42 results about "Virtual Reference Station" patented technology

The invention discloses a multi-path suppression positioning method and system for a banded sparse single Beidou CORS network, and relates to the technical field of satellite navigation positioning. According to the multi-path suppression positioning method for the banded sparse single Beidou CORS network, initial pseudo-range time sequence data are acquired, the time sequence data and regional state data are received, the pseudo-range data are corrected and analyzed, then, filtering processing is performed by using a preset filtering rule, a virtual base station is established, data fusion is performed, and the multi-path suppression positioning method for the banded sparse single Beidou CORS network is obtained. According to the method, the pseudo-range time sequence data of each satellite is dynamically corrected, and particularly, through comprehensive analysis of the reflecting surface information, the environment data and the signal arrival time difference, the accurate position information of the receiver is obtained. Errors caused by reflecting surface and environment changes can be recognized and corrected in real time, and the stability and precision of a positioning system in a complex environment are remarkably improved.

The invention provides a GNSS virtual observation value generation method and system based on real-time precise point positioning, and belongs to the technical field of GNSS positioning, and the method comprises the steps: obtaining ephemeris clock error data and observation data received by a reference station in real time, filling a UCUD PPP observation equation, and solving a non-difference floating point solution of a to-be-estimated parameter of each parameter station; through UPD estimation, non-difference floating point solution ambiguity parameters recover the whole cycle characteristic, and a fixed solution STEC and a fixed solution ZTD are obtained; the STEC is locally fitted into a function about the position, and a regional non-difference ionosphere model is established; the ZTD is locally fitted into a function about the position, and a regional non-difference troposphere model is established; and generating a double-difference atmospheric delay between the main reference station and the virtual reference station based on the non-difference ionosphere model and the regional non-difference troposphere model to obtain a virtual observation value. According to the method, the reliability of GNSS signal atmospheric delay is effectively improved, so that the quality of a virtual observation value is improved.

The invention relates to the technical field of global satellite navigation systems, in particular to a network RTK (Real Time Kinematic) method for generating a virtual reference station based on a PPP (Point-to-Point Protocol) SSR (Simple Sequence Repeat) correction, which comprises the following steps of: calculating a moving station approximate coordinate of a target moving station; an observation value error of each target satellite is corrected through the target server by using the rough coordinate of the moving station and the PPP SSR information of the plurality of target satellites, and a position coordinate and an observation value of a virtual reference station are generated; on the basis of an RTCM protocol, the target server side encodes the position coordinates and the observation values to obtain OSR information corresponding to the position coordinates and the observation values, and broadcasts the OSR information to the target moving station; and based on the OSR information and a double-difference relative positioning strategy, enabling the target moving station to obtain relative position information between the target moving station and the virtual reference station so as to determine position coordinates of the target moving station. Therefore, the problems of slow convergence, limited coverage range, poor receiver compatibility and the like of the existing navigation positioning technology are solved.

The invention discloses a joint positioning information switching method based on 5G and Beidou, and belongs to the technical field of cooperative positioning, and the method specifically comprises the steps: obtaining a reference station near a vehicle through Beidou satellite connection, receiving coordinates fed back by the Beidou satellite through the reference station, and comparing the coordinates with the actual coordinates of the reference station to obtain a measurement error; constructing a virtual reference station grid based on a VRS technology; when the distance between the vehicle and any base station is closest, a nearby virtual base station R0 is selected, a first correction position is generated, and the virtual observation error is transmitted through a 5G network to correct the initial position of the vehicle; after unit time t, selecting a new nearest virtual base station Ri, and generating a second correction position; obtaining coordinate change in unit time by using a vehicle-mounted inertial sensor, calculating a coordinate error between a real-time coordinate and a second correction position, and updating a virtual observation error of the virtual base station Ri; according to the invention, the calibration and unification of the network precision of the whole virtual base station are realized.

The invention relates to the technical field of Beidou positioning, in particular to a Beidou virtual reference high-precision positioning method taking ionosphere delay influence into consideration. The invention provides a weighting method combined with ionosphere delay influence, which comprises the following steps of: constructing a physical check station, calculating double-difference ionosphere delay # imgabs0 # of the check station relative to a main reference station, and taking a calculation result as a double-difference ionosphere delay reference value; calculating to obtain a double-difference ionosphere delay reference value # imgabs1 # at the construction position of the check station obtained by interpolation of the virtual reference station, and taking the absolute value of the difference value of # imgabs2 # and # imgabs3 # as the ionosphere error of the satellite; compared with the prior art, on the basis of combining the precision of the elevation angle related prior observation value of the double-difference observation value and combining the ionosphere error of the satellite, gross errors caused by ionosphere anomalies can be weakened, and high-precision and reliable GNSS virtual reference calculation can be achieved when the ionosphere is active, disturbance occurs and the like.

The invention provides a Beidou geological disaster displacement and image video monitoring fusion method and system based on a high-reliability communication link, and the method comprises the steps: collecting displacement, inclination angle and five-way high-definition video in real time, accessing microclimate and wire clamp temperature data, and carrying out the unified packaging through a data gateway; aPN special line transmission is adopted, and centimeter-level RTK differential service is provided for the unmanned aerial vehicle; based on a Beidou VRS virtual reference station and a long baseline monitoring resolving technology, a Beidou ground-based enhanced station network is multiplexed, and a virtual observation value is generated for real-time dynamic RTK resolving; inverting a three-dimensional water vapor field based on oblique path troposphere delay PWV, realizing tower-level rainfall prediction, and generating a risk assessment report by fusing an A I algorithm; superposing a displacement thermodynamic diagram, a real-time video and an early warning label in a BIM + GI digital twinning scene, and supporting 360-degree panoramic stitching and alarm trigger snapshot; and carrying out intelligent early warning decision. According to the invention, through high-precision Beidou monitoring, multi-modal data fusion and intelligent early warning, the real-time performance, precision and automation level of geological disaster monitoring are significantly improved.

A system or method for determining a satellite observation for a virtual reference station can include: determining a virtual reference station location, receiving a set of satellite observations at a reference station located at a reference station location, determining a first GNSS correction for the virtual reference station location and a second GNSS correction for the reference station location, and determining the satellite observation for the virtual reference station by combining the set of satellite observations, the first GNSS correction, and the second GNSS correction.

A system or method for determining a satellite observation for a virtual reference station can include: determining a virtual reference station location, receiving a set of satellite observations at a reference station located at a reference station location, determining a first GNSS correction for the virtual reference station location and a second GNSS correction for the reference station location, and determining the satellite observation for the virtual reference station by combining the set of satellite observations, the first GNSS correction, and the second GNSS correction.

The invention discloses a dynamic network RTK technology improvement method based on a stratospheric airship, and relates to the field of dynamic network RTK technology improvement, and the method comprises the steps: employing three stratospheric airship air dynamic reference stations to build a dynamic network RTK system, obtaining the related data of a GPS satellite, building a regional ionospheric error-position model, and carrying out the calculation of the regional ionospheric error-position model. A ground user moving station receives signals from a GPS satellite to obtain a general coordinate of the ground user moving station, a virtual reference station is established based on the general coordinate of the ground user moving station, an error correction number on the virtual reference station is calculated according to the relative geometric position relation of a user, the stratospheric airship air dynamic base station and the GPS satellite in combination with a regional ionosphere error-position model, and the error correction number on the virtual reference station is calculated. And the user moving station carries out difference according to the short base line and the difference correction number, and the position of the user is obtained through calculation. The method provided by the invention has remarkable advantages in the aspects of positioning accuracy, coverage range and application flexibility.

The application discloses a multi-path suppression positioning method and system for a belt-shaped sparse single-Beidou CORS network, and relates to the technical field of satellite navigation and positioning. The multi-path suppression positioning method for the belt-shaped sparse single-Beidou CORS network comprises the following steps: acquiring initial pseudo-range time sequence data, receiving time sequence data and regional state data, and performing correction analysis on the pseudo-range data; then, performing filtering processing by using a preset filtering rule, establishing a virtual reference station and performing data fusion; and finally, performing positioning calculation based on an adaptive weight rule to obtain accurate position information of a receiver. The pseudo-range time sequence data of each satellite is dynamically corrected, especially through comprehensive analysis of reflection surface information, environmental data and signal arrival time difference, so that errors caused by reflection surface and environmental changes can be identified and corrected in real time, and the stability and precision of the positioning system in a complex environment are significantly improved.

The present invention provides a method and system for generating GNSS virtual observation values ​​based on real-time precise single-point positioning, belonging to the field of GNSS positioning technology. The method comprises: obtaining ephemeris clock data and observation data received in real time by a reference station, filling in the UCUD PPP observation equation, and solving a non-differenced floating-point solution for the parameter to be estimated for each parameter station; restoring the integer characteristics of the non-differenced floating-point solution ambiguity parameter through UPD estimation to obtain a fixed solution STEC and a fixed solution ZTD; locally fitting STEC as a function of position to establish a regional non-differenced ionosphere model; and locally fitting ZTD as a function of position to establish a regional non-differenced troposphere model; based on the non-differenced ionosphere model and the regional non-differenced troposphere model, generating a double-differenced atmospheric delay between a master reference station and a virtual reference station to obtain a virtual observation value. The present invention effectively improves the reliability of the atmospheric delay of the GNSS signal, thereby improving the quality of the virtual observation value.

The application discloses a kind of based on centralized Beidou double-frequency RTK positioning algorithm tower safety monitoring method and system, the method includes the following steps: Beidou signal is demodulated and is expanded;The demodulated and expanded Beidou signal is formed with the identification information of current receiving terminal communication frame;Communication frame is identified decoding;The single-point positioning result of the data after decoding is obtained by single-point positioning solution;According to single-point positioning result, establish virtual reference station;Comprehensive mobile station observation data and reference station correction data are carried out RTK real-time positioning solution, after completing RTK real-time solution, compare the difference period of mobile station and reference station data, according to difference period, different solution quality grade is divided, and the final RTK positioning result or safety alarm is output based on solution quality grade.The application is sent to solution center by communication means unified solution, reduce the precision error caused by transmission delay, improve the efficiency and accuracy of tower safety monitoring.

A GNSS landslide geological disaster monitoring and analysis method based on a virtual reference station (VRS) includes: Step 1, continuously operating reference stations determination, namely continu

The application relates to the field of wireless positioning technology, in particular to a Beidou navigation technology combined with an Internet of Things positioning method, device and system, which comprises the following steps: arranging a reference station network and selecting a target baseline group in the reference station network; determining the relative independence between each independent baseline in the target baseline group and other independent baselines; for each independent baseline in the target baseline group, correcting the initial double-difference observation equation corresponding to each independent baseline based on the relative independence to obtain a final double-difference observation equation after correction; generating a virtual reference station based on the final double-difference observation equation after correction; and jointly solving the flow station data received by a GNSS receiver through the virtual reference station to obtain a real-time dynamic differential positioning result. Since the final double-difference observation equation after correction is more accurate, the virtual reference station is more valuable, and finally the influence of signal propagation error can be reduced, and the accuracy of the real-time dynamic differential positioning result is improved.

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

The invention discloses a WAN (wide area network) RTK (real-time kinematic) enhanced service resolving and broadcasting method based on GeoHash, which comprises the following steps of: coding positions of virtual reference stations in a service area to obtain a virtual reference station set; matching a nearest neighbor base station for each virtual reference station in the virtual reference station set, and carrying out base station networking; when detecting that the data of the reference station is abnormal or the newly added reference station is accessed, triggering a reference station dynamic recombination network based on GeoHash coding; and receiving a request of a moving station, and performing virtual observation data broadcasting based on GeoHash coding. According to the method, the computational efficiency challenge confronted when a large-scale base station generates high-precision differential data in real time in a wide area range is overcome, and the performance bottleneck problem of quick matching of virtual grid points and real-time broadcasting of the differential data under the scene of concurrent requests of massive users is solved.

The invention relates to the technical field of GNSS positioning, and provides a high-precision positioning service method and system based on a CORS network. The method comprises the following steps: carrying out gridding on the CORS network; obtaining observation data of each base station, and constructing an observation model; setting a reference base station and a reference satellite, and constructing a benchmark constraint; taking troposphere delay or double-difference ambiguity in the observation model as an unknown parameter, and performing baseline solution based on the reference constraint to obtain double-difference troposphere delay or double-difference ambiguity after adjustment; on the basis of the adjusted double-difference troposphere delay or double-difference ambiguity, a virtual observation value is generated through a spatial interpolation method and broadcasted to a mobile user in a virtual reference station mode for correction, and a positioning result is obtained; according to the method, systematic deviation between different base lines or satellite combinations can be eliminated, absolute consistency of CORS network troposphere delay estimation and / or double-difference ambiguity estimation is improved, jumping or distortion during regional model interpolation is reduced, and then CORS positioning precision is improved.

The invention provides a positioning method and system, electronic equipment and a storage medium, and the method comprises the steps: determining the position information of a virtual reference station in response to the approximate position information sent by user side equipment; according to the position information of the virtual base station, a plurality of first base stations are selected to construct a first regional atmosphere model, all satellites which can be jointly observed by the first base stations are composed of a reference satellite and at least one non-reference satellite, and the plurality of first base stations comprise a master station; selecting a plurality of second reference stations according to the position information of the master station; based on the first regional atmosphere model, the plurality of second reference stations and the reference satellites, determining external coincidence quality factors of the non-reference satellites in the virtual reference station; and according to the external coincidence quality factors of the non-reference satellites at the virtual base station, determining the quality factors of the observed values of the non-reference satellites at the virtual base station, and sending the quality factors to the client equipment for positioning, so that the stability of the NRTK service and the accuracy of the positioning result can be improved.

This application proposes a simulation training method, system, electronic device, and storage medium, which includes: acquiring a preset geographic mapping model, fixed virtual geographic coordinates of a virtual reference station, and satellite ephemeris data; real-time acquisition of physical coordinate data fed back by the mobile platform; converting the physical coordinate data according to the geographic mapping model to obtain the virtual geographic coordinates of the mobile station; calculating the first satellite observation data using the fixed virtual geographic coordinates based on a unified time reference and precise satellite ephemeris data, and calculating the second satellite observation data using the virtual geographic coordinates of the mobile station; generating differential correction data based on the first satellite observation data; acquiring the positioning result output by the receiver of the tested mobile station; calculating the deviation index between the positioning result and the virtual geographic coordinates of the mobile station, and generating a training evaluation report.

The invention discloses a positioning method and electronic equipment. The positioning method comprises the following steps: acquiring a summary position of a moving station; clustering the moving stations according to the summary positions, and setting a virtual reference station; and broadcasting the differential data of the virtual reference station to the moving station.

The application discloses a network RTK user request fast matching method based on a row-column number mechanism, comprising the following steps: acquiring satellite ephemeris, reference station original observation values and reference station coordinate data; a grid division module divides regional grid points according to the minimum value of the left lower corner, the maximum value of the right upper corner and the division interval of a reference station group; Delaunay triangular network elements are divided according to the accurate coordinates of the reference station group, and the gravity center coordinates of each triangle are calculated; the ambiguity between reference stations in each triangular network element is calculated according to the division result; the space correlation error values between reference stations are calculated and generated; the pseudo-range observation values and the carrier phase observation values of virtual reference stations are interpolated; all difference correction products are sent to a broadcasting platform; when a user requests product service, the broadcasting platform firstly verifies the user, refuses service if the verification fails, and performs product fast matching if the verification passes; after the matching is completed, the product is broadcast to the user to complete high-precision positioning.

The application discloses a baseline network calling method and device, equipment and a storage medium, and is applied to the fields of cloud technology, artificial intelligence, intelligent transportation, and auxiliary driving. A plurality of reference stations are grouped to obtain a plurality of groups of reference stations, and the plurality of groups of reference stations are respectively subjected to grid division to obtain a plurality of baseline networks. When determining a station observation value of a to-be-processed virtual reference station, if it is detected that an abnormality occurs in a target reference station, and it is determined according to position information of the to-be-processed virtual reference station that the to-be-processed virtual reference station is located in a grid unit of a first baseline network to which the target reference station belongs, a second baseline network corresponding to the to-be-processed virtual reference station is determined from the remaining baseline networks. The target reference station is not included in the remaining baseline networks, so the second baseline network does not contain the target reference station, and therefore, even if the target reference station has an abnormality, the baseline in the second baseline network for determining the station observation value of the to-be-processed virtual reference station is still effective, and the calling accuracy of the baseline network and the continuous availability of positioning service are ensured.

The invention discloses a differential service quality analysis method of a virtual reference station and related equipment, and the method comprises the steps: obtaining a base station observation value file corresponding to a historical CORS triangulation network of an abnormal terminal according to abnormal time information; generating a fixed coordinate position according to the abnormal position information; the fixed coordinate position comprises a base station fixed position and a mobile station fixed position; generating a virtual reference station file according to the fixed coordinate position and the base station observation value file; performing coordinate calculation on the virtual reference station file to obtain a virtual mobile station coordinate; performing time sequence deviation analysis on the virtual mobile station coordinate and the mobile station fixed position to obtain a time sequence deviation analysis result; wherein the time sequence deviation analysis result is used for determining the differential service quality of the virtual reference station. The method can avoid field investigation, effectively distinguish the system error of the base station from the local interference of the terminal, improve the identification accuracy of the difference service quality abnormity of the virtual station, and can be widely applied to the technical field of computers.

The invention relates to the technical field of satellite navigation and positioning, in particular to a fast searching and positioning method and system based on network RTK one-way transmission, and the method comprises the steps: carrying out the grid division of a coverage geographic area of each reference station by taking equal latitude and longitude intervals as a criterion, numbering each grid point, and taking the numbered grid point as a virtual reference station; the central processing center receives the accurate coordinates and the real-time observation data of each reference station, calculates and generates a virtual observation value of each grid point, and stores the virtual observation value; designing a grid data coding format, and coding the virtual observation value; and the central processing center broadcasts the coded virtual observation values to the moving station, and after the moving station receives the virtual observation values of the grid points, the optimal grid point is selected by using a rapid search method to perform positioning calculation, so that real-time high-precision positioning is realized. According to the method, the concurrent processing capability of the system can be improved, the security of the system is improved, the system efficiency is improved through a quick search method, and finally accurate positioning service is realized.

The application provides a Beidou ground disaster displacement and image video monitoring fusion method and system based on a high-reliability communication link, comprising: real-time collection of displacement, inclination and five-direction high-definition video, access to micro-meteorological and wire clip temperature data, unified packaging through a data gateway; APN special line transmission is adopted, and centimeter-level RTK differential service is provided for a UAV; based on a Beidou VRS virtual reference station and a long-baseline monitoring solution technology, a Beidou ground-based enhancement station network is multiplexed to generate virtual observation values for real-time dynamic RTK solution; based on the slant-path tropospheric delay PWV inversion three-dimensional water vapor field, tower-level rainfall prediction is realized, and an AI algorithm is fused to generate a risk assessment report; in a BIM+GIS digital twin scene, a displacement heat map, real-time video and early warning annotation are superimposed, 360-degree panoramic splicing and alarm triggering snapshot are supported, and intelligent early warning decision is realized. Through high-precision Beidou monitoring, multi-modal data fusion and intelligent early warning, the real-time performance, precision and automation level of geological disaster monitoring are significantly improved.

The present invention provides a deformation solution method, device, equipment and medium based on a virtual reference station, which relates to the technical field of engineering deformation monitoring. The method includes obtaining the observation values of the virtual reference station and the monitoring station in the current epoch; determining whether the position of the virtual reference station has changed; when it is determined that the position of the virtual reference station has changed, obtaining the observation values of the virtual reference station in the previous epoch; calculating the relative displacement value of the virtual reference station based on the historical virtual pseudorange observation values and the target virtual pseudorange observation values; establishing a positioning double-difference observation equation; and solving the positioning double-difference observation equation based on Kalman filtering to obtain the actual coordinates of the monitoring station in the current epoch. By comparing the position coordinates of the virtual reference station in two adjacent epochs, the present invention performs the conversion of relative displacement on the original double-difference observation equation after determining that the position of the virtual reference station has changed, so as to obtain a more accurate position of the monitoring station and meet the accuracy requirements for deformation monitoring by the virtual reference station.

The invention discloses a wide-area troposphere modeling method fusing a navigation satellite and a meteorological model, and relates to the technical field of satellite positioning, and a server side method comprises the steps: obtaining zenith wet delay of a first troposphere through meteorological data provided by a global numerical weather forecast model in a global navigation satellite ground observation station distribution missing region; interpolating through an Akima interpolation algorithm to generate a second troposphere zenith wet delay synchronized with the global navigation satellite ground observation station; after a virtual reference station meeting requirements is constructed according to a preset principle, third troposphere zenith wet delay corresponding to the second troposphere zenith wet delay is obtained through the second troposphere zenith wet delay; fourth troposphere zenith wet delay and third troposphere zenith wet delay estimated by a global navigation satellite ground observation station are fused, and the fused troposphere zenith wet delay and an improved troposphere polynomial fitting model are used for modeling; and determining a target coefficient of the improved troposphere polynomial fitting model suitable for satellite end broadcasting, and then supplying the target coefficient to a user end for use.

This application discloses a positioning method, device, terminal, server, and storage medium. The positioning method is applied to a terminal and includes: sending approximate location information of the terminal to a server; receiving first indication information sent by the server; the first indication information includes second differential data corresponding to a second virtual reference station; performing calculation based on the second differential data; and correcting the approximate location information based on a fixed solution obtained from the calculation of the first differential data corresponding to the first virtual reference station if a fixed solution is not obtained based on the second differential data; the first virtual reference station is the virtual reference station where the terminal was located before entering the second virtual reference station.

The invention discloses an NRTK differential data optimization method and system for a low-bandwidth link, and the method comprises the following steps: obtaining a visible satellite signal, and packaging the visible satellite signal into an RTCM differential message protocol frame; performing satellite-by-satellite information content scoring on the RTCM differential message protocol frames, retaining observation data of Top-k optimal satellites, and re-framing to form simplified frames; performing single-point positioning calculation on the simplified frame to obtain a coarse positioning result of the edge node; triggering to generate a virtual base station request; a virtual base station is generated in the range, close to the short base line, of the coarse positioning point, and the virtual base station generates differential correction data; and the differential correction data and the simplified frame are fused, extended Kalman filtering is executed, a least square ambiguity decorrelation adjustment algorithm is carried out, and a final positioning result is output. The problem that traditional NRTK positioning depends on a high-bandwidth link technology in non-edge solution is effectively solved, and the accuracy and stability of a low-cost positioning technology are improved.