CN104977596A - High-accuracy position correction positioning system based on cloud computing - Google Patents

High-accuracy position correction positioning system based on cloud computing Download PDF

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Publication number
CN104977596A
CN104977596A CN201510310630.3A CN201510310630A CN104977596A CN 104977596 A CN104977596 A CN 104977596A CN 201510310630 A CN201510310630 A CN 201510310630A CN 104977596 A CN104977596 A CN 104977596A
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client
satellite
differential
correction
base station
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CN104977596B (en
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何柳
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Shenzhen Beidou Application Technology Research Institute Co Ltd
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Shenzhen Beidou Application Technology Research Institute Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/40—Correcting position, velocity or attitude
    • G01S19/41—Differential correction, e.g. DGPS [differential GPS]
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/07—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The invention discloses a high-accuracy position correction positioning system based on cloud computing. The high-accuracy position correction positioning system comprises a client-terminal, a differential server and a differential reference station network formed by multiple differential reference base stations. The differential server is connected with the client-terminal and the differential reference station network via a communication module. The differential server receives single-point positioning information of the client-terminal and real-time pseudo range observation information of the reference base stations. When the client-terminal is insufficient in single-point positioning accuracy and requests to the differential server for high-accuracy positioning, the differential server solves positioning information correction number and a correction satellite set formed by multiple satellites on the basis of the received single-point positioning information and the real-time pseudo range observation information. The client-terminal solves accurate positioning information to perform accurate positioning by utilizing the correction satellite set and the positioning information correction number. According to the correction positioning system, an accurate positioning service can be intelligently, rapidly and accurately provided to the client-terminal so that positioning is rapid and positioning accuracy is high; and the client-terminal acts as a data provider so that the client-terminal is low in computation burden and low in flow consumption.

Description

Based on the high precision position correction positioning system of cloud computing
Technical field
The present invention relates to satellite navigation system, be specifically related to the high precision position modification method based on cloud computing and system.
Background technology
Satellite Navigation Technique becomes the new industry leading third time IT revolution after mobile communication and internet.Satellite navigation industry has critical role and effect in the large general layout of national strategy, and in " 12 " planning that country is implementing, satellite navigation is put into seven great strategy new industry planning of state key support and development.
What the mobile phone, car-mounted terminal etc. that generally use at present adopted with the equipment of satellite positioning functions is all One-Point Location technology, and its positioning precision, at about 10-20m, can not meet the demand of users.
In existing hi-Fix service, conventional is pseudo range difference technology and technique of dispersion assign, and above-mentioned two kinds of location technologies need again to set up differential reference base station and build corresponding a set of complication system, and need to use special differential receivers receive the differential correcting data of base station and resolve.So, if need to use above-mentioned two kinds of technology to carry out hi-Fix, the hardware configuration of original satellite positioning module of mobile phone, car-mounted terminal must so just be changed.The cost expended like this is high, efficiency is low, and especially concerning individual consumer, this can not realize substantially.
And in existing high-precision location technique, another kind of differential technique is exactly differential position technology.This technology does not need to change original device hardware, but the change of electronic product is with rapid changepl. never-ending changes and improvements, and the replacement cycle of electronic product is very short.Existing mobile phone, car-mounted terminal types of brand are many, and the satnav chip of different manufacturers also station-keeping mode that is different, that adopt different, select the method for star also different, therefore can be larger to position Differential positioning Influence on test result, positioning precision can be caused to can not get significantly improving, and hi-Fix service is also barely satisfactory.
Summary of the invention
The technical problem to be solved in the present invention is the defect for existing in existing design, a kind of high precision position correction positioning system based on cloud computing is provided, in conjunction with cloud computing technology and differential position technology, make the user of employing regular handset, car-mounted terminal can use high-precision positioning system fast, easily.
For overcoming the defect existed in above-mentioned prior art, the technical scheme that the present invention takes is: based on the high precision position correction positioning system of cloud computing, the differential reference station net comprising client, differential server and be made up of some differential reference base stations; Described differential server to be netted with client and differential reference station by communication module and is connected; Described differential server receives the One-Point Location information of described client and the real-time pseudorange observation information of described reference base station; During when client Point-positioning Precision is not enough, to differential server request hi-Fix, described differential server calculates the locating information correction of described client and the correction satellite collection of some satellites composition based on the One-Point Location information received and real-time pseudorange observation information; Described client receives described locating information correction and revises satellite collection, utilizes described correction satellite collected explanations or commentaries to calculate positive locating information to be repaired, then calculates precise positioning information in conjunction with described locating information correction and carry out precise positioning.
Further elaboration as to technique scheme:
In such scheme, the One-Point Location information of described client comprise positioning time, longitude and latitude, highly, position location satellite type and satellite number; The flow process of described client hi-Fix comprises the steps:
Step 1: utilize the locating module of client carry out initial One-Point Location and resolve, obtains One-Point Location information;
Step 2: connect described differential server by the login account of coupling;
Step 3: client sends described One-Point Location information to described differential server, and the locating information correction that resolves of differential server described in wait-receiving mode and revise satellite collection;
Step 4: client receives locating information correction and revises satellite collection, described correction satellite collected explanations or commentaries is utilized to calculate positive locating information to be repaired, combined with positioning information correction is revised described positive locating information to be repaired, calculate precise positioning information, and on the map of client, show described precise positioning information.
In technique scheme, when described satellite information comprises described client-requested hi-Fix, described differential server solves described locating information correction and revises satellite collection and comprises the steps:
Step one, described differential server receives the One-Point Location information of described customer side, according to the distance of each described differential reference base station of the longitude in One-Point Location information, latitude and high computational to described client;
Step 2, the differential reference base station selecting lowest distance value corresponding is reference base station;
Step 3, extracts numbering and the type of all satellites of positioning datum reference base station from the real-time pseudorange observation information that reference base station is uploaded; From this all satellite, select the satellite corresponding with the satellite number in described One-Point Location information and type, the satellite selected is effective satellite; The satellite data choosing at least four satellites in effective satellite solves all coordinate points corresponding to reference base station respectively;
Step 4, calculates the air line distance of the absolute coordinates point of all coordinate points relative datum reference base station;
Step 5, select effective coordinate points that coordinate points corresponding to minimum air line distance value is reference base station, the coordinate difference of the absolute coordinates point of this effective coordinate points and reference base station is described locating information correction;
Step 6, selectes out and solves one group of satellite corresponding to described effective coordinate points, and this group satellite is described correction satellite collection.
In technique scheme, described all coordinate points and effective coordinate points WGS84 coordinate or the earth's core body-fixed coordinate system represent; In coordinate points the corresponding described WGS84 coordinate of j coordinate points be expressed as (Lon ' j, Lat ' j, H j'), corresponding described the earth's core body-fixed coordinate system is expressed as (X ' j, Y j', Z ' j).
In technique scheme, in described step one, the absolute location coordinates point of all differential reference base stations is respectively (Lon 1, Lat 1, H 1) ... (Lon i, Lat i, H i) ... (Lon n, Lat n, H n), the coordinate position point of client described in described One-Point Location information is: (Lon 0, Lat 0, H 0); Calculate each described differential reference base station to press formula to the distance of described client and calculate:
D i＝R*Arccos(C i)*Pi/180
C i＝sin(Lat 0)*sin(Lat i)+cos(Lat 0)*cos(Lat i)*cos(Lon 0-Lon i)
Wherein: D represents distance, i represents that the label of differential reference base station is i, R is the mean radius of the earth and R=6371.393km, Pi is circular constant, Lon represents the longitude of differential reference base station and client, Lat represents the latitude of differential reference base station and client, and H represents the height of differential reference base station and client.
In technique scheme, in described step 5, effective coordinate points of described reference base station is expressed as (Lon ' m, Lat ' m, H ' m) or (X ' m, Y m', Z ' m), the absolute coordinates point of described reference base station corresponds to (Lon m, Lat m, H m) or (X m, Y m, Z m), calculate coordinate corrective value (Δ X corresponding in described locating information correction by following Formula Solution m, Δ Y m, Δ Z m):
ΔX m = X m - X m ′ ΔY m = Y m - Y m ′ ΔZ m = Z m - Z m ′
Wherein, m represents the numbering of reference base station.
In technique scheme, the coordinate points of the client in the to be repaired positive locating information that described client calculates is (Lon 0', Lat 0', H 0') or (X ' 0, Y 0', Z ' 0), the coordinate in the precise positioning information of described client is carry out correction to the coordinate in described positive locating information to be repaired to obtain, and revises by following formula:
X 0 ′ ′ = X 0 ′ + ΔX m Y 0 ′ ′ = Y 0 ′ + ΔY m Z 0 ′ ′ = Z 0 ′ + ΔZ m
Wherein, (X 0", Y 0", Z 0") is client location coordinate points corresponding in client precise positioning information, (Δ X m, Δ Y m, Δ Z m) be coordinate corrective value corresponding in locating information correction.
Compared with the existing technology, the invention has the beneficial effects as follows: the powerful arithmetic capability utilizing cloud computing technology, what no matter client adopted is GPS single mode, BD single mode or GPS/BD bimodulus or have employed different satellite selection methods, differential server end can in the reference base station data of complexity intelligence, quickly and accurately for user chooses one group of corresponding satellite data, then the employing position of differential position technology to client is revised; Its advantage had is:
1. complexity selected star calculating to be put into high in the clouds to carry out, alleviate the calculating pressure of client and differential reference base station;
2. the positional information by selecting star optimization and differential position technology to make user obtain is more accurate;
3. client and differential reference base station are as data providing, and the required data transmitted and receive of client are all very little, can reduce flow cost.
Accompanying drawing explanation
Fig. 1 is systematic square frame schematic diagram of the present invention.
Fig. 2 is client operation schematic flow sheet of the present invention.
Fig. 3 is differential server workflow schematic diagram of the present invention.
Fig. 4 is the specific works flow process schematic diagram of correction work.
In figure, 1. client, 2. differential server, 3. differential reference station net.
Embodiment
Below in conjunction with accompanying drawing, the present invention is further detailed explanation.
Fig. 1-4 illustrates specific embodiments of the invention.
With reference to accompanying drawing 1-3, based on the high precision position correction positioning system of cloud computing, comprise client, 1, differential server 2 and the differential reference station net 3 that is made up of some differential reference base stations; Described differential server 2 is connected with client 1 and differential reference station net 3 by communication module; Described differential server 2 receives the One-Point Location information of described client 1 and the real-time pseudorange observation information of described reference base station, and described differential server 3 is based on the server under cloud computing environment; When client 1 Point-positioning Precision is not enough, when asking hi-Fix to differential server 2, described differential server 1 calculates the correction satellite collection of described client 1 locating information correction and some satellites composition based on the One-Point Location information received and real-time pseudorange observation information; Described client 1 receives described locating information correction and revises satellite collection, client 1 utilizes described correction satellite collection to calculate the new locating information of client as the position location satellite that client 1 is new, also i.e. positive locating information to be repaired, then calculate precise positioning information in conjunction with described locating information correction and carry out precise positioning.。
Further elaboration as to above-described embodiment:
In the above-described embodiments, with reference to accompanying drawing 2, described client 1 is with the mobile phone of the equipment of satellite positioning functions or car-mounted terminal, and user wants to ask hi-Fix service by client 1, need to system application account, and client 1 software is installed on mobile phone or car-mounted terminal; Before described client 1 asks the service of hi-Fix, first need carry out initial One-Point Location, described One-Point Location information comprise positioning time, longitude and latitude, highly, position location satellite type and satellite number, the flow process of its request hi-Fix service comprises the steps:
Step 1: utilize the locating module of client 1 carry out initial One-Point Location and resolve, obtains One-Point Location information; This step specifically comprises in accompanying drawing 2: step S101, opens locating module; Step S102, search navigation satellite, positioning calculation; Step S103, judges whether to locate successfully, locates and successfully then jump to step S104, otherwise, jump to step S102; Step S104, reads One-Point Location information; Step S105, pushes information to transmit queue.
Step 2: connect described differential server 2 by the login account of coupling; This step comprises in accompanying drawing 2: step S106, inputs user name, password; Step S107, connects differential server 2; Step S108, judges whether to connect differential server 2, connection then jumps to step 3, otherwise, jump to step S107.
Step 3: client 1 sends described One-Point Location information to described differential server 2, and the locating information correction that resolves of differential server 2 described in wait-receiving mode and revise satellite collection; This step specifically comprises in accompanying drawing 2: step S109, checks transmit queue; Whether step S110, have data in interpretation queue, have data in queue, then jump to step S111, otherwise, jump to step S109; Step S111, sends One-Point Location information to differential server 2; Step S112, the locating information correction that wait-receiving mode differential server 2 is resolved and correction satellite collection.
Step 4: client 1 receives the locating information correction and correction satellite collection that resolve, and utilize described correction satellite collected explanations or commentaries to calculate positive locating information to be repaired, combined with positioning information correction is treated correction locating information and is revised, calculate precise positioning information, and on the map of client 1, show described precise positioning information, step S113 in this step respective figure 2; Resolving of this correction locating information is the satellite of being reorientated as client 1 by one group of satellite that described correction satellite set pair is answered, the satellite utilizing correction satellite set pair to answer is reorientated and is resolved, thus obtain new locating information, and this new locating information is positive locating information to be repaired.One group of satellite number (1 that the described correction satellite set pair that wherein client 1 receives is answered, 2 ..., k), choose the satellite data of numbering corresponding satellite in all satellites of positioning client terminal 1 with correction satellite collection and again calculate positive locating information to be repaired, it mainly comprises coordinate to be revised.
In the above-described embodiments, with reference to accompanying drawing 1, accompanying drawing 3-4, differential server 2 is connected to differential reference station net 3, the real-time pseudorange observation information that each base station that differential server 3 receives differential reference station net 3 is transmitted and navigation information, return after completing Data Analysis and data are preserved, it specifically comprises in accompanying drawing 3: step S201, connects base station, receives pseudorange observation information and the navigation information of the transmission of each base station; Step S202, preserves the Data Analysis of the difference base station received.When user asks high precision position to be served, first checking client 1 log-on message of server, then receive the locating information of client 1 transmission and complete Data Analysis, this part operation flow process specifically comprises in accompanying drawing 3: step S203, check user login information, and client 1 connects; Step S204, the data of the One-Point Location of wait-receiving mode client 1; S205, judges whether to receive data, has, jump to step S206, otherwise, jump to step S204.Then be carry out high precision position correction work and transmission work, it comprises the step S207-S209:S207 in accompanying drawing 3, according to the data selection reference base station of the client location information received and difference base station; S208, resolves the position coordinates correction of client according to the data of reference base station and revises satellite collection; S209, sends locating information correction and correction satellite collection data to client.With reference to accompanying drawing 4, its correction is resolved work and specifically can be divided into the following steps:
Step S2081, described differential server 2 receives the One-Point Location information of described customer side 1, according to the distance of each described differential reference base station of the longitude in One-Point Location information, latitude and high computational to described client 1, if the absolute location coordinates point of all differential reference base stations is respectively (Lon 1, Lat 1, H 1) ... (Lon i, Lat i, H i) ... (Lon n, Lat n, H n), the coordinate position point of client 1 described in described One-Point Location information is: (Lon 0, Lat 0, H 0), wherein the absolute coordinate of each differential reference base station is by long-term observation, the relatively correct coordinate figure that calculates, but this value is a long-term observation calculates value, the actual value of location in real time can not be used for, can only as reference coordinate figure, meanwhile, 1, i, n represent the label of all differential reference base stations; Calculate each described differential reference base station to press formula to the distance of described client 1 and calculate:
D i＝R*Arccos(C i)*Pi/180
C i＝sin(Lat 0)*sin(Lat i)+cos(Lat 0)*cos(Lat i)*cos(Lon 0-Lon i)
Wherein: D represents distance, i represents that the label of differential reference base station is i, R is the mean radius of the earth and R=6371.393km, Pi is circular constant, Lon represents the longitude of differential reference base station and client, Lat represents the latitude of differential reference base station and client, and H represents the height of differential reference base station and client.
Step S2082, selected lowest distance value min{D icorresponding differential reference base station is reference base station, label is m;
Step S2083, extracts numbering and the type of all satellites of positioning datum reference base station from the real-time pseudorange observation information that reference base station is uploaded; From this all satellite, select the satellite corresponding with the satellite number in described One-Point Location information and type, the satellite selected is effective satellite; The satellite data choosing at least four satellites in effective satellite solves all coordinate points corresponding to reference base station respectively.Need to illustrate time, because satnav at least needs four satellites could locate successfully, so the satellite data choosing in effective satellite more than four and four obtains the corresponding situation kind number of satellite of selecting of all possible coordinate in reference base station be: wherein v represents a number of effective satellite.Described all coordinate points and effective coordinate points WGS84 coordinate or the earth's core body-fixed coordinate system represent; In coordinate points the corresponding described WGS84 coordinate of j coordinate points be expressed as (Lon ' j, Lat ' j, H j'), corresponding described the earth's core body-fixed coordinate system is expressed as (X ' j, Y j', Z ' j).
Step S2084, calculates the air line distance of the absolute coordinates point of all coordinate points relative datum reference base station; Computing formula in this step in refer step S2081, calculate the air line distance of the absolute coordinates point of all coordinate points relative datum reference base station, it is specially: in step S2083 all solve out reference base station coordinates point set for (Lon ' j, Lat j', H j'), the danger spot coordinate points of described reference base station is (Lon m, Lat m, H m), then the air line distance D ' of the absolute coordinates point of all coordinate points relative datum reference base station jcalculate by following formula:
D′ j＝R*Arccos(C j′)*Pi/180
C j″＝sin(Lat m)*sin(Lat j′)+cos(Lat m)*cos(Lat′ j)*cos(Lon m-Lon′ j)
Equally, D ' expression distance, j represents the label of a jth coordinate points in all coordinates of reference base station, and R is the mean radius of the earth and R=6371.393km, Pi are circular constant, Lon mrepresent the longitude coordinate in danger spot, reference base station value coordinate, Lat mrepresent the latitude coordinate in danger spot, reference base station value coordinate, H mrepresent the height coordinate in coordinate during differential reference base station definitely, Lat jthe latitude coordinate of the coordinate points that ' expression reference base station solves, Lon ' jrepresent the longitude coordinate of the coordinate points that reference base station solves, H' jrepresent the height coordinate of the coordinate points that reference base station solves.
Step S2085, utilizes D ' m=min{D ' jthe air line distance minimum value of the absolute coordinates point of relative datum reference base station is corresponding in selected all coordinate points coordinate points is effective coordinate points of reference base station, this effective coordinate points be (Lon ' m, Lat ' m, H ' m) or (X ' m, Y ' m, Z ' m), the coordinate difference of the absolute coordinates point of this effective coordinate points and reference base station is described locating information correction; It is specifically calculated as follows: owing to there is the impact of satellite ephemeris, clocking error, atmospheric refraction equal error, by the satellite data of position location satellite resolve obtain reference base station coordinate (Lon ' m, Lat ' m, H ' m) or (X ' m, Y ' m, Z ' m) with the absolute coordinates (Lon of reference base station m, Lat m, H m) or (X m, Y m, Z m) inconsistent, certainly exist error, ask the difference of Two coordinate:
ΔX m = X m - X m ′ ΔY m = Y m - Y m ′ ΔZ m = Z m - Z m ′ - - - ( 6 )
In formula, (Δ X m, Δ Y m, Δ Z m) be then coordinate corrective value in locating information correction.
Step S2086, selected solve described effective coordinate points (Lon ' m, Lat ' m, H ' m) or (X ' m, Y ' m, Z ' m) corresponding one group of satellite (b 1, b 2..., b k), this group satellite is best satellite collection;
In the above-described embodiments, the coordinate points of the client 1 comprised in the to be repaired positive locating information that client described in step 4 calculates is (Lon 0', Lat 0', H 0') or (X ' 0, Y 0', Z ' 0), the coordinate in the precise positioning information of described client 1 is carry out correction to the coordinate in described positive locating information to be repaired to obtain, and revises by following formula::
X 0 ′ ′ = X 0 ′ + ΔX m Y 0 ′ ′ = Y 0 ′ + ΔY m Z 0 ′ ′ = Z 0 ′ + ΔZ m
Wherein, (X 0", Y 0", Z 0") is client 1 position coordinates point corresponding in client 1 precise positioning information, (Δ X m, Δ Y m, Δ Z m) be coordinate corrective value corresponding in locating information correction.
The above, it is only preferred embodiment of the present invention, the above not imposes any restrictions technical scope of the present invention, all above embodiment is done according to the technology of the present invention essence any amendment, equivalent variations and modification, all still belong in the scope of technical scheme of the present invention.

Claims (7)

1. based on the high precision position correction positioning system of cloud computing, it is characterized in that: the differential reference station net comprising client, differential server and be made up of some differential reference base stations; Described differential server to be netted with client and differential reference station by communication module and is connected; Described differential server receives the One-Point Location information of described client and the real-time pseudorange observation information of described reference base station; During when client Point-positioning Precision is not enough, to differential server request hi-Fix, described differential server calculates the locating information correction of described client and the correction satellite collection of some satellites composition based on the One-Point Location information received and real-time pseudorange observation information; Described client receives described locating information correction and revises satellite collection, utilizes described correction satellite collected explanations or commentaries to calculate positive locating information to be repaired, then calculates precise positioning information in conjunction with described locating information correction and carry out precise positioning.
2. a kind of high precision position correction positioning system based on cloud computing according to claim 1, is characterized in that: the One-Point Location information of described client comprise positioning time, longitude and latitude, highly, position location satellite type and satellite number; The flow process of described client hi-Fix comprises the steps:
Step 1: utilize the locating module of client carry out initial One-Point Location and resolve, obtains One-Point Location information;
Step 2: connect described differential server by the login account of coupling;
Step 3: client sends described One-Point Location information to described differential server, and the locating information correction that resolves of differential server described in wait-receiving mode and revise satellite collection;
Step 4: client receives locating information correction and revises satellite collection, described correction satellite collected explanations or commentaries is utilized to calculate positive locating information to be repaired, combined with positioning information correction is revised described positive locating information to be repaired, calculate precise positioning information, and on the map of client, show described precise positioning information.
3. a kind of high precision position correction positioning system based on cloud computing according to claim 1 or 2 any one, it is characterized in that: during described client-requested hi-Fix, described differential server solves described locating information correction and revises satellite collection and comprises the steps:
Step one, described differential server receives the One-Point Location information of described customer side, according to the distance of each described differential reference base station of the longitude in One-Point Location information, latitude and high computational to described client;
Step 2, the differential reference base station selecting lowest distance value corresponding is reference base station;
Step 3, extracts numbering and the type of all satellites of positioning datum reference base station from the real-time pseudorange observation information that reference base station is uploaded; From this all satellite, select the satellite corresponding with the satellite number in described One-Point Location information and type, the satellite selected is effective satellite; The satellite data choosing at least four satellites in effective satellite solves all coordinate points corresponding to reference base station respectively;
Step 4, calculates the air line distance of the absolute coordinates point of all coordinate points relative datum reference base station;
Step 5, select effective coordinate points that coordinate points corresponding to minimum air line distance value is reference base station, the coordinate difference of the absolute coordinates point of this effective coordinate points and reference base station is described locating information correction;
Step 6, selectes out and solves one group of satellite corresponding to described effective coordinate points, and this group satellite is described correction satellite collection.
4. a kind of high precision position correction positioning system based on cloud computing according to claim 3, is characterized in that: described all coordinate points and effective coordinate points WGS84 coordinate or the earth's core body-fixed coordinate system represent; In coordinate points the corresponding described WGS84 coordinate of j coordinate points be expressed as (Lon ' j, Lat ' j, H ' j), corresponding described the earth's core body-fixed coordinate system is expressed as (X ' j, Y ' j, Z ' j).
5. a kind of high precision position correction positioning system based on cloud computing according to claim 4, it is characterized in that: in described step one, the absolute location coordinates point of all differential reference base stations is respectively (Lon 1, Lat 1, H 1) ... (Lon i, Lat i, H i) ... (Lon n, Lat n, H n), the coordinate position point of client described in described One-Point Location information is: (Lon 0, Lat 0, H 0); Calculate each described differential reference base station to calculate to the distance of described client by following formula:
D i＝R*Arc cos(C i)*Pi/180
C i＝sin(Lat 0)*sin(Lat i)+cos(Lat 0)*cos(Lat i)*cos(Lon 0-Lon i)
Wherein: D represents distance, i represents that the label of differential reference base station is i, R is the mean radius of the earth and R=6371.393km, Pi is circular constant, Lon represents the longitude of differential reference base station and client, Lat represents the latitude of differential reference base station and client, and H represents the height of differential reference base station and client.
6. a kind of high precision position correction positioning system based on cloud computing according to claim 5, is characterized in that: in described step 5, effective coordinate points of described reference base station is expressed as (Lon ' m, Lat ' m, H ' m) or (X ' m, Y ' m, Z ' m), the absolute coordinates point of described reference base station corresponds to (Lon m, Lat m, H m) or (X m, Y m, Z m), calculate coordinate corrective value (Δ X corresponding in described locating information correction by following Formula Solution m, Δ Y m, Δ Z m):
ΔX m = X m - X m ′ ΔY m = Y m - Y m ′ ΔZ m = Z m - Z m ′
Wherein, m represents the numbering of reference base station.
7. a kind of high precision position correction positioning system based on cloud computing according to claim 6, is characterized in that: the coordinate points of the client in the to be repaired positive locating information that described client calculates for (Lon ' 0, Lat ' 0, H ' 0) or (X ' 0, Y ' 0, Z ' 0), the coordinate in the precise positioning information of described client is carry out correction to the coordinate in described positive locating information to be repaired to obtain, and revises by following formula:
X 0 ′ ′ = X 0 ′ + ΔX m Y 0 ′ ′ = Y 0 ′ + ΔY m Z 0 ′ ′ = Z 0 ′ + ΔZ m
Wherein, (X " 0, Y " 0, Z " 0) be client location coordinate points corresponding in client precise positioning information, (Δ X m, Δ Y m, Δ Z m) be coordinate corrective value corresponding in locating information correction.
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CN106324621A (en) * 2016-08-08 2017-01-11 广东工业大学 Multi-course parallel difference resolving server and method and navigation system
CN106873011A (en) * 2016-08-29 2017-06-20 北华航天工业学院 The quick positioning system and its localization method of a kind of Beidou navigation
CN106888429A (en) * 2017-03-31 2017-06-23 宇龙计算机通信科技(深圳)有限公司 A kind of mobile terminal, high-precision locating method and system
CN106953866A (en) * 2017-03-29 2017-07-14 千寻位置网络有限公司 Method and system, the service terminal of high accuracy positioning service are provided
CN107247280A (en) * 2017-04-21 2017-10-13 中国科学院光电研究院 A kind of orientation authentication and processing method and processing device
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CN109084793A (en) * 2018-07-27 2018-12-25 北京航空航天大学 A kind of grid enhancing automatic Pilot multi-level alarm method based on Beidou
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CN110069584A (en) * 2017-11-29 2019-07-30 星际空间（天津）科技发展有限公司 A method of information collection and characteristic matching based on mobile terminal
CN110231632A (en) * 2019-06-27 2019-09-13 Oppo广东移动通信有限公司 Localization method, terminal, network access equipment, electronic equipment, storage medium
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CN110673184A (en) * 2019-09-05 2020-01-10 成都亿盟恒信科技有限公司 High-precision positioning system and method based on vehicle
CN111132002A (en) * 2019-11-26 2020-05-08 北京长焜科技有限公司 Long-distance access method based on LTE wireless communication technology
CN111180896A (en) * 2020-01-20 2020-05-19 中国科学院国家天文台 System and method for processing data measured by reflecting surface of spherical radio telescope
CN111323799A (en) * 2020-02-28 2020-06-23 北京京东乾石科技有限公司 Unmanned aerial vehicle positioning method and device, computer readable storage medium and electronic equipment
CN111341074A (en) * 2020-03-03 2020-06-26 山东省地质环境监测总站(山东省地质灾害防治技术指导中心) Geological disaster warning method based on 5G positioning technology
WO2021063398A1 (en) * 2019-09-30 2021-04-08 苏州宝时得电动工具有限公司 Base station switching method, apparatus, and readable storage medium
WO2021197446A1 (en) * 2020-04-03 2021-10-07 中移(上海)信息通信科技有限公司 Positioning method, device, and system, and storage medium
CN113514069A (en) * 2021-03-23 2021-10-19 重庆兰德适普信息科技有限公司 Real-time automatic driving positioning method and system
CN114966778A (en) * 2022-06-02 2022-08-30 成都信息工程大学 Method for realizing self-built differential GPS positioning based on dual-module GPS
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CN105334524A (en) * 2015-10-21 2016-02-17 山东天星北斗信息科技有限公司 Pseudo range differential positioning method based on virtual grid
CN105445769A (en) * 2015-11-16 2016-03-30 武汉大学 GNSS point positioning coordinate correction method based on CORS
CN107835948A (en) * 2016-05-31 2018-03-23 华为技术有限公司 Localization method and device
CN107835948B (en) * 2016-05-31 2020-11-10 华为技术有限公司 Positioning method and device
CN106291594A (en) * 2016-07-30 2017-01-04 杨超坤 The cruiser that a kind of positioning performance is good
CN106324621A (en) * 2016-08-08 2017-01-11 广东工业大学 Multi-course parallel difference resolving server and method and navigation system
CN106873011A (en) * 2016-08-29 2017-06-20 北华航天工业学院 The quick positioning system and its localization method of a kind of Beidou navigation
CN106873011B (en) * 2016-08-29 2019-04-12 北华航天工业学院 A kind of quick positioning system and its localization method of Beidou navigation
CN106953866A (en) * 2017-03-29 2017-07-14 千寻位置网络有限公司 Method and system, the service terminal of high accuracy positioning service are provided
CN106953866B (en) * 2017-03-29 2019-07-23 千寻位置网络有限公司 Method and system, the service terminal of high accuracy positioning service are provided
CN106888429A (en) * 2017-03-31 2017-06-23 宇龙计算机通信科技(深圳)有限公司 A kind of mobile terminal, high-precision locating method and system
CN107247280A (en) * 2017-04-21 2017-10-13 中国科学院光电研究院 A kind of orientation authentication and processing method and processing device
CN107247280B (en) * 2017-04-21 2020-01-24 中国科学院光电研究院 Positioning authentication and processing method and device
CN107907895A (en) * 2017-11-28 2018-04-13 千寻位置网络有限公司 High in the clouds position error modification method and system based on convolutional neural networks
CN107918138A (en) * 2017-11-28 2018-04-17 千寻位置网络有限公司 " cloud+end " comprehensive positioning terminal positioner and Differential positioning method
CN110069584A (en) * 2017-11-29 2019-07-30 星际空间（天津）科技发展有限公司 A method of information collection and characteristic matching based on mobile terminal
CN110609306A (en) * 2018-05-29 2019-12-24 杨炯 Electronic map correction method, system and storage medium
CN109085621A (en) * 2018-07-19 2018-12-25 百度在线网络技术（北京）有限公司 GNSS base station switching method, device, equipment and storage medium
CN109084793B (en) * 2018-07-27 2020-09-01 北京航空航天大学 Grid-enhanced automatic driving multi-stage warning method based on Beidou
CN109084793A (en) * 2018-07-27 2018-12-25 北京航空航天大学 A kind of grid enhancing automatic Pilot multi-level alarm method based on Beidou
CN109714703B (en) * 2018-12-24 2021-06-01 武汉长江通信产业集团股份有限公司 Method, device and system for measuring positioning accuracy of vehicle-mounted terminal based on cloud platform
CN109714703A (en) * 2018-12-24 2019-05-03 武汉长江通信产业集团股份有限公司 The measurement method of car-mounted terminal positioning accuracy based on cloud platform, apparatus and system
CN110231632A (en) * 2019-06-27 2019-09-13 Oppo广东移动通信有限公司 Localization method, terminal, network access equipment, electronic equipment, storage medium
CN110415545B (en) * 2019-08-02 2020-09-29 辰芯科技有限公司 Lane positioning method and device, electronic equipment and storage medium
CN110415545A (en) * 2019-08-02 2019-11-05 辰芯科技有限公司 A kind of lane location method, apparatus, electronic equipment and storage medium
CN110531391A (en) * 2019-09-04 2019-12-03 北京麦飞科技有限公司 Field navigation methods and systems based on dynamic carrier phase difference technology
CN110673184A (en) * 2019-09-05 2020-01-10 成都亿盟恒信科技有限公司 High-precision positioning system and method based on vehicle
WO2021063398A1 (en) * 2019-09-30 2021-04-08 苏州宝时得电动工具有限公司 Base station switching method, apparatus, and readable storage medium
CN111132002A (en) * 2019-11-26 2020-05-08 北京长焜科技有限公司 Long-distance access method based on LTE wireless communication technology
CN111180896B (en) * 2020-01-20 2021-12-03 中国科学院国家天文台 System and method for processing data measured by reflecting surface of spherical radio telescope
CN111180896A (en) * 2020-01-20 2020-05-19 中国科学院国家天文台 System and method for processing data measured by reflecting surface of spherical radio telescope
US20230041480A1 (en) * 2020-01-21 2023-02-09 China Mobile Shanghai Ict Co., Ltd. User terminal positioning method, device, and system
CN111323799A (en) * 2020-02-28 2020-06-23 北京京东乾石科技有限公司 Unmanned aerial vehicle positioning method and device, computer readable storage medium and electronic equipment
CN111341074A (en) * 2020-03-03 2020-06-26 山东省地质环境监测总站(山东省地质灾害防治技术指导中心) Geological disaster warning method based on 5G positioning technology
WO2021197446A1 (en) * 2020-04-03 2021-10-07 中移(上海)信息通信科技有限公司 Positioning method, device, and system, and storage medium
CN113514069A (en) * 2021-03-23 2021-10-19 重庆兰德适普信息科技有限公司 Real-time automatic driving positioning method and system
CN114966778A (en) * 2022-06-02 2022-08-30 成都信息工程大学 Method for realizing self-built differential GPS positioning based on dual-module GPS

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