corresponding satellite precise clock error parameters based on the basic navigation broadcast clock error parameters; for all epochs except the first epoch, calculating the satellite precise clock error parameters of the current epoch based on the PPP‑B2b clock error correction number of the current epoch and the clock error parameter data of the previous epoch; obtaining the O‑C residual information of the dual-frequency observation data in each epoch and constructing the partial derivative information of the dual-frequency observation data to the navigation solution parameters; based on the normal equation matrix and the residual vector, calculating the navigation solution data set of the corresponding epoch. The present application processes the satellite precise clock errors of the first epoch and the subsequent epochs separately, thereby avoiding the deviation error in the PPP‑B2b clock error correction number and shortening the user convergence time.

The invention discloses a stability evaluation method and system for a PPP-B2b clock error constant deviation, and the method comprises the steps: obtaining a correction number of a Beidou PPP-B2b service, and carrying out the preprocessing of the correction number; according to the preprocessed correction number, through a clock error constant deviation single-station extraction model, calculating observed time sequence data of clock error constant deviation of each satellite; judging the continuity of the time sequence data of the clock error constant deviation of each satellite, dividing the discontinuous time sequence data into a plurality of sub-arc segments, and calculating the stability evaluation value of each sub-arc segment to obtain a stability evaluation sequence of the time sequence data; and performing stability evaluation on the stability evaluation sequence to obtain a comprehensive stability evaluation value, and evaluating the stability according to the comprehensive stability evaluation value. According to the method, the continuous arc segments are identified and segmented firstly, and then independent statistics is carried out on the interior of each arc segment, so that the interference of systematic step between the arc segments on stability statistics is fundamentally stripped, and the authenticity and accuracy of clock error constant deviation stability evaluation are improved.

The invention provides a positioning method, device, system and equipment, a storage medium and a program product, and the method comprises the steps: a server determines a differential correction number of a target grid point position corresponding to a terminal, and additionally determines a second model parameter of an atmospheric correction model in a coverage range of the target grid point position; the atmospheric correction model can determine the atmospheric error compensation value of any point in the coverage range of the target grid point position, so that the atmospheric error compensation value corresponding to the terminal is determined, the atmospheric error introduced by the distance between the terminal and the target grid point position can be eliminated through the atmospheric error compensation value, and the effect of an equivalent zero-distance grid is achieved. And the positioning effect of the terminal is effectively improved.

The invention discloses a correction number measurement method and a deviation correction method for coaxial prisms. The method comprises the following steps: measuring a first side length and a first angle from a control point A to a first prism P1; measuring a second side length and a second angle from the control point B to the first prism P1; measuring the actual side length and the actual angle from the control point B to the second prism P2; determining theoretical coordinates of the first prism P1 according to the first side length, the first angle, the second side length and the second angle; the theoretical side length and the theoretical angle from the control point B to the second prism P2 are determined according to the theoretical coordinates; and determining the correction number of the second prism P2 relative to the first prism P1 according to the actual side length, the actual angle, the theoretical side length and the theoretical angle. The method can quickly measure the correction number of the coaxial prism, and has the advantages of being simple, convenient to operate and high in measurement precision.

An inkjet printing method includes generating an initial sequence in which initial numbers are arranged in a matrix form, generating a correction sequence by correcting the initial numbers with correction numbers based on a variable range for a volume of droplets ejected into pixel areas and measurement error range for discharge volume of nozzles which discharge droplets to the pixel areas, and discharging droplets to the pixel areas while adjusting a discharge volume for each nozzle based on the correction sequence.

The invention relates to a moving station differential positioning method and device. The method comprises the following steps: carrying out pseudo-range observation calculation according to a first navigation signal received by a base station to obtain an observation residual sequence and a receiver clock error sequence; performing residual error calculation on the observation residual error sequence according to a median of the receiver clock error sequence to obtain a residual error sequence, and performing gross error elimination on an observation residual error in the observation residual error sequence and a receiver clock error in the receiver clock error sequence according to a mean value and a standard deviation of the residual error sequence to obtain a target observation residual error sequence and a target clock error sequence; obtaining a comprehensive correction number according to the target observation residual error sequence and the target clock error sequence, and obtaining positioning information of the moving station according to the comprehensive correction number and a second navigation signal received by the moving station; the residual error sequence is calculated through the clock error median of the receiver, iterative gross error elimination is carried out in combination with a statistical method, abnormal value interference in observation data is effectively eliminated, and the method has the advantages of improving robustness and enhancing positioning precision and reliability.

A data processing method, device, equipment, storage medium and program product, relating to the satellite positioning technology field. The method comprises: receiving the SSR correction number product broadcast by the PPP-RTK server; decoding the SSR correction number product; correcting the satellite position and satellite clock obtained from the broadcast ephemeris by using the decoded data; generating an atmospheric correction product by using the decoded data and the user local sketchy position; generating virtual observations by using the user starting position, the corrected satellite position and satellite clock, and the atmospheric correction product; and performing RTK calculation by using the virtual observations. The method makes the RTK algorithm not need to consider the ambiguity parameter update problem caused by the base station coordinate switching, and also does not cause the atmospheric correction product precision decay due to the baseline distance lengthening, thereby ensuring the atmospheric correction product precision and improving the user end fixing rate and stability.

The invention relates to an overall adjustment method for relative corrections of a network RTK (Real-Time Kinematic) main reference station, which comprises the following steps of: 1, reading data, constructing a triangulation network, calculating a closing error of a triangulation network baseline error improvement number, judging whether a gross error exists in the closing error or not, and if so, entering the next step; if not, outputting an adjustment result; 2, according to an indirect adjustment principle, a baseline vector adjustment method is adopted to solve a correction number about a certain specified master station; establishing a baseline vector error equation according to a relationship between double differences and baseline transmission; on the basis of a triangular relation formed by the main station and the auxiliary station, constraint conditions are obtained, and overall adjustment calculation of a relative error correction number is carried out; and 3, positioning and repairing the gross error based on the overall adjustment calculation result, and outputting an adjustment result. According to the method, the vector relation of the error correction of each baseline, the closing error of the triangulation network and the interpolation relation between the stations are comprehensively considered, and one-time overall generation of the relative correction of the main reference station in the network RTK is realized.

The invention discloses a sensing processing method and device assisted by a reference target, a terminal and network side equipment, and belongs to the technical field of communication, and the sensing processing method assisted by the reference target comprises the steps that first equipment obtains a first sensing measurement quantity of a reference target associated with the sensing target, the first sensing measurement quantity is used for determining a correction number, the correction number is used for correcting a second sensing measurement quantity obtained by performing sensing measurement on the sensing target, and the first sensing measurement quantity is a measurement quantity obtained by performing sensing measurement on the reference target; the first equipment sends target data to second equipment, wherein the target data comprises at least one of the correction number, the first sensing measurement quantity and the third sensing measurement quantity; the third sensing measurement quantity is a measurement quantity obtained by correcting the second sensing measurement quantity based on the correction number.

The embodiment of the application provides a high-precision time synchronization method, device, system and medium of a data acquisition system, and relates to the technical field of communication. The method comprises the following steps: receiving a Sync message at each synchronization time point; obtaining a receiving time according to the time drift of the slave device's crystal oscillator clock after receiving the Sync message; and obtaining a sending time from the Sync message. The target crystal oscillator time error between the synchronization time points is determined according to the receiving time and the sending time corresponding to different synchronization time points. The target correction amount of each correction is determined according to the target crystal oscillator time error and the preset total correction number between the synchronization time points. Finally, the device time between the synchronization time points of the slave device is corrected according to the target correction amount, so that the device time of the master device and the slave device is synchronized between adjacent synchronization time points. The embodiment can improve the time synchronization precision of the slave device and the master device.

The present application provides an SSR comprehensive correction number prediction method and related equipment, which relate to the field of satellite navigation technology. After obtaining the predicted correction amount and target SSR comprehensive correction data of at least one target navigation satellite that meets the correction number prediction conditions supported by the satellite navigation terminal through data preprocessing, the present application will perform correction number gray prediction or polynomial fitting prediction based on the target SSR comprehensive correction data for each target navigation satellite according to the test result of whether the target SSR comprehensive correction data of the target navigation satellite meets the non-negative quasi-exponential law, and obtain the correction number prediction result of the target navigation satellite, and perform data superposition processing on the predicted correction amount of the target navigation satellite and the target SSR predicted correction number in the corresponding correction number forecast result, so that the predicted SSR comprehensive correction number can ensure that the corresponding navigation positioning result has a sufficiently high positioning accuracy to meet the real-time positioning requirements of autonomous driving as much as possible.

The invention relates to the technical field of crack data processing, and discloses a data processing method and system for bridge crack detection, and the method comprises the steps: deploying a plurality of data detection regions for a to-be-detected bridge crack, determining the length data of a target crack according to a preprocessing result, aggregating the first crack set and the second crack set by adopting a clustering algorithm to respectively obtain a first clustering set and a second clustering set, and calculating a crack length factor according to the first data and the second data; comparing the crack length factor with a historical crack length factor of the bridge crack, judging whether to correct the crack length factor and obtain a target crack length factor according to a comparison result, and setting a correction normal number of the target crack length factor according to a first correction number, a second correction number and a third correction number, and obtaining final crack length data. According to the method, the initial crack length data is dynamically optimized, and the authenticity and reliability of the final crack length data are ensured.

The invention discloses a data broadcasting method, electronic equipment, a storage medium and a computer program product, and the method comprises the steps: filtering invalid data and / or data which does not affect the data precision from first data, and obtaining second data; broadcasting the second data or third data through a satellite link and / or a wireless network, wherein the third data is obtained by compressing the second data; the first data represents the SSR correction number needing to be broadcasted to the terminal or the received SSR correction number sent by the base station.

The invention relates to the technical field of navigation satellites, and provides a navigation enhancement method and system based on cross check and data fusion. The method comprises the following steps: acquiring GNSS correction data of a plurality of GNSS analysis centers, wherein the GNSS correction data comprises satellite clock error correction data, satellite orbit correction data and satellite code deviation data; performing cross check and data fusion processing on the satellite clock error correction data, the satellite orbit correction data and the satellite code deviation correction data of the plurality of GNSS analysis centers; and carrying out integrity verification and precision reliability verification on the result of the cross check and the data fusion processing. According to the invention, by constructing a cross check mechanism, abnormal or incomplete correction information can be effectively identified and eliminated, and the quality of input data is ensured. And through intelligent fusion, not only is advantage complementation of information realized, but also continuity and stability of correction numbers are remarkably enhanced.

The application discloses a positioning method, system, device, medium and product, and belongs to the technical field of satellite navigation and positioning. The method comprises the following steps: determining an initial base station set according to first position data of all first base stations and second position data of a user; calculating actual errors according to real-time observation data of each second base station in the initial base station set, obtaining an initial interpolation model, and then obtaining an initial internal coincidence precision and an initial correction number; if the initial internal coincidence precision is less than a first preset threshold, iteratively adding a third base station to the initial base station set to obtain a current model, stopping iteration until a first stop condition or a second stop condition is met, and determining a target model according to a stop type; calculating a target correction number according to the target model, correcting initial observation data through the target correction number, and obtaining a user positioning result. Therefore, the model precision and reliability can be improved, and high-precision positioning in a full time period can be realized by implementing the application.

The application discloses a GNSS and leveling fusion ground deformation monitoring method and system with dynamic optimization weight, and relates to the technical field of geodesy and deformation monitoring.The method comprises the following steps: analyzing leveling and GNSS rate observation data; setting the elevation correction number and subsidence rate parameter of a monitoring point as unknown parameters, constructing adjustment observation equations coupled with observation time and subsidence rate parameters, forming a design matrix, an observation vector and an initial weight matrix; performing dynamic weight optimization, introducing a global weight factor for adaptive scanning, and on the basis of the optimal global weight ratio, calculating a weight reduction factor by using robust estimation according to the standardized residual error of GNSS observation values, and obtaining the optimal weight matrix; and finally solving the optimal estimation value of unknown parameters based on the optimal weight matrix.The application realizes two-stage dynamic optimization of the weight, objectively optimizes the weight by data driving, effectively suppresses the influence of gross errors, and significantly improves the precision and reliability of multi-source data fusion deformation monitoring.

The invention discloses a regional real-time high-credibility satellite orbit and clock error correction product generation method, and the method comprises the steps: carrying out the real-time abnormal monitoring of a broadcast ephemeris, and carrying out the fusion of a real-time high-precision satellite orbit issued by a plurality of mechanisms and a clock error correction to generate a real-time reference, so as to carry out the credibility evaluation of the correction. And finally, the track and the clock error credibility are broadcasted to the user respectively by coding the regional product. According to the method, the problems existing in the real-time high-precision satellite orbit and clock error data credibility calculation process are solved.

Provided are a short message-based fixed ambiguity precise point positioning method, device and medium, and a method, device and medium for providing the same. The method comprises: obtaining, by a user terminal, initial coordinates of a station, selecting a system frequency band, and sending to the system via short message communication; converting, by the system terminal, the SSR orbit clock correction number of a satellite into an OSR comprehensive correction number in the line-of-sight direction of the station-satellite; performing polynomial coefficient fitting on the OSR comprehensive correction number in a predetermined time period by the system terminal to obtain polynomial coefficients, estimating phase fraction offset products of the frequency points, encoding them, and sending them to the user terminal via short message communication; broadcasting, by the system terminal, the OSR comprehensive correction number of the latest epoch to the user terminal via short message communication; extrapolating, by the user terminal, the OSR comprehensive correction number via the polynomial coefficients to obtain the extrapolated current epoch OSR comprehensive correction number, and combining the phase fraction offset products to achieve fixed ambiguity precise point positioning.

The invention discloses a weather sensing method, network side equipment, a second sensing node and a medium, and belongs to the technical field of communication, and the weather sensing method comprises the steps that the network side equipment receives first data from at least two first sensing nodes; the network side equipment sends a first correction number to the second sensing node, the first correction number is determined based on the first data, and the first correction number is used for correcting the measurement quantity of the second sensing node; wherein the first data of the first sensing node is obtained by executing first sensing and second sensing by the first sensing node; the measurement quantity of the second sensing node is obtained by executing first sensing by the second sensing node; the first perception is perception based on communication perception integration; the second perception is sensor-based perception.

The embodiments of the present application provide a method, apparatus, device, and computer storage medium for identifying abnormalities in state-domain spatial corrections, which relate to the field of satellite positioning and are used to improve the accuracy of SSR anomaly identification. The method comprises: obtaining state-domain spatial corrections (SSRs) and global satellite navigation system (GNSS) observation information, wherein the SSRs include pseudorange bias corrections, phase bias corrections, tropospheric delay corrections, and ionospheric delay corrections, and the GNSS observation information includes pseudorange, carrier phase, Doppler observations, and broadcast ephemeris; and testing the target SSR based on the difference in target SSRs under consecutive epochs to determine whether an abnormal SSR exists, wherein the target SSR is at least one of the pseudorange bias corrections, phase bias corrections, tropospheric delay corrections, and ionospheric delay corrections.