CN110412634A

CN110412634A - Pseudo range difference localization method and device based on Reference network

Info

Publication number: CN110412634A
Application number: CN201910707838.7A
Authority: CN
Inventors: 吕金虎; 张明; 武春风; 陈波波; 刘克新
Original assignee: Beijing University of Aeronautics and Astronautics
Current assignee: Beihang University; Beijing University of Aeronautics and Astronautics
Priority date: 2019-08-01
Filing date: 2019-08-01
Publication date: 2019-11-05
Anticipated expiration: 2039-08-01
Also published as: CN110412634B

Abstract

The embodiment of the present invention provides a kind of pseudo range difference localization method and device based on Reference network.Wherein, method includes: to receive the geographical position coordinates and Pseudo-range Observations of the poor ionosphere delay of list and single poor tropospheric delay and main reference station between the rover station and main reference station that server-side is sent；According to the Pseudo-range Observations of the poor ionosphere delay of list and single poor tropospheric delay, the geographical position coordinates of main reference station and observation data and rover station between rover station and main reference station, the geographical position coordinates of rover station are obtained；Wherein, main reference station is with rover station apart from nearest reference station.Pseudo range difference localization method and device provided in an embodiment of the present invention based on Reference network, by using the poor ionosphere delay of the list between rover station and main reference station and single poor tropospheric delay as differential correcting information, carry out pseudo range difference positioning, the positioning result that higher precision can be obtained in Long baselines can improve, ensure the accuracy and reliability of positioning.

Description

Pseudo range difference localization method and device based on Reference network

Technical field

The present invention relates to technical field of satellite, fixed more particularly, to a kind of pseudo range difference based on Reference network Position method and device.

Background technique

Pseudo range difference positioning is GNSS (Global Navigation Satellite System, Global Navigation Satellite System) one of location technology.Relative to pseudorange One-Point Location, precision is significantly increased, in reasonable Arrangement reference station In the case of can be realized sub_meter position；It is positioned relative to carrier difference, the hardware cost of server-side and user terminal significantly reduces. Pseudo range difference positions compared with other station-keeping modes, and technical difficulty is small, and economic benefit is promoted obviously, thus has obtained answering extensively With.

But pseudo range difference positioning accuracy is influenced by rover station with reference to distance between sites, as reference station baseline (can letter Referred to as " baseline ") length increase, error correlation reduces between survey station, under causing user (i.e. rover station) positioning accuracy rapid Drop.Further, since user only receives single station differential data, system reliability is poor.

Therefore, positioning accuracy of the existing pseudo range difference localization method in Long baselines is poor.

Summary of the invention

The embodiment of the present invention provides a kind of pseudo range difference localization method and device based on Reference network, solving or It at least is partially solved the defect of positioning accuracy difference of the prior art in Long baselines.

In a first aspect, the embodiment of the present invention provides a kind of pseudo range difference localization method based on Reference network, comprising:

The poor ionosphere delay of list between the rover station and main reference station that server-side is sent and single poor tropospheric delay are received, And the geographical position coordinates and Pseudo-range Observations of the main reference station；

According to the poor ionosphere delay of list between the rover station and the main reference station and single poor tropospheric delay, described The geographical position coordinates of main reference station and the Pseudo-range Observations of observation data and the rover station, obtain the rover station Geographical position coordinates；

Wherein, the main reference station is with the rover station apart from nearest reference station.

Preferably, the poor ionosphere delay of list according between the rover station and the main reference station and single poor convection current Layer delay, the geographical position coordinates of the main reference station and Pseudo-range Observations and the rover station Pseudo-range Observations, obtain The specific steps of the geographical position coordinates of the rover station include:

Extract the poor ionosphere delay of list between the rover station and the main reference station and single poor tropospheric delay, described In the geographical position coordinates and Pseudo-range Observations of main reference station and the Pseudo-range Observations of the rover station, the rover station with The Pseudo-range Observations of the corresponding main reference station of the satellite that the main reference station regards altogether, the rover station Pseudo-range Observations with And the poor ionosphere delay of list and single poor tropospheric delay between the rover station and the main reference station；

According to the Pseudo-range Observations of the rover station main reference station corresponding with the satellite that the main reference station regards altogether, The poor ionosphere delay of list and single poor convection current between the Pseudo-range Observations of the rover station, the rover station and the main reference station Single poor observational equation, obtains the rover station between layer delay and the pseudorange station between the rover station and the main reference station Position Corrections number；

According to the pre-determined bit of the Position Corrections number of the rover station and the rover station as a result, obtaining the ground of the rover station Manage position coordinates.

Second aspect, the embodiment of the present invention provide a kind of pseudo range difference localization method based on Reference network, comprising:

According to the observation data of the total view satellite of Reference network, the poor ionosphere delay of list and list of each reference station baseline are obtained Poor tropospheric delay；

According to the poor ionosphere delay of list of a plurality of reference station baseline nearest with rover station distance and single poor tropospheric delay, Obtain the poor ionosphere delay of list between the rover station and main reference station and single poor tropospheric delay；

By the poor ionosphere delay of list and the poor tropospheric delay of list between the rover station and the main reference station, Yi Jisuo The geographical position coordinates and Pseudo-range Observations for stating main reference station are sent to the rover station；

Preferably, the observation data of the total view satellite according to Reference network, obtain the poor electricity of list of each reference station baseline Absciss layer delay and the specific steps of single poor tropospheric delay include:

According to the observation data of the total view satellite of the Reference network, the pseudorange and carrier phase of the Reference network are established Station between single poor observational equation；

According to poor observational equation single between the station of the pseudorange and carrier phase of sequential adjustment method and the Reference network, obtain The poor ionosphere delay of list of each reference station baseline and single poor tropospheric delay.

Preferably, single poor sight between the station according to the pseudorange and carrier phase of sequential adjustment method and the Reference network Equation is surveyed, the specific steps of the poor ionosphere delay of list and single poor tropospheric delay that obtain each reference station baseline include:

According to surface pressure, surface temperature and tropospheric hydrostatic delay model, the Zenith tropospheric of each reference station is obtained Dry delay, and according to poor observational equation single between the station of the pseudorange and carrier phase of sequential adjustment method and the Reference network, it obtains Take the Zenith tropospheric wet stack emission of each reference station and the poor ionosphere delay of list of each reference station baseline；

According to the dry delay of the Zenith tropospheric of each reference station and Zenith tropospheric wet stack emission, each reference station is obtained Tropospheric delay；

According to the tropospheric delay of each reference station, the poor tropospheric delay of list of each reference station baseline is obtained.

Preferably, the poor ionosphere delay of list of the basis a plurality of reference station baseline nearest with rover station distance and list are poor Tropospheric delay obtains the poor ionosphere delay of list between the rover station and the main reference station and single poor tropospheric delay Specific steps include:

According to the poor ionosphere delay of list of a plurality of reference station baseline nearest with the rover station distance and single poor troposphere The longitude and latitude of the reference station at delay and a plurality of reference station baseline both ends, establishes regional atmospheric delay model；

According in the pre-determined bit result of the regional atmospheric delay model, the longitude and latitude of main reference station and the rover station Longitude and latitude obtains the poor ionosphere delay of list between the rover station and the main reference station and single poor tropospheric delay.

The third aspect, the embodiment of the present invention provide a kind of pseudo range difference positioning device based on Reference network, comprising:

Receiving module, the poor ionosphere delay of list and list between rover station and main reference station for receiving server-side transmission The geographical position coordinates and Pseudo-range Observations of poor tropospheric delay and the main reference station；

Locating module, for according to the poor ionosphere delay of list between the rover station and the main reference station and single poor right The Pseudo-range Observations of tropospheric delay, the geographical position coordinates of the main reference station and Pseudo-range Observations and the rover station, are obtained Take the geographical position coordinates of the rover station；

Fourth aspect, the embodiment of the present invention provide a kind of pseudo range difference positioning device based on Reference network, comprising:

First obtains module, for the observation data according to the total view satellite of Reference network, obtains each reference station baseline Single poor ionosphere delay and single poor tropospheric delay；

Second obtains module, for the poor ionosphere delay of list according to a plurality of reference station baseline nearest with rover station distance With single poor tropospheric delay, obtains the poor ionosphere delay of the list between the rover station and main reference station and single poor troposphere is prolonged Late；

Sending module, for by between the rover station and the main reference station the poor ionosphere delay of list and single poor convection current The geographical position coordinates and Pseudo-range Observations of layer delay and the main reference station are sent to the rover station；

5th aspect, the embodiment of the present invention provides a kind of electronic equipment, including memory, processor and is stored in memory Computer program that is upper and can running on a processor, realizes the various of such as first aspect or second aspect when executing described program Pseudo range difference localization method based on Reference network provided by any possible implementation in possible implementation Step.

6th aspect, the embodiment of the present invention provide a kind of non-transient computer readable storage medium, are stored thereon with calculating Machine program realizes the various possible implementations such as first aspect or second aspect when the computer program is executed by processor In pseudo range difference localization method provided by any possible implementation based on Reference network the step of.

Pseudo range difference localization method and device provided in an embodiment of the present invention, by will be between rover station and main reference station Single poor ionosphere delay and single poor tropospheric delay carry out pseudo range difference positioning, position fixing process and ginseng as differential correcting information The length for examining station baseline is unrelated, and the positioning result of higher precision can be obtained in Long baselines, can improve, ensure the standard of positioning True property and reliability.

Detailed description of the invention

In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this hair Bright some embodiments for those of ordinary skill in the art without creative efforts, can be with root Other attached drawings are obtained according to these attached drawings.

Fig. 1 is to be illustrated according to the process of the pseudo range difference localization method provided in an embodiment of the present invention based on Reference network Figure；

Fig. 2 is to be illustrated according to the process of the pseudo range difference localization method provided in an embodiment of the present invention based on Reference network Figure；

The schematic diagram for the pseudo range difference positioning system based on Reference network that Fig. 3 is provided according to embodiments of the present invention；

The reference station and rover station distribution schematic diagram that Fig. 4 is provided according to embodiments of the present invention；

The positioning accuracy comparison diagram that Fig. 5 is provided according to embodiments of the present invention；

Fig. 6 is the structural representation according to the pseudo range difference positioning device provided in an embodiment of the present invention based on Reference network Figure；

Fig. 7 is the structural representation according to the pseudo range difference positioning device provided in an embodiment of the present invention based on Reference network Figure；

Fig. 8 is the entity structure schematic diagram according to electronic equipment provided in an embodiment of the present invention.

Specific embodiment

In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art Every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.

In order to overcome the above problem of the prior art, the embodiment of the present invention provides a kind of pseudo range difference localization method and dress It sets, inventive concept is, using the poor ionosphere delay of the list between rover station and main reference station and single poor tropospheric delay as changing Positive number obtains the geographical position coordinates of rover station according to the correction, and entire position fixing process is unrelated with the length of reference station baseline, So as to not influenced by the length of reference station baseline, realizes the high accuracy positioning in Long baselines, positioning accuracy is mentioned Height arrives sub-meter grade.

Fig. 1 is to be illustrated according to the process of the pseudo range difference localization method provided in an embodiment of the present invention based on Reference network Figure.As shown in Figure 1, this method comprises: step S101, receive server-side send rover station and main reference station between the poor electricity of list The geographical position coordinates and Pseudo-range Observations of absciss layer delay and single poor tropospheric delay and main reference station.

Wherein, main reference station is with rover station apart from nearest reference station.

It should be noted that the execution master of the pseudo range difference localization method provided in an embodiment of the present invention based on Reference network Body is rover station.

Pseudo range difference positioning system is generally made of multiple reference stations, data processing centre and a rover station, the system For positioning to rover station, the geographical position coordinates of rover station are obtained.

Server-side is data processing centre, is responsible for handling the original satellite observation data based on GNSS.It is original to defend Star observes data, including double frequency pseudorange and carrier phase observable.Original satellite observes data, is each reference station and rover station observation What each satellite in GNSS generated.

Reference station or rover station receive original satellite by receiver and observe data, below unless otherwise instructed, reference station Geographical position coordinates refer to that the geographical position coordinates of reference station receiver, the geographical position coordinates of rover station refer to rover station receiver Geographical position coordinates, the distance between reference station and satellite refer to the distance between reference station receiver and satellite, rover station and The distance between satellite refers to the distance between rover station receiver and satellite, and the meaning of other similar parameter is referred to above-mentioned ginseng Several meanings understands.

Specifically, server-side is handled by observing data to original satellite, is obtained between rover station and main reference station The poor ionosphere delay of list and single poor tropospheric delay.

Single poor ionosphere delay and single poor tropospheric delay, collectively form single poor atmosphere delay.

It is understood that locating since server-side is responsible for handling the original satellite observation data based on GNSS Server-side obtains the received original satellite observation data of main reference station before reason.

Server-side can also obtain the geographical position coordinates of main reference station.

Server-side by between rover station and main reference station the poor ionosphere delay of list and single poor tropospheric delay and main ginseng The geographical position coordinates and Pseudo-range Observations for examining station are sent to rover station, and rover station receives the list between rover station and main reference station The geographical position coordinates and Pseudo-range Observations of poor ionosphere delay and single poor tropospheric delay and main reference station.

Step S102, according to the poor ionosphere delay of list and single poor tropospheric delay, master between rover station and main reference station The geographical position coordinates of reference station and the Pseudo-range Observations of observation data and rover station, the geographical location for obtaining rover station are sat Mark.

It is understood that before step S102 further include: receive original satellite and observe data.

Rover station receives the poor ionosphere delay of list and single poor tropospheric delay between rover station and main reference station, Yi Jizhu After geographical position coordinates and Pseudo-range Observations and original satellite the observation data of reference station, above-mentioned difference information and original is utilized Pseudo-range Observations in Satellite Observations carry out pseudo range difference positioning after data processing, the geographical location for obtaining rover station is sat Mark, as pseudo range difference positioning result.In pseudo range difference position fixing process, by the poor ionosphere of list between rover station and main reference station Delay and single poor tropospheric delay are as differential correcting information (i.e. atmospheric correction number).

The embodiment of the present invention by by between rover station and main reference station the poor ionosphere delay of list and single poor troposphere prolong It is used as differential correcting information late, carries out pseudo range difference positioning, position fixing process is unrelated with the length of reference station baseline, can be in Long baselines In the case of obtain higher precision positioning result, can improve, ensure position accuracy and reliability.

Content based on the various embodiments described above, according to the poor ionosphere delay of list between rover station and main reference station and single poor The Pseudo-range Observations of tropospheric delay, the geographical position coordinates of main reference station and Pseudo-range Observations and rover station obtain flowing The specific steps for the geographical position coordinates stood include: to extract the poor ionosphere delay of list between rover station and main reference station and singly poor In the Pseudo-range Observations of tropospheric delay, the geographical position coordinates of main reference station and Pseudo-range Observations and rover station, rover station The Pseudo-range Observations of main reference station corresponding with the satellite that main reference station regards altogether, the Pseudo-range Observations of rover station and rover station with The poor ionosphere delay of list and single poor tropospheric delay between main reference station.

Specifically, according to the Pseudo-range Observations of the Pseudo-range Observations of main reference station and rover station, rover station and main ginseng are determined Examine the satellite that station regards altogether.According to the actual situation, rover station and main reference station altogether depending on the quantity of satellite must not be less than 4.

It should be noted that needing to reject data incomplete during determining the satellite that rover station and main reference station regard altogether Satellite and satellite situations such as there are rough errors.

The satellite regarded altogether according to identified rover station and main reference station, can list between rover station and main reference station Poor ionosphere delay and single poor tropospheric delay, the geographical position coordinates of main reference station and Pseudo-range Observations and rover station In Pseudo-range Observations, Pseudo-range Observations, the rover station of rover station main reference station corresponding with the satellite that main reference station regards altogether are extracted Pseudo-range Observations and rover station and main reference station between the poor ionosphere delay of list and single poor tropospheric delay.

According to the Pseudo-range Observations of rover station main reference station corresponding with the satellite that main reference station regards altogether, the pseudorange of rover station The poor ionosphere delay of list and single poor tropospheric delay and rover station and main ginseng between observation, rover station and main reference station Single poor observational equation between the pseudorange station between station is examined, the Position Corrections number of rover station is obtained.

Specifically, single poor observational equation is between the pseudorange station between rover station U and main reference station R

Wherein,Indicate the poor Pseudo-range Observations of list between rover station U and main reference station R；Indicate rover station U List between main reference station R is poor to defend distance；C indicates the light velocity in vacuum；δt_R,UIt indicates between rover station U and main reference station R Single poor reception machine clock deviation；Indicate the poor ionosphere delay of list between rover station U and main reference station R；Indicate flowing The poor tropospheric delay of list stood between U and main reference station R (comprising orbit error)；Indicate remaining residual error, including single poor Multipath effect, observation noise etc.；Subscript i indicates the number for the satellite that rover station U and main reference station R are regarded altogether, does not represent index Meaning.

Wherein, P indicates Pseudo-range Observations；Subscript R, U respectively indicates main reference station and rover station；Subscript i indicates rover station The number of the satellite regarded altogether with main reference station does not represent index meaning；(xⁱ,yⁱ,zⁱ) indicate signal emission time GNSS satellite Geographical position coordinates can be calculated according to GNSS broadcast ephemeris data and be obtained；(x_R,y_R,z_R) indicate the geographical location of main reference station Coordinate, the coordinate are accurate coordinates；(x_U,y_U,z_U) indicate rover station geographical position coordinates.

It should be noted that according to the frequency that rover station is supported, Pseudo-range Observations can choose any available frequency band (such as L1 Carrier wave, L2 carrier wave or other available frequency band carrier waves) Pseudo-range Observations.Between the rover station and main reference station that server-side is sent The poor ionosphere delay of list and single poor tropospheric delay be used as differential correcting information, the puppet between correction rover station and main reference station Away from poor observational equation single between stationWithBy clock deviation parameter δ t_R,UWith the geographical position coordinates (x of rover station_U,y_U, z_U) it is used as parameter Estimation, single poor observational equation obtains error equation between the pseudorange station between linearized flow station and main reference station For

V_U=B_UδX_U-l_U

Wherein, B_UIndicate design matrix；δX_UIndicate parameter vector to be estimated；l_UIndicate observation vector；V_UIt is residual for observation Difference vector.

The observation vector power battle array of the error equation is D_U。

δX_U=[δ x_U δy_U δz_U δt_R,U]^T

D_U=diag (1/ σ_P,1,…,1/σ_P,m)

Wherein, m indicates the sum for the satellite that the rover station of actual use and main reference station regard altogether；M≤n, n indicate available The total number for the satellite that rover station and main reference station regard altogether；The volume for the satellite that subscript 1 is rover station to m and main reference station regards altogether Number, index meaning is not represented；Subscript i indicates the number for the satellite that rover station and main reference station regard altogether, does not represent index meaning, 1 ≤i≤m；Indicate rover station pre-determined bit as a result, can be obtained in advance by the methods of One-Point Location it is thick Positioning result (i.e. approximate coordinate) slightly；It indicates to defend distance (i.e. rover station according to the pre-determined bit result of rover station is calculated The distance between satellite)；Indicate the calculated rover station U of pre-determined bit result and main reference station R according to rover station Between list poor defend distance；σ_P,iIndicate the prior variance of the Pseudo-range Observations for the satellite that rover station regards i-th altogether, Ke Yigen It is calculated according to priori standard variance and elevation of satellite.

Above-mentioned error equation can be resolved, can be obtained by any error compensation method, such as least square adjustment To Position Corrections number (the δ x of rover station_U,δy_U,δz_U)。

According to the pre-determined bit of the Position Corrections number of rover station and rover station as a result, obtaining the geographical position coordinates of rover station.

Specifically, the geographical position coordinates (x of rover station_U,y_U,z_U) calculation formula be

Fig. 2 is to be illustrated according to the process of the pseudo range difference localization method provided in an embodiment of the present invention based on Reference network Figure.Content based on the various embodiments described above, as shown in Fig. 2, a kind of pseudo range difference localization method based on Reference network includes: step Rapid S201, the observation data according to the total view satellite of Reference network, obtain the poor ionosphere delay of list and list of each reference station baseline Poor tropospheric delay.

It should be noted that the executing subject of pseudo range difference localization method provided in an embodiment of the present invention is server-side, i.e., Data processing centre.

It should be noted that before step S201, server-side is according to the geographical position coordinates of each reference station, by reference station group At the Delauney triangulation network, Reference network and each reference station baseline are obtained.

Before step S201, the original satellite of acquisition is observed data to each reference station and broadcast ephemeris data are sent to service End, server-side receive each reference station and the original satellite of acquisition are observed data and broadcast ephemeris data.The original of each reference station acquisition Beginning Satellite Observations and broadcast ephemeris data constitute the observation data of Reference network.

Server-side observes data to the original satellite that each reference station acquires and broadcast ephemeris data pre-process, and rejects number The satellite for situations such as according to infull satellite and there are rough errors.

Specifically, data are observed according to the original satellite of each reference station acquisition, can determine the total view satellite of Reference network, The total view satellite of i.e. each Reference network, so as to observe data and broadcast ephemeris data from the original satellite after pretreatment In, extract the observation data of total view satellite.

Based on each reference station baseline, the pseudorange and carrier phase of the reference station at each reference station baseline both ends can establish Single poor observational equation between standing.

According to the sight of poor observational equation single between each pseudorange of foundation and the station of carrier phase and the total view satellite of Reference network Measured data, carry out sequential adjustment obtain single poor fuzziness float-solution, each reference station baseline both ends two reference stations between Single poor atmosphere delay.The poor atmosphere delay of list between two reference stations, including single poor ionosphere delay and single poor tropospheric delay Two parts.

It should be noted that needing to consider the influence of orbit error in the case of Long baselines, but due to orbit error and convection current Layer delay can not separate, therefore the poor tropospheric delay of obtained list is to contain the poor tropospheric delay of list of orbit error.

Step S202, poor right according to the poor ionosphere delay of list of a plurality of reference station baseline nearest with rover station distance and list Tropospheric delay obtains the poor ionosphere delay of list between rover station and main reference station and single poor tropospheric delay.

Specifically, according to the poor ionosphere delay of list of a plurality of reference station baseline nearest with rover station distance and single poor convection current The longitude and latitude of each reference station of the endpoint of layer delay and above-mentioned a plurality of reference station baseline, can determine that regional atmospheric postpones mould Model coefficient undetermined in type.

It is a plurality of, refer at least two.

According to model coefficient undetermined, available regional atmospheric delay model.

Based on the regional atmospheric delay model, according to the longitude and latitude of the longitude and latitude rover station of main reference station, available stream The poor ionosphere delay of list and single poor tropospheric delay between dynamic station and main reference station.

Step S203, by the poor ionosphere delay of list and the poor tropospheric delay of list between rover station and main reference station, and The geographical position coordinates and Pseudo-range Observations of main reference station are sent to rover station.

Specifically, server-side by between rover station and main reference station the poor ionosphere delay of list and single poor tropospheric delay, And the geographical position coordinates and Pseudo-range Observations of main reference station are sent to rover station, so that rover station is according to rover station and master The poor ionosphere delay of list and single poor tropospheric delay, the geographical position coordinates and pseudorange observation of main reference station between reference station The Pseudo-range Observations of value and rover station, obtain the geographical position coordinates of rover station.

The embodiment of the present invention is by establishing reference station list difference pseudorange and carrier phase observational equation, using sequential adjustment side Method can obtain single poor atmosphere delay between more accurate reference station；By using a plurality of reference station base nearest with rover station distance The poor atmosphere delay of list between the reference station at line both ends can obtain more accurate atmospheric correction number in Long baselines, observation It stands so as to obtain the positioning result of higher precision in Long baselines according to more accurate atmospheric correction number, can improve, protect Hinder the accuracy and reliability of positioning.

Content based on the various embodiments described above obtains each reference station according to the observation data of the total view satellite of Reference network The specific steps of the poor ionosphere delay of the list of baseline and single poor tropospheric delay include: the sight according to the total view satellite of Reference network Measured data establishes single poor observational equation between the pseudorange of Reference network and the station of carrier phase.

Specifically, single poor observational equation between the pseudorange of Reference network and the station of carrier phase, by each reference station baseline two Single poor observational equation is constituted between the pseudorange of the reference station at end and the station of carrier phase.

For any bar reference station baseline, the pseudorange of the reference station A and B at the reference station baseline both ends and the station of carrier phase Between single poor observational equation be

Wherein, Δ indicates single poor operator；Respectively indicate the list of L1, L2 carrier wave between reference station A, B Poor Pseudo-range Observations；Respectively indicate the poor phase of list of L1, L2 carrier wave as unit of rice between reference station A, B Observation；It indicates that the list between reference station A, B is poor and defends distance；C indicates the light velocity in vacuum；δt_A,BFor reference station A, B it Between single poor reception machine clock deviation；f₁、f₂Respectively indicate the frequency of L1, L2 carrier wave；Indicate the L1 carrier wave between reference station A, B Single poor ionosphere delay；Indicate the poor tropospheric delay of list between reference station A, B；Respectively indicate ginseng Examine the poor fuzziness of list of L1, L2 carrier wave between station A, B；λ₁、λ₂Respectively indicate the wavelength of L1, L2 carrier wave； Residual error after respectively representing pseudorange and carrier phase list difference, including single poor orbit error residual error, single poor multipath effect, sight Survey noise etc.；Subscript i indicates the number of the total view satellite of reference station A, B, does not represent index meaning.

Wherein, P₁、P₂Respectively indicate the Pseudo-range Observations of L1, L2 carrier wave；Subscript A, B respectively indicates reference station A, B；Subscript i The number for indicating the total view satellite of reference station A, B, does not represent index meaning；L₁、L₂Respectively indicate the phase observations of L1, L2 carrier wave Value；M_d、M_wRespectively indicate tropospheric hydrostatic delay mapping function and wet stack emission mapping function；T_d、T_wIt is dry to respectively indicate Zenith tropospheric Delay and wet stack emission；(x_A,y_A,z_A)、(x_B,y_B,z_B) geographical position coordinates of reference station A, B are respectively indicated, which is accurate Coordinate, the method that can be post-processed by GNSS data, which calculates, to be obtained；(xⁱ,yⁱ,zⁱ) indicate signal emission time GNSS satellite Geographical position coordinates can be calculated according to GNSS broadcast ephemeris data and be obtained.

According to poor observational equation single between the station of the pseudorange and carrier phase of sequential adjustment method and Reference network, each ginseng is obtained Examine the poor ionosphere delay of list and the poor tropospheric delay of list of station baseline.

Specifically, according to the total view satellite of poor observational equation and Reference network single between above-mentioned each pseudorange and the station of carrier phase Observation data, carry out sequential adjustment, two references of the poor fuzziness float-solution of available list, each reference station baseline both ends The poor atmosphere delay of list between standing.

The poor atmosphere delay of list between two reference stations, including single poor ionosphere delay and list poor tropospheric delay two Point.

The poor ionosphere delay of the list of reference station baseline refers to the poor electricity of list between two reference stations at the reference station baseline both ends Absciss layer delay；The poor tropospheric delay of the list of reference station baseline refers to that the list between two reference stations at the reference station baseline both ends is poor Tropospheric delay.

The embodiment of the present invention is by establishing reference station list difference pseudorange and carrier phase observational equation, using sequential adjustment side Method can obtain single poor atmosphere delay between more accurate reference station, so as to be based on single poor atmosphere delay between more accurate reference station, The positioning result that higher precision is obtained in Long baselines can improve, ensure the accuracy and reliability of positioning.

Content based on the various embodiments described above, according to the station of the pseudorange and carrier phase of sequential adjustment method and Reference network Between single poor observational equation, obtain the poor ionosphere delay of list of each reference station baseline and the specific steps packet of single poor tropospheric delay It includes: according to surface pressure, surface temperature and tropospheric hydrostatic delay model, obtaining the dry delay of Zenith tropospheric of each reference station, and According to poor observational equation single between the station of the pseudorange and carrier phase of sequential adjustment method and Reference network, the day of each reference station is obtained Push up the poor ionosphere delay of list of troposphere wet stack emission and each reference station baseline.Specifically, tropospheric delay includes Zenith tropospheric Dry delay and Zenith tropospheric wet stack emission two parts.

Delay dry for Zenith tropospheric, can be obtained by empirical model.

Common tropospheric hydrostatic delay model include Saastamoinen model (Saas model), Hopfield model and Black's Model etc..

When delay dry using common tropospheric hydrostatic delay model calculating Zenith tropospheric, it is required to use reference station correspondence Surface pressure and surface temperature.Surface pressure and surface temperature can use the acquisition of ground monitoring station, can also be according to reference Station coordinates, observation time are obtained using model.By clock deviation parameter δ t_A,B, Zenith tropospheric wet stack emission, single poor ionosphere delay, L1 The poor fuzziness of list with L2 carrier wave linearizes single poor observational equation between each pseudorange and the station of carrier phase and obtains as parameter Estimation Error equation is

V_R=B_RX_R-l_R

Wherein, B_RIndicate design matrix；X_RIndicate parameter vector to be estimated；l_RIndicate observation vector；V_RFor observation residual error Vector.

The observation vector power battle array of the error equation is D_R, can be obtained according to observation priori precision.

Wherein, subscript i indicates the number for the satellite that rover station and main reference station regard altogether, does not represent index meaning, 1≤i≤ N, n indicate the sum of the total view satellite of available Reference network； Respectively indicate single poor pseudorange and carrier phase observable Prior variance.

Wherein, σ_P、σ_LThe prior variance of non-poor pseudorange and carrier phase observable is respectively indicated, it can be according to non-poor pseudorange and phase The priori standard variance and elevation of satellite of position observation are calculated.

Above-mentioned error equation can be resolved by sequential adjustment, obtain single poor fuzziness float-solution, single poor ionization Layer delay and Zenith tropospheric wet stack emission.

During sequential adjustment, explorer satellite cycle slip according to the actual situation is needed.For first epoch data, do not need to detect Cycle slip；Value for remaining epoch data, for the satellite of cycle slip occurs, after its fuzziness parameter to be updated to cycle slip.

According to the dry delay of the Zenith tropospheric of each reference station and Zenith tropospheric wet stack emission, the troposphere of each reference station is obtained Delay.

Specifically, since tropospheric delay includes tropospheric hydrostatic delay and troposphere wet stack emission two parts, by each reference station Tropospheric hydrostatic delay be added with troposphere wet stack emission, the tropospheric delay of available each reference station.

For mapping function, common mathematical function has GMF, VMF etc..

When calculating the mapping function of tropospheric hydrostatic delay and wet stack emission, need to use the elevation angle of satellite, reference station coordinates, Observation time etc..

Wherein, surface pressure, surface temperature can use the acquisition of ground monitoring station, can also be according to reference station coordinates, sight Time utilization model is surveyed to obtain.

According to the dry delay of the Zenith tropospheric of each reference station and Zenith tropospheric wet stack emission and respective mapping letter Number, the tropospheric delay of the available reference station.

Specifically, available according to the tropospheric delay of the reference station at the baseline both ends for each reference station baseline The poor tropospheric delay of the list of the reference station baseline.

Content based on the various embodiments described above, according to the poor ionization of list of a plurality of reference station baseline nearest with rover station distance Layer delay and single poor tropospheric delay, obtain the poor ionosphere delay of list between rover station and main reference station and single poor troposphere is prolonged Slow specific steps include: poor right according to the poor ionosphere delay of list and list of a plurality of reference station baseline nearest with rover station distance The longitude and latitude of tropospheric delay and the reference station at a plurality of reference station baseline both ends, establishes regional atmospheric delay model.

Specifically, it establishes before regional atmospheric delay model further include: obtain the pre-determined bit result of rover station.

According to the pre-determined bit of rover station as a result, at least 2 reference station baselines of the selection with rover station distance recently.

Prolonged according to the reference station list difference ionosphere delay at least 2 reference station baseline both ends of selection and single poor troposphere Late, regional atmospheric delay model is established.

Observational equation in regional atmospheric delay model is

Wherein, subscript A, B respectively indicates reference station A, B；Subscript i indicates the number of the total view satellite of reference station A, B, not generation Table index meaning；Indicate the poor ionosphere delay of list between reference station A, B；Indicate that the list between reference station A, B is poor Tropospheric delay；Indicate ionospheric model coefficient undetermined；Indicate Tropospheric Models coefficient undetermined；B_A、 L_ARespectively indicate the latitude and longitude of reference station A；B_B、L_BRespectively indicate the latitude and longitude of reference station B.

Model coefficient undetermined includes in regional atmospheric delay model

If geographical position coordinates longitude, latitude and height above sea level indicate, B_A、L_A、B_B、L_BRespectively reference station A, B's Geographical position coordinates (x_A,y_A,z_A)、(x_B,y_B,z_B) in y_A、x_A、y_B、x_B。

Due toB_A、L_A、B_B、L_BIt has obtained, thus can calculate It determines Model coefficient undetermined in regional atmospheric delay model.

According to the longitude and latitude in the pre-determined bit result of regional atmospheric delay model, the longitude and latitude of main reference station and rover station, Obtain the poor ionosphere delay of list between rover station and main reference station and single poor tropospheric delay.

Specifically, select the reference station nearest from rover station U as main reference station R.

If geographical position coordinates longitude, latitude and height above sea level indicate, wrapped according in the pre-determined bit result of rover station Include the longitude and latitude of rover station.

It is fixed that longitude and latitude in the pre-determined bit result of the longitude and latitude of main reference station and rover station is substituted into model coefficient Regional atmospheric delay model, can calculate the poor ionosphere delay of the list between rover station and main reference station and single poor troposphere is prolonged Late.

It calculates the poor ionosphere delay of list between rover station U and main reference station R and singly the formula of poor tropospheric delay is

Wherein, subscript U, R respectively indicates rover station and main reference station；Subscript i indicates the volume of the total view satellite of reference station A, B Number, index meaning is not represented；Indicate the poor ionosphere delay of list between reference station A, B；Indicate reference station A, B it Between the poor tropospheric delay of list；Indicate ionospheric model coefficient；Indicate Tropospheric Models coefficient；B_U、L_UPoint Not Biao Shi rover station U latitude and longitude；B_R、L_RRespectively indicate the latitude and longitude of main reference station R.

Between reference station of the embodiment of the present invention by using the nearest a plurality of reference station baseline both ends of rover station distance The poor atmosphere delay of list, more accurate atmospheric correction number can be obtained in Long baselines, observation station is so as to according to more acurrate Atmospheric correction number the positioning result of higher precision is obtained in Long baselines, can improve, ensure positioning accuracy and can By property.

The schematic diagram for the pseudo range difference positioning system based on Reference network that Fig. 3 is provided according to embodiments of the present invention.Such as Fig. 3 Shown, Reference network is made of reference station R1-R7, and rover station is U (can be denoted as mobile station user U).Wherein, it is referred to based on R5 It stands.

Data center is according to each reference station observation, the observation data of the total view satellite of available Reference network；According to The observation data of the total view satellite of Reference network can establish single poor observation side between the pseudorange of Reference network and the station of carrier phase Journey；According to poor observational equation single between the pseudorange of Reference network and the station of carrier phase, the list of available each reference station baseline is poor Ionosphere delay and single poor tropospheric delay；According to regional atmospheric delay model, a plurality of reference station nearest with rover station distance The poor ionosphere delay of the list of baseline is predetermined with single poor tropospheric delay, the geographical position coordinates of main reference station R5 and rover station U's Position is as a result, the poor ionosphere delay of list between available rover station U and main reference station R5 and singly poor tropospheric delay, as difference Divide correcting information；Differential correcting information is sent to rover station U.

Rover station U is according to poor observation side single between the pseudorange station between differential correcting information and rover station U and main reference station R5 Journey, the geographical position coordinates of available rover station U, the Differential positioning result as rover station U.

For the ease of the understanding to the various embodiments described above of the present invention, it is illustrated below by an example.

The reference station and rover station distribution schematic diagram that Fig. 4 is provided according to embodiments of the present invention.As shown in figure 4, using China Four GNSS base stations XIAA, SCSP, CQCS and SCBZ of Continental Tectonics Environmental Monitoring Network are tested.Wherein XIAA, As reference station, base length is about 500km by SCSP, CQCS；SCBZ is as rover station, with main reference station XIAA spacing 340km.

The method that the various embodiments described above of the present invention provide was carried out using the 10th day 2016 whole day observed result and carries out puppet Away from Differential positioning.

When resolving the single epoch fuzziness of reference station, tropospheric hydrostatic delay component uses UNB3m model, and mapping function uses GMF；The sampling interval of rover station calculating coordinate is 30s, and satellite elevation mask is set as 15 °.

The positioning accuracy comparison diagram that Fig. 5 is provided according to embodiments of the present invention.One-Point Location, pseudo range difference positioning is respectively adopted The geographical position coordinates of rover station SCBZ are resolved with the pseudo range difference positioning based on Reference network, and acquisition will be resolved Coordinate and rover station SCBZ known coordinate ask poor, obtain the plane positioning precision under topocentric coordinate system (NEU) as shown in figure 5, flat The statistical result of face positioning accuracy is as shown in table 1.

The plane positioning precision statistics result that 1 distinct methods of table are calculated

As shown in table 1, it positions relative to One-Point Location and pseudo range difference, is positioned using the pseudo range difference based on Reference network Plane precision (root-mean-square error) be respectively increased 81.9% and 32.2%, ratio of the positioning accuracy better than 1m is respectively increased 68.8% and 6.8%.It can thus be seen that the pseudo range difference localization method that the various embodiments described above of the present invention provide, can solve User's positioning accuracy is poor in the case of long range, problem of system reliability difference, and higher precision can be obtained in Long baselines Positioning result can improve, ensure the accuracy and reliability of positioning.

Fig. 6 is the structural representation according to the pseudo range difference positioning device provided in an embodiment of the present invention based on Reference network Figure.Content based on the various embodiments described above, as shown in fig. 6, the device includes receiving module 601 and locating module 602, in which:

Receiving module 601, the poor ionosphere delay of list between rover station and main reference station for receiving server-side transmission With the geographical position coordinates and Pseudo-range Observations of single poor tropospheric delay and main reference station；

Locating module 602, for according to the poor ionosphere delay of list and the poor troposphere of list between rover station and main reference station Postpone, the Pseudo-range Observations of the geographical position coordinates of main reference station and Pseudo-range Observations and rover station, obtains the ground of rover station Manage position coordinates；

It should be noted that pseudo range difference positioning device provided in an embodiment of the present invention is rover station.

Specifically, server-side by between rover station and main reference station the poor ionosphere delay of list and single poor tropospheric delay, And the geographical position coordinates and Pseudo-range Observations of main reference station are sent to rover station, receiving module 601 receives rover station and master The poor ionosphere delay of list and single poor tropospheric delay and the geographical position coordinates and pseudorange of main reference station between reference station are seen Measured value.

Locating module 602 utilizes the poor ionosphere delay of list and single poor tropospheric delay between rover station and main reference station, And the geographical position coordinates and Pseudo-range Observations and original satellite of main reference station observe data, and it is poor that pseudorange is carried out after data processing Divide and position, in pseudo range difference position fixing process, by the poor ionosphere delay of list and the poor troposphere of list between rover station and main reference station Delay is used as differential correcting information (i.e. atmospheric correction number), obtains the geographical position coordinates of rover station, positions as pseudo range difference As a result.

Pseudo range difference positioning device provided in an embodiment of the present invention based on Reference network, it is above-mentioned each for executing the present invention The pseudo range difference localization method based on Reference network that embodiment provides, should the pseudo range difference positioning device packet based on Reference network Each module included realizes that the specific method of corresponding function and process are detailed in the above-mentioned pseudo range difference localization method based on Reference network Embodiment, details are not described herein again.

The pseudo range difference positioning device based on Reference network is used for the pseudorange based on Reference network of foregoing embodiments Differential positioning method.Therefore, the description in the pseudo range difference localization method based on Reference network in foregoing embodiments and Definition, can be used for the understanding of each execution module in the embodiment of the present invention.

Fig. 7 is the structural representation according to the pseudo range difference positioning device provided in an embodiment of the present invention based on Reference network Figure.Content based on the various embodiments described above, as shown in fig. 7, the device includes that the first acquisition module 701, second obtains module 702 With sending module 703, in which:

First obtains module 701, for the observation data according to the total view satellite of Reference network, obtains each reference station baseline The poor ionosphere delay of list and single poor tropospheric delay；

Second obtains module 702, for the poor ionosphere of list according to a plurality of reference station baseline nearest with rover station distance Delay and single poor tropospheric delay, obtain the poor ionosphere delay of list between rover station and main reference station and single poor troposphere is prolonged Late；

Sending module 703, for by between rover station and main reference station the poor ionosphere delay of list and single poor troposphere prolong Late and the geographical position coordinates of main reference station and Pseudo-range Observations are sent to rover station；

It should be noted that pseudo range difference positioning device provided in an embodiment of the present invention is server-side.

Specifically, the first acquisition module 701 observes data according to the original satellite that each reference station acquires, and can determine each ginseng The total view satellite for examining station net establishes the ginseng at each reference station baseline both ends according to the observation data of the total view satellite of Reference network Single poor observational equation between the pseudorange at station and the station of carrier phase is examined, according to poor sight single between each pseudorange of foundation and the station of carrier phase The observation data of the total view satellite of equation and Reference network are surveyed, sequential adjustment is carried out and obtains single poor fuzziness float-solution, Mei Yican Examine the poor atmosphere delay of list between two reference stations at station baseline both ends.The poor atmosphere delay of list between two reference stations, including Single poor ionosphere delay and single poor tropospheric delay two parts.

Second obtain module 702 according to the poor ionosphere delay of list of a plurality of reference station baseline nearest with rover station distance and The longitude and latitude of each reference station of the endpoint of single poor tropospheric delay and above-mentioned a plurality of reference station baseline, can determine that region is big Model coefficient undetermined in gas delay model；Prolonged according to the poor ionosphere of list of a plurality of reference station baseline nearest with rover station distance Late with the longitude and latitude of single poor tropospheric delay and each reference station of the endpoint of above-mentioned a plurality of reference station baseline, area can be determined Model coefficient undetermined in the atmosphere delay model of domain.

Sending module 703 by between rover station and main reference station the poor ionosphere delay of list and single poor tropospheric delay, with And the geographical position coordinates and Pseudo-range Observations of main reference station are sent to rover station, so that rover station is according to rover station and main ginseng The poor ionosphere delay of list and single poor tropospheric delay, the geographical position coordinates and Pseudo-range Observations of main reference station between station are examined, And the Pseudo-range Observations of rover station, obtain the geographical position coordinates of rover station.

Fig. 8 is the entity structure schematic diagram according to electronic equipment provided in an embodiment of the present invention.Based on the above embodiment Content, as shown in figure 8, the electronic equipment may include: processor (processor) 801, memory (memory) 802 and total Line 803；Wherein, processor 801 and memory 802 complete mutual communication by bus 803；Processor 801 is for calling The computer program instructions that can be run in memory 802 and on processor 801 are stored in, to execute above-mentioned each method embodiment Provided pseudo range difference localization method, for example, the list received between the rover station and main reference station that server-side is sent is poor The geographical position coordinates and Pseudo-range Observations of ionosphere delay and single poor tropospheric delay and main reference station；According to rover station The poor ionosphere delay of list and single poor tropospheric delay, the geographical position coordinates of main reference station and observation number between main reference station According to and rover station Pseudo-range Observations, obtain the geographical position coordinates of rover station；Wherein, main reference station, be and rover station away from From nearest reference station；It or include: to obtain the list of each reference station baseline according to the observation data of the total view satellite of Reference network Poor ionosphere delay and single poor tropospheric delay；According to the poor ionosphere of list of a plurality of reference station baseline nearest with rover station distance Delay and single poor tropospheric delay, obtain the poor ionosphere delay of list between rover station and main reference station and single poor troposphere is prolonged Late；By the geography of the poor ionosphere delay of list and single poor tropospheric delay and main reference station between rover station and main reference station Position coordinates and Pseudo-range Observations are sent to rover station；Wherein, main reference station is with rover station apart from nearest reference station.

Another embodiment of the present invention discloses a kind of computer program product, and computer program product is non-transient including being stored in Computer program on computer readable storage medium, computer program include program instruction, when program instruction is held by computer When row, computer is able to carry out pseudo range difference localization method provided by above-mentioned each method embodiment, for example, receives service Hold the ground of the poor ionosphere delay of list and single poor tropospheric delay and main reference station between the rover station and main reference station sent Manage position coordinates and Pseudo-range Observations；According between rover station and main reference station the poor ionosphere delay of list and single poor troposphere prolong Late, the Pseudo-range Observations of the geographical position coordinates of main reference station and observation data and rover station, obtain the geographical position of rover station Set coordinate；Wherein, main reference station is with rover station apart from nearest reference station；It or include: according to the total depending on defending of Reference network The observation data of star obtain the poor ionosphere delay of list and the poor tropospheric delay of list of each reference station baseline；According to rover station away from The poor ionosphere delay of list from nearest a plurality of reference station baseline and single poor tropospheric delay, obtain rover station and main reference station it Between the poor ionosphere delay of list and single poor tropospheric delay；By the poor ionosphere delay of list and list between rover station and main reference station The geographical position coordinates and Pseudo-range Observations of poor tropospheric delay and main reference station are sent to rover station；Wherein, main reference It stands, is with rover station apart from nearest reference station.

In addition, the logical order in above-mentioned memory 802 can be realized by way of SFU software functional unit and conduct Independent product when selling or using, can store in a computer readable storage medium.Based on this understanding, originally The technical solution of the inventive embodiments substantially part of the part that contributes to existing technology or the technical solution in other words It can be embodied in the form of software products, which is stored in a storage medium, including several fingers It enables and using so that a computer equipment (can be personal computer, server or the network equipment etc.) executes the present invention respectively The all or part of the steps of a embodiment method.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic or disk Etc. the various media that can store program code.

Another embodiment of the present invention provides a kind of non-transient computer readable storage medium, non-transient computer readable storages Medium storing computer instruction, computer instruction make computer execute the positioning of pseudo range difference provided by above-mentioned each method embodiment Method, for example, receive the poor ionosphere delay of list between the rover station and main reference station that server-side is sent and single poor convection current The geographical position coordinates and Pseudo-range Observations of layer delay and main reference station；It is poor according to the list between rover station and main reference station The pseudorange of ionosphere delay and single poor tropospheric delay, the geographical position coordinates of main reference station and observation data and rover station Observation obtains the geographical position coordinates of rover station；Wherein, main reference station is with rover station apart from nearest reference station；Or It include: that the poor ionosphere delay of list of each reference station baseline and single poor is obtained according to the observation data of the total view satellite of Reference network Tropospheric delay；Prolonged according to the poor ionosphere delay of list of a plurality of reference station baseline nearest with rover station distance and single poor troposphere Late, the poor ionosphere delay of list between rover station and main reference station and single poor tropospheric delay are obtained；By rover station and main reference The geographical position coordinates and Pseudo-range Observations of the poor ionosphere delay of list and single poor tropospheric delay and main reference station between standing It is sent to rover station；Wherein, main reference station is with rover station apart from nearest reference station.

The apparatus embodiments described above are merely exemplary, wherein unit can be as illustrated by the separation member Or may not be and be physically separated, component shown as a unit may or may not be physical unit, i.e., It can be located in one place, or may be distributed over multiple network units.It can select according to the actual needs therein Some or all of the modules achieves the purpose of the solution of this embodiment.Those of ordinary skill in the art are not paying creative labor In the case where dynamic, it can understand and implement.

Through the above description of the embodiments, those skilled in the art can be understood that each embodiment can It realizes by means of software and necessary general hardware platform, naturally it is also possible to pass through hardware.Such understanding, above-mentioned skill Substantially the part that contributes to existing technology can be embodied in the form of software products art scheme in other words, the calculating Machine software product may be stored in a computer readable storage medium, such as ROM/RAM, magnetic disk, CD, including some instructions are used So that a computer equipment (can be personal computer, server or the network equipment etc.) executes above-mentioned each implementation The method of certain parts of example or embodiment.

Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features； And these are modified or replaceed, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution spirit and Range.

Claims

1. a kind of pseudo range difference localization method based on Reference network characterized by comprising

According to the poor ionosphere delay of list and single poor tropospheric delay, the main ginseng between the rover station and the main reference station The geographical position coordinates at station and the Pseudo-range Observations of observation data and the rover station are examined, the geography of the rover station is obtained Position coordinates；

2. the pseudo range difference localization method according to claim 1 based on Reference network, which is characterized in that described according to institute State the geography of the poor ionosphere delay of list and single poor tropospheric delay, the main reference station between rover station and the main reference station The Pseudo-range Observations of position coordinates and Pseudo-range Observations and the rover station obtain the geographical position coordinates of the rover station Specific steps include:

Extract the poor ionosphere delay of list and single poor tropospheric delay, the main ginseng between the rover station and the main reference station Examine in the geographical position coordinates at station and the Pseudo-range Observations of Pseudo-range Observations and the rover station, the rover station with it is described The Pseudo-range Observations of the corresponding main reference station of the satellite that main reference station regards altogether, the Pseudo-range Observations of the rover station and institute State the poor ionosphere delay of list between rover station and the main reference station and single poor tropospheric delay；

According to Pseudo-range Observations of the rover station main reference station corresponding with the satellite that the main reference station regards altogether, described The poor ionosphere delay of list and single poor troposphere between the Pseudo-range Observations of rover station, the rover station and the main reference station prolong Single poor observational equation, obtains the position of the rover station late and between the pseudorange station between the rover station and the main reference station Set correction；

According to the pre-determined bit of the Position Corrections number of the rover station and the rover station as a result, obtaining the geographical position of the rover station Set coordinate.

3. a kind of pseudo range difference localization method based on Reference network characterized by comprising

According to the observation data of the total view satellite of Reference network, the poor ionosphere delay of list and the list for obtaining each reference station baseline are poor right Tropospheric delay；

According to the poor ionosphere delay of list of a plurality of reference station baseline nearest with rover station distance and single poor tropospheric delay, obtain The poor ionosphere delay of list and single poor tropospheric delay between the rover station and main reference station；

By between the rover station and the main reference station the poor ionosphere delay of list and single poor tropospheric delay and the master The geographical position coordinates and Pseudo-range Observations of reference station are sent to the rover station；

4. the pseudo range difference localization method according to claim 3 based on Reference network, which is characterized in that described according to ginseng The observation data for examining the total view satellite of station net obtain the poor ionosphere delay of list and the poor tropospheric delay of list of each reference station baseline Specific steps include:

According to the observation data of the total view satellite of the Reference network, the pseudorange of the Reference network and the station of carrier phase are established Between single poor observational equation；

According to poor observational equation single between the station of the pseudorange and carrier phase of sequential adjustment method and the Reference network, described in acquisition The poor ionosphere delay of list of each reference station baseline and single poor tropospheric delay.

5. the pseudo range difference localization method according to claim 4 based on Reference network, which is characterized in that described according to sequence Single poor observational equation between the pseudorange of error compensation method and the Reference network and the station of carrier phase is passed through, each reference station base is obtained The poor ionosphere delay of the list of line and the specific steps of single poor tropospheric delay include:

According to surface pressure, surface temperature and tropospheric hydrostatic delay model, the Zenith tropospheric of each reference station of acquisition is dry to be prolonged Late, it and according to poor observational equation single between the station of the pseudorange and carrier phase of sequential adjustment method and the Reference network, obtains each The poor ionosphere delay of list of the Zenith tropospheric wet stack emission of the reference station and each reference station baseline；

According to the dry delay of the Zenith tropospheric of each reference station and Zenith tropospheric wet stack emission, pair of each reference station is obtained Tropospheric delay；

6. according to any pseudo range difference localization method based on Reference network of claim 3 to 5, which is characterized in that institute The poor ionosphere delay of list according to a plurality of reference station baseline nearest with rover station distance and single poor tropospheric delay are stated, institute is obtained It states the poor ionosphere delay of list between rover station and the main reference station and singly the specific steps of poor tropospheric delay includes:

According to the poor ionosphere delay of list of a plurality of reference station baseline nearest with rover station distance and single poor tropospheric delay, And the longitude and latitude of the reference station at a plurality of reference station baseline both ends, establish regional atmospheric delay model；

According to the longitude and latitude in the pre-determined bit result of the regional atmospheric delay model, the longitude and latitude of main reference station and the rover station Degree obtains the poor ionosphere delay of list between the rover station and the main reference station and single poor tropospheric delay.

7. a kind of pseudo range difference positioning device based on Reference network characterized by comprising

Receiving module, for receive server-side transmission rover station and main reference station between the poor ionosphere delay of list and singly it is poor right The geographical position coordinates and Pseudo-range Observations of tropospheric delay and the main reference station；

Locating module, for according to the poor ionosphere delay of list and the poor troposphere of list between the rover station and the main reference station Postpone, the Pseudo-range Observations of the geographical position coordinates of the main reference station and Pseudo-range Observations and the rover station, obtains institute State the geographical position coordinates of rover station；

8. a kind of pseudo range difference positioning device based on Reference network characterized by comprising

First obtains module, and for the observation data according to the total view satellite of Reference network, the list for obtaining each reference station baseline is poor Ionosphere delay and single poor tropospheric delay；

Second obtains module, for the poor ionosphere delay of list and list according to a plurality of reference station baseline nearest with rover station distance Poor tropospheric delay obtains the poor ionosphere delay of list between the rover station and main reference station and single poor tropospheric delay；

Sending module, for by between the rover station and the main reference station the poor ionosphere delay of list and single poor troposphere prolong Late and the geographical position coordinates of the main reference station and Pseudo-range Observations are sent to the rover station；

9. a kind of electronic equipment including memory, processor and stores the calculating that can be run on a memory and on a processor Machine program, which is characterized in that realize when the processor executes described program and be based on as claimed in any one of claims 1 to 6 The step of pseudo range difference localization method of Reference network.

10. a kind of non-transient computer readable storage medium, is stored thereon with computer program, which is characterized in that the computer Such as the pseudo range difference positioning side as claimed in any one of claims 1 to 6 based on Reference network is realized when program is executed by processor The step of method.