24 results about "Virtual Reference Station" patented technology

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 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 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 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 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.

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

The invention discloses a linear change characteristic-based CORS ionized layer modeling method and device, and the method comprises the steps: firstly selecting a plurality of linearly distributed GNSS observation stations, carrying out the preprocessing of observation data, calculating the STEC, and enabling the STEC to be projected into VTEC through a single-layer model; and then constructing a VTEC data set along the target direction at the same moment, normalizing the IPP distance of the ionosphere puncture point, calling an international reference ionosphere model to calculate a VTEC reference value as a fitting weight, and adopting a dynamic order determination strategy to complete polynomial fitting through a weighted least square method to obtain a regional ionosphere model. VTEC corresponding to the virtual reference station is obtained through interpolation, ionosphere delay is obtained, the ionosphere delay is further applied to virtual observation value calculation, and linear region high-precision network RTK calculation is achieved. According to the method, the physical characteristic that the ionosphere has change regularity in the longitude / latitude direction is fully utilized, the precision of the regional ionosphere model is remarkably improved while the requirement for the distance of the observation station is lowered, and the observation precision of the linear regional network RTK is further improved.

The invention provides a networking positioning processing method and device and related equipment, and the method is applied to a first reference station, and comprises the steps: obtaining first observation data streams of M second reference stations under the condition of detecting that the networking positioning of the first reference station fails; based on the first observation data stream and a position space relation, a second observation data stream of a virtual reference station is generated, the coordinate position of the virtual reference station is the same as the coordinate position of the first reference station, and the position space relation is the position relation of the second reference station and the first reference station in distance and direction dimensions; the second observation data stream is input into a successfully trained AI model for observation data prediction, a third observation data stream of the virtual base station is obtained, the AI model is used for generating data which takes input data as physical constraints of the virtual base station and conforms to observation data statistical characteristics of the first base station, and the AI model is used for generating data which takes the input data as physical constraints of the virtual base station. The third observation data stream is used for replacing the observation data stream of the first base station for networking positioning.

The application discloses a method, device, computer storage medium and terminal for processing grid switching data. According to GGA track data and RTCM (Radio Technical Commission for Maritime Services) differential data, the embodiment of the application determines information about grid switching and whether the accuracy jumps in a VRS (Virtual Reference Station) service process, displays the information about grid switching and whether the accuracy jumps, provides data support for troubleshooting of grid switching failure, and improves the troubleshooting efficiency of the grid switching failure.

The application discloses a CORS ionosphere modeling method and equipment based on linear variation characteristics, first, a plurality of GNSS stations in linear distribution are selected, observation data is preprocessed and STEC is calculated, and then STEC is projected into VTEC through a single layer model; then, a VTEC dataset along a target direction at the same time is constructed, IPP distance normalization is performed on the ionosphere piercing point, a VTEC reference value is calculated by calling an international reference ionosphere model as a fitting weight, a dynamic order determination strategy is adopted to complete polynomial fitting through a weighted least square method, and a regional ionosphere model is obtained. The VTEC corresponding to a virtual reference station is obtained through interpolation, ionosphere delay is obtained, and the ionosphere delay is further applied in virtual observation value calculation, and linear regional high-precision network RTK calculation is realized. The application fully utilizes the physical characteristics that the ionosphere has variation regularity in the longitude / latitude direction, relaxes the distance requirement between stations, significantly improves the accuracy of the regional ionosphere model, and further improves the observation accuracy of the linear regional network RTK.