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: 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 differential positioning method and device based on reference station network

Technical Field

The invention relates to the technical field of satellite positioning, in particular to a pseudo-range differential positioning method and device based on a reference station network.

Background

Pseudo-range differential positioning is one of GNSS (Global Navigation Satellite System) positioning technologies. Compared with pseudo-range single-point positioning, the accuracy is obviously improved, and sub-meter positioning can be realized under the condition of reasonably arranging the reference station; compared with the carrier differential positioning, the hardware cost of the service end and the user end is obviously reduced. Compared with other positioning modes, the pseudo-range differential positioning has the advantages of small technical difficulty and obvious economic benefit improvement, thereby being widely applied.

However, the pseudo-range differential positioning accuracy is affected by the distance between the rover and the reference station, and as the length of a baseline (which may be simply referred to as a "baseline") of the reference station increases, the error correlation between the rover is reduced, so that the positioning accuracy of the user (i.e. the rover) is rapidly reduced. In addition, the system reliability is poor because the user only receives the single station differential data.

Therefore, the existing pseudo-range differential positioning method has poor positioning accuracy under the condition of a long baseline.

Disclosure of Invention

The embodiment of the invention provides a pseudo-range differential positioning method and device based on a reference station network, which are used for solving or at least partially solving the defect of poor positioning accuracy in the prior art under the condition of a long baseline.

In a first aspect, an embodiment of the present invention provides a pseudo-range differential positioning method based on a reference station network, including:

receiving single difference ionosphere delay and single difference troposphere delay between a rover station and a main reference station, as well as a geographical position coordinate and a pseudo-range observation value of the main reference station, which are sent by a server;

acquiring the geographical position coordinates of the rover station according to the single difference ionospheric delay and the single difference tropospheric delay between the rover station and the main reference station, the geographical position coordinates and observation data of the main reference station and the pseudo-range observation value of the rover station;

and the main reference station is the reference station closest to the rover station.

Preferably, the specific step of obtaining the geographical position coordinates of the rover station according to the single difference ionospheric delay and the single difference tropospheric delay between the rover station and the main reference station, the geographical position coordinates and the pseudorange observations of the main reference station, and the pseudorange observations of the rover station comprises:

extracting single difference ionospheric and tropospheric delays between the rover and the main reference station, the geographic position coordinates and pseudorange observations of the main reference station, and pseudorange observations of the rover, the pseudorange observations of the rover corresponding to satellites in common view with the main reference station, the single difference ionospheric and tropospheric delays between the rover and the main reference station;

acquiring a position correction number of the rover station according to a pseudo range observation value of the main reference station, a pseudo range observation value of the rover station, a single difference ionosphere delay and a single difference troposphere delay between the rover station and the main reference station, and a single difference observation equation between pseudo range stations between the rover station and the main reference station, wherein the pseudo range observation value of the main reference station corresponds to a satellite which is viewed by the rover station and the main reference station in a common way;

and acquiring the geographical position coordinates of the rover station according to the position correction number of the rover station and the pre-positioning result of the rover station.

In a second aspect, an embodiment of the present invention provides a pseudo-range differential positioning method based on a reference station network, including:

acquiring single difference ionosphere delay and single difference troposphere delay of each reference station baseline according to observation data of a common-view satellite of a reference station network;

acquiring single difference ionospheric delay and single difference tropospheric delay between the rover station and a main reference station according to the single difference ionospheric delay and the single difference tropospheric delay of a plurality of reference station baselines closest to the rover station;

transmitting to the rover the single difference ionospheric and tropospheric delays between the rover and the master reference station, and the geographic position coordinates and pseudorange observations of the master reference station;

Preferably, the specific step of obtaining the single difference ionospheric delay and the single difference tropospheric delay of the baseline of each reference station according to the observation data of the common view satellite of the reference station network includes:

establishing an inter-station single-difference observation equation of the pseudo range and the carrier phase of the reference station network according to the observation data of the common-view satellite of the reference station network;

and acquiring the single difference ionosphere delay and the single difference troposphere delay of the base line of each reference station according to a sequential adjustment method and an inter-station single difference observation equation of the pseudo range and the carrier phase of the reference station network.

Preferably, the specific step of obtaining the single-difference ionospheric delay and the single-difference tropospheric delay of the baseline of each reference station according to the sequential adjustment method and the inter-station single-difference observation equation of the pseudo range and the carrier phase of the reference station network includes:

acquiring zenith troposphere dry delay of each reference station according to a ground air pressure, a ground temperature and a troposphere dry delay model, and acquiring zenith troposphere wet delay of each reference station and single difference ionosphere delay of each reference station baseline according to a sequential adjustment method and an inter-station single difference observation equation of pseudo range and carrier phase of the reference station network;

acquiring troposphere delay of each reference station according to zenith troposphere dry delay and zenith troposphere wet delay of each reference station;

and acquiring the single-difference tropospheric delay of the base line of each reference station according to the tropospheric delay of each reference station.

Preferably, the specific step of obtaining the single difference ionospheric delay and the single difference tropospheric delay between the rover station and the main reference station according to the single difference ionospheric delay and the single difference tropospheric delay of the plurality of reference station baselines closest to the rover station includes:

establishing a regional atmosphere delay model according to the single difference ionosphere delay and the single difference troposphere delay of a plurality of reference station baselines which are closest to the rover station and the longitude and latitude of the reference stations at two ends of the plurality of reference station baselines;

and acquiring the single difference ionospheric delay and the single difference tropospheric delay between the rover station and the main reference station according to the regional atmosphere delay model, the longitude and latitude of the main reference station and the longitude and latitude in the pre-positioning result of the rover station.

In a third aspect, an embodiment of the present invention provides a pseudo-range differential positioning apparatus based on a reference station network, including:

the system comprises a receiving module, a processing module and a processing module, wherein the receiving module is used for receiving single difference ionosphere delay and single difference troposphere delay between a rover station and a main reference station, as well as a geographical position coordinate and a pseudo-range observation value of the main reference station, which are sent by a server;

a positioning module, configured to obtain a geographic position coordinate of the rover station according to a single difference ionospheric delay and a single difference tropospheric delay between the rover station and the main reference station, a geographic position coordinate and a pseudorange observation of the main reference station, and a pseudorange observation of the rover station;

In a fourth aspect, an embodiment of the present invention provides a pseudo-range differential positioning apparatus based on a reference station network, including:

the first acquisition module is used for acquiring the single difference ionosphere delay and the single difference troposphere delay of the base line of each reference station according to the observation data of the common-view satellite of the reference station network;

the second acquisition module is used for acquiring the single difference ionosphere delay and the single difference troposphere delay between the rover station and the main reference station according to the single difference ionosphere delay and the single difference troposphere delay of a plurality of reference station baselines which are closest to the rover station;

a transmitting module for transmitting single difference ionospheric and tropospheric delays between the rover station and the master reference station, and the geographical position coordinates and pseudorange observations of the master reference station to the rover station;

In a fifth aspect, an embodiment of the present invention provides an electronic device, which includes a memory, a processor, and a computer program stored on the memory and executable on the processor, and when the program is executed, the steps of the reference station network-based pseudo-range differential positioning method as provided in any one of the various possible implementations of the first aspect or the second aspect are implemented.

In a sixth aspect, an embodiment of the present invention provides a non-transitory computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps of the reference station network-based pseudo-range differential positioning method as provided in any one of the various possible implementations of the first aspect or the second aspect.

According to the pseudo-range differential positioning method and device provided by the embodiment of the invention, the single difference ionosphere delay and the single difference troposphere delay between the rover station and the main reference station are used as the differential correction information to carry out pseudo-range differential positioning, the positioning process is independent of the length of the reference station baseline, a positioning result with higher precision can be obtained under the condition of a long baseline, and the positioning accuracy and reliability can be improved and guaranteed.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.

Fig. 1 is a schematic flowchart of a pseudo-range differential positioning method based on a reference station network according to an embodiment of the present invention;

fig. 2 is a schematic flowchart of a pseudo-range differential positioning method based on a reference station network according to an embodiment of the present invention;

fig. 3 is a schematic diagram of a pseudo-range differential positioning system based on a network of reference stations according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of a reference station and rover station distribution provided in accordance with an embodiment of the present invention;

FIG. 5 is a comparison graph of positioning accuracy provided according to an embodiment of the present invention;

fig. 6 is a schematic structural diagram of a pseudo-range differential positioning apparatus based on a network of reference stations according to an embodiment of the present invention;

fig. 7 is a schematic structural diagram of a pseudo-range differential positioning apparatus based on a network of reference stations according to an embodiment of the present invention;

fig. 8 is a schematic physical structure diagram of an electronic device according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In order to overcome the above problems in the prior art, embodiments of the present invention provide a pseudo-range differential positioning method and apparatus, and the inventive concept is that a single-difference ionospheric delay and a single-difference tropospheric delay between a rover station and a main reference station are used as correction numbers, and a geographical position coordinate of the rover station is obtained according to the correction numbers, and the whole positioning process is independent of the length of a reference station baseline, so that high-precision positioning under the condition of a long baseline can be realized without being affected by the length of the reference station baseline, and the positioning precision is improved to a sub-meter level.

Fig. 1 is a schematic flowchart of a pseudo-range differential positioning method based on a network of reference stations according to an embodiment of the present invention. As shown in fig. 1, the method includes: step S101, receiving single difference ionosphere delay and single difference troposphere delay between the rover station and the main reference station, and geographic position coordinates and pseudo-range observed values of the main reference station, wherein the single difference ionosphere delay and the single difference troposphere delay are sent by a server side.

The main reference station is the reference station closest to the rover station.

It should be noted that the executing subject of the pseudo-range differential positioning method based on the reference station network provided by the embodiment of the present invention is the rover station.

Pseudo-range differential positioning systems, typically comprised of a plurality of reference stations, a data processing center and a rover station, are used to position the rover station for obtaining geographic position coordinates of the rover station.

The server is a data processing center and is responsible for processing the original satellite observation data based on the GNSS. Raw satellite observations, including dual-frequency pseudoranges and phase observations. The raw satellite observation data is generated by each reference station and each rover observing each satellite in the GNSS.

The raw satellite observations are received by a receiver at a reference station or rover, the geographical position coordinates of which refer to the geographical position coordinates of the receiver at the reference station, the geographical position coordinates of which refer to the geographical position coordinates of the receiver at the rover station, the distance between the reference station and the satellite which refers to the distance between the receiver at the reference station and the satellite, and the distance between the rover station and the satellite which refers to the distance between the receiver at the rover station and the satellite, as will be explained in more detail below, and the meaning of other similar parameters can be understood with reference to the above-mentioned parameters.

Specifically, the server side processes the original satellite observation data to obtain a single difference ionospheric delay and a single difference tropospheric delay between the rover station and the main reference station.

The single difference ionospheric delay and the single difference tropospheric delay together constitute a single difference atmospheric delay.

It will be appreciated that since the server is responsible for processing the GNSS based raw satellite observations, the server obtains the raw satellite observations received by the master reference station prior to processing.

The server can also obtain the geographic position coordinates of the main reference station.

The service end sends the single difference ionospheric delay and the single difference tropospheric delay between the rover station and the main reference station, the geographic position coordinate of the main reference station and the pseudo range observation value to the rover station, and the rover station receives the single difference ionospheric delay and the single difference tropospheric delay between the rover station and the main reference station, the geographic position coordinate of the main reference station and the pseudo range observation value.

And S102, acquiring the geographic position coordinate of the rover station according to the single difference ionospheric delay and the single difference tropospheric delay between the rover station and the main reference station, the geographic position coordinate and the observation data of the main reference station, and the pseudo-range observation value of the rover station.

It is understood that step S102 further includes: raw satellite observations are received.

After the rover station receives the single difference ionosphere delay and the single difference troposphere delay between the rover station and the main reference station, the geographical position coordinates of the main reference station, the pseudo range observation value and the original satellite observation data, pseudo range differential positioning is carried out after data processing is carried out by utilizing the differential information and the pseudo range observation value in the original satellite observation data, and the geographical position coordinates of the rover station are obtained and serve as pseudo range differential positioning results. In the pseudo-range differential positioning process, the single difference ionospheric delay and the single difference tropospheric delay between the rover station and the main reference station are used as differential correction information (namely, atmosphere correction).

The pseudo-range differential positioning is carried out by taking the single difference ionosphere delay and the single difference troposphere delay between the mobile station and the main reference station as differential correction information, the positioning process is irrelevant to the length of the reference station baseline, a positioning result with higher precision can be obtained under the condition of a long baseline, and the accuracy and the reliability of positioning can be improved and guaranteed.

Based on the content of the foregoing embodiments, the specific step of obtaining the geographic position coordinate of the rover station according to the single difference ionospheric delay and the single difference tropospheric delay between the rover station and the main reference station, the geographic position coordinate and the pseudorange observation value of the main reference station, and the pseudorange observation value of the rover station includes: and extracting the single difference ionospheric delay and the single difference tropospheric delay between the rover station and the main reference station, the geographic position coordinates and the pseudo range observed values of the main reference station, the pseudo range observed values of the rover station and the single difference ionospheric delay and the single difference tropospheric delay between the rover station and the main reference station corresponding to the satellites which are in common view of the rover station and the main reference station from among the pseudo range observed values of the rover station.

Specifically, a satellite in common view of the rover station and the main reference station is determined according to the pseudorange observation value of the main reference station and the pseudorange observation value of the rover station. According to practical conditions, the number of satellites which are commonly viewed by the rover station and the main reference station can be not less than 4.

In the process of identifying the satellites that are commonly viewed by the rover station and the main reference station, it is necessary to eliminate satellites that do not have complete data and satellites that have gross errors.

Based on the determined satellites that are co-located with the main reference station, the pseudorange observations of the main reference station corresponding to the satellites that are co-located with the main reference station, the pseudorange observations of the rover station, and the single difference ionospheric and tropospheric delays between the rover station and the main reference station may be extracted from the single difference ionospheric and tropospheric delays between the rover station and the main reference station, the geographic position coordinates and the pseudorange observations of the main reference station, and the pseudorange observations of the rover station.

And acquiring the position correction number of the rover station according to the pseudo-range observed value of the main reference station corresponding to the satellite which is viewed by the rover station and the main reference station, the pseudo-range observed value of the rover station, the single difference ionosphere delay and the single difference troposphere delay between the rover station and the main reference station, and the single difference observation equation between the pseudo-range stations between the rover station and the main reference station.

Specifically, the equation of single difference observation among the pseudo-range stations between the rover station U and the main reference station R is

Wherein,representing single-differenced pseudorange observations between the rover station U and the master reference station R;representing the single-difference range between the rover station U and the master reference station R; c represents in vacuumThe speed of light of (c); δ t_R,URepresents the single difference receiver clock difference between the rover station U and the master reference station R;represents the single difference ionospheric delay between the rover U and the master reference station R;represents the single difference tropospheric delay (including orbit error) between the rover U and the master reference station R;representing the remaining residual errors, including single-differenced multipath effects, observation noise, etc.; the superscript i denotes the number of satellites that the rover U co-views with the master reference station R and does not denote an exponential meaning.

Wherein P represents a pseudorange observation; subscript R, U denotes the master reference station and rover station, respectively; the superscript i denotes the number of satellites that the rover co-views with the master reference station and does not denote an exponential meaning; (x)ⁱ,yⁱ,zⁱ) The geographical position coordinates of the GNSS satellite at the signal emission moment can be obtained by calculation according to GNSS broadcast ephemeris data; (x)_R,y_R,z_R) Representing the geographical location coordinates of the master reference station, which are precise coordinates; (x)_U,y_U,z_U) Representing the geographical location coordinates of the rover.

It should be noted that the pseudorange observations may be selected from any available frequency range (e.g., L1 carrier, L2 carrier, or other available frequency range carrier) based on the frequencies supported by the rover station. Correcting the single difference ionospheric delay and the single difference tropospheric delay between the rover and the main reference station as difference correction information sent by the serverIn inter-station single-difference observation equations of pseudo-ranges between stationsAndclock error parameter delta t_R,UAnd geographical location coordinates (x) of the rover_U,y_U,z_U) As parameter estimation, the single difference observation equation between pseudo range stations between the mobile station and the main reference station is linearized to obtain an error equation of

V_U＝B_UδX_U-l_U

Wherein, B_URepresenting a design matrix; delta X_URepresenting a parameter vector to be estimated; l_URepresenting a vector of observations; v_UIs an observation residual vector.

The observed value vector weight matrix of the error equation is D_U。

δX_U＝[δx_U δy_U δz_U δt_R,U]^T

D_U＝diag(1/σ_P,1,…,1/σ_P,m)

Wherein m represents the total number of satellites actually in view of the rover station with the primary reference station; m ≦ n, n representing the total number of satellites available for co-view of the rover station with the primary reference station; the superscripts 1 to m are numbers of satellites which are viewed by the rover station and the main reference station together, and do not represent exponential meanings; the superscript i represents the number of the satellite viewed by the rover station and the main reference station together, and does not represent the exponential meaning, i is more than or equal to 1 and less than or equal to m;indicates a pre-positioning result of the rover, canIs a rough positioning result (i.e. approximate coordinates) obtained in advance by a method such as single point positioning;represents the computed range (i.e., the distance between the rover and the satellite) from the pre-positioning results of the rover;representing the single-difference range between the rover U and the main reference station R calculated according to the pre-positioning result of the rover; sigma_P,iThe prior variance of the pseudorange observations of the rover station for the ith co-view satellite can be calculated according to the prior standard variance and the satellite elevation angle.

The error equation can be solved by any adjustment method, such as least square adjustment, and the position correction (δ x) of the rover station can be obtained_U,δy_U,δz_U)。

In particular, the geographic position coordinates (x) of the rover_U,y_U,z_U) Is calculated by the formula

Fig. 2 is a schematic flowchart of a pseudo-range differential positioning method based on a network of reference stations according to an embodiment of the present invention. Based on the content of the foregoing embodiments, as shown in fig. 2, a pseudo-range differential positioning method based on a network of reference stations includes: step S201, acquiring single difference ionosphere delay and single difference troposphere delay of each reference station baseline according to observation data of a common-view satellite of a reference station network.

It should be noted that the executing subject of the pseudo-range differential positioning method provided by the embodiment of the present invention is a service end, that is, a data processing center.

Before step S201, the server combines the reference stations into a Delauney triangulation network according to the geographical location coordinates of each reference station, so as to obtain a network of reference stations and a baseline of each reference station.

Before step S201, each reference station sends the acquired original satellite observation data and broadcast ephemeris data to the server, and the server receives the original satellite observation data and broadcast ephemeris data acquired by each reference station. And the original satellite observation data and the broadcast ephemeris data acquired by each reference station form the observation data of the reference station network.

The server side preprocesses original satellite observation data and broadcast ephemeris data collected by each reference station, and eliminates satellites with incomplete data and satellites with gross errors and the like.

Specifically, according to the original satellite observation data acquired by each reference station, the common-view satellite of the reference station network, that is, the common-view satellite of each reference station network can be determined, so that the observation data of the common-view satellite can be extracted from the preprocessed original satellite observation data and the broadcast ephemeris data.

Based on the reference station baselines, an inter-station single-difference observation equation of the pseudo range and the carrier phase of the reference stations at two ends of each reference station baseline can be established.

And according to the established inter-station single-difference observation equation of each pseudo range and carrier phase and observation data of the common-view satellite of the reference station network, performing sequential adjustment to obtain a single-difference ambiguity floating solution and single-difference atmospheric delay between two reference stations at two ends of a base line of each reference station. And the single difference atmosphere delay between the two reference stations comprises two parts of single difference ionosphere delay and single difference troposphere delay.

It should be noted that, in the case of a long baseline, the influence of the orbit error needs to be considered, but since the orbit error and the tropospheric delay cannot be separated, the obtained single-difference tropospheric delay is a single-difference tropospheric delay including the orbit error.

Step S202, acquiring the single difference ionospheric delay and the single difference tropospheric delay between the rover station and the main reference station according to the single difference ionospheric delay and the single difference tropospheric delay of a plurality of reference station baselines which are closest to the rover station.

Specifically, the model coefficient to be determined in the regional atmosphere delay model can be determined according to the single difference ionosphere delay and the single difference troposphere delay of a plurality of reference station baselines which are closest to the rover, and the longitude and latitude of each reference station of the end points of the plurality of reference station baselines.

The plurality of strips means at least two strips.

And obtaining a regional atmosphere delay model according to the undetermined model coefficient.

Based on the regional atmosphere delay model, the single difference ionosphere delay and the single difference troposphere delay between the rover station and the main reference station can be obtained according to the longitude and latitude of the rover station of the longitude and latitude of the main reference station.

And S203, sending the single difference ionospheric delay and the single difference tropospheric delay between the rover station and the main reference station, the geographical position coordinates of the main reference station and the pseudo-range observation value to the rover station.

Specifically, the service end transmits the single difference ionospheric delay and the single difference tropospheric delay between the rover station and the main reference station, and the geographical position coordinate and the pseudo range observation value of the main reference station to the rover station, so that the rover station obtains the geographical position coordinate of the rover station according to the single difference ionospheric delay and the single difference tropospheric delay between the rover station and the main reference station, the geographical position coordinate and the pseudo range observation value of the main reference station, and the pseudo range observation value of the rover station.

According to the embodiment of the invention, a more accurate single difference atmospheric delay between reference stations can be obtained by establishing a single difference pseudo range and a carrier phase observation equation of the reference stations and adopting a sequential adjustment method; by adopting the single difference atmospheric delay between the reference stations at two ends of the baseline of the multiple reference stations closest to the rover station, more accurate atmospheric correction numbers can be obtained under the condition of the long baseline, and the observation station can obtain a higher-precision positioning result under the condition of the long baseline according to the more accurate atmospheric correction numbers, so that the accuracy and the reliability of positioning can be improved and guaranteed.

Based on the content of each embodiment, the specific steps of obtaining the single difference ionospheric delay and the single difference tropospheric delay of each reference station baseline according to the observation data of the common-view satellite of the reference station network include: and establishing an inter-station single-difference observation equation of the pseudo range and the carrier phase of the reference station network according to the observation data of the common-view satellite of the reference station network.

Specifically, the inter-station single-difference observation equation of the pseudo range and the carrier phase of the reference station network is formed by the inter-station single-difference observation equation of the pseudo range and the carrier phase of the reference stations at two ends of each reference station baseline.

For any reference station base line, the inter-station single difference observation equation of the pseudo range and the carrier phase of the reference stations A and B at the two ends of the reference station base line is

Wherein Δ represents a single difference operator;single difference pseudorange observations, representing the L1, L2 carriers, respectively, between the reference stations A, B;respectively, L1, L2 carriers between reference stations A, B in metersA single difference phase observation in units;representing the single-difference range between reference stations A, B; c represents the speed of light in vacuum; δ t_A,BIs the single difference receiver clock difference between the reference stations A, B; f. of₁、f₂Frequency of L1 and L2 carriers;represents the L1 carrier single difference ionospheric delay between reference stations A, B;represents the single difference tropospheric delay between the reference stations A, B;single-difference ambiguities of L1, L2 carriers, respectively, between reference stations A, B; lambda [ alpha ]₁、λ₂The wavelengths of the L1 and L2 carriers are indicated, respectively;respectively representing pseudo range and residual errors after carrier phase single difference, including single difference orbit error residual error, single difference multipath effect, observation noise and the like; the superscript i denotes the number of co-viewing satellites of the reference station A, B and does not represent an exponential meaning.

Wherein, P₁、P₂Pseudo-range observations representing the L1 and L2 carriers, respectively; subscripts A, B denote reference stations A, B; the superscript i denotes the number of co-viewing satellites of the reference station A, B and does not represent an exponential meaning; l is₁、L₂Phase observations representing L1 and L2 carriers, respectively; m_d、M_wRespectively representing a tropospheric dry delay mapping function and a wet delay mapping function; t is_d、T_wRespectively representing zenith tropospheric dry and wet delays; (x)_A,y_A,z_A)、(x_B,y_B,z_B) Respectively, the geographical location coordinates of the reference station A, B, which are precise coordinates that can be calculated by GNSS data post-processing methods; (x)ⁱ,yⁱ,zⁱ) The geographical position coordinates of the GNSS satellite at the signal emission moment can be obtained by calculation according to the GNSS broadcast ephemeris data.

And acquiring the single difference ionospheric delay and the single difference tropospheric delay of each reference station baseline according to a sequential adjustment method and an inter-station single difference observation equation of the pseudo range and the carrier phase of the reference station network.

Specifically, sequential adjustment is performed according to the inter-station single-difference observation equation of each pseudo range and carrier phase and the observation data of the common-view satellite of the reference station network, so that a single-difference ambiguity floating solution and a single-difference atmospheric delay between two reference stations at two ends of a baseline of each reference station can be obtained.

And the single difference atmosphere delay between the two reference stations comprises two parts of single difference ionosphere delay and single difference troposphere delay.

The single difference ionospheric delay of the reference station baseline refers to the single difference ionospheric delay between two reference stations at two ends of the reference station baseline; the single difference tropospheric delay of a reference station baseline refers to the single difference tropospheric delay between two reference stations at either end of the reference station baseline.

According to the embodiment of the invention, the more accurate single-difference atmospheric delay between the reference stations can be obtained by establishing the single-difference pseudo range and the carrier phase observation equation of the reference stations and adopting the sequential adjustment method, so that the higher-precision positioning result can be obtained under the condition of a long baseline based on the more accurate single-difference atmospheric delay between the reference stations, and the accuracy and the reliability of positioning can be improved and guaranteed.

Based on the content of each embodiment, the specific steps of obtaining the single-difference ionospheric delay and the single-difference tropospheric delay of each reference station baseline according to the sequential adjustment method and the inter-station single-difference observation equation of the pseudo range and the carrier phase of the reference station network include: acquiring zenith troposphere dry delay of each reference station according to a ground air pressure, a ground temperature and a troposphere dry delay model, and acquiring zenith troposphere wet delay of each reference station and single difference ionosphere delay of each reference station baseline according to a sequential adjustment method and an inter-station single difference observation equation of pseudo range and carrier phase of a reference station network. Specifically, the tropospheric delay includes two parts, zenith tropospheric dry delay and zenith tropospheric wet delay.

The zenith tropospheric dry delay can be obtained by an empirical model.

Common tropospheric dry delay models include the Saastamoinen model (Saas model), the Hopfield model, and the Black model, among others.

When the common troposphere dry delay model is used for calculating the zenith troposphere dry delay, the ground air pressure and the ground temperature corresponding to the reference station are needed. The ground air pressure and the ground temperature can be obtained by a ground monitoring station, and can also be obtained by a model according to the coordinates of a reference station and observation time. Clock error parameter delta t_A,BZenith troposphere wet delay, single difference ionosphere delay, and single difference ambiguity of L1 and L2 carriers as parameter estimation, and linearizing inter-station single difference observation equation of each pseudorange and carrier phase to obtain error equation as

V_R＝B_RX_R-l_R

Wherein, B_RRepresenting a design matrix; x_RRepresenting the parameter to be estimatedA number vector; l_RRepresenting a vector of observations; v_RIs an observation residual vector.

The observed value vector weight matrix of the error equation is D_RAnd the method can be obtained according to the prior precision of the observed value.

The superscript i represents the number of the satellites which are commonly viewed by the rover station and the main reference station, and does not represent the exponential meaning, i is more than or equal to 1 and less than or equal to n, and n represents the total number of the commonly viewed satellites of the available reference station network; representing the single difference pseudoranges and the a priori variance of the phase observations, respectively.

Wherein σ_P、σ_LThe non-difference pseudoranges and the prior variances of the phase observation values are respectively represented, and the non-difference pseudoranges and the phase observation values can be obtained through calculation according to the prior standard variances and the satellite height angles of the non-difference pseudoranges and the phase observation values.

The error equation can be solved through sequential adjustment to obtain a single-difference ambiguity floating solution, a single-difference ionosphere delay and a zenith troposphere wet delay.

In the sequential adjustment process, the satellite cycle slip needs to be detected according to the actual situation. For the first epoch data, cycle slip does not need to be detected; for the rest of the epoch data, the ambiguity parameter of the satellite with the cycle slip is updated to the value after the cycle slip.

And acquiring the troposphere delay of each reference station according to the zenith troposphere dry delay and the zenith troposphere wet delay of each reference station.

Specifically, since the tropospheric delay includes two parts, namely a tropospheric dry delay and a tropospheric wet delay, the tropospheric dry delay and the tropospheric wet delay of each reference station are added to obtain the tropospheric delay of each reference station.

As the mapping function, commonly used functions are GMF, VMF, and the like.

When the mapping function of the tropospheric dry delay and the tropospheric wet delay is calculated, the altitude angle of the satellite, the coordinates of the reference station, the observation time, and the like are required.

The ground air pressure and the ground temperature can be obtained by a ground monitoring station, and can also be obtained by a model according to the coordinates of a reference station and observation time.

And acquiring the troposphere delay of each reference station according to the zenith troposphere dry delay and the zenith troposphere wet delay of the reference station and the respective mapping function.

Specifically, for each reference station baseline, the single difference tropospheric delay for that reference station baseline can be obtained from the tropospheric delays of the reference stations at both ends of the baseline.

Based on the content of the foregoing embodiments, the specific step of obtaining the single difference ionospheric delay and the single difference tropospheric delay between the rover station and the main reference station according to the single difference ionospheric delay and the single difference tropospheric delay of the multiple reference station baselines closest to the rover station includes: and establishing a regional atmosphere delay model according to the single difference ionosphere delay and the single difference troposphere delay of a plurality of reference station baselines which are closest to the rover, and the longitude and latitude of the reference stations at two ends of the plurality of reference station baselines.

Specifically, before establishing the regional atmosphere delay model, the method further comprises: a pre-positioning result of the rover is obtained.

At least 2 reference station baselines closest to the rover are selected according to the pre-positioning result of the rover.

And establishing a regional atmosphere delay model according to the selected single difference ionosphere delay and single difference troposphere delay of the reference stations at two ends of the base line of at least 2 reference stations.

The observation equation in the regional atmosphere delay model is

Wherein subscripts A, B denote reference stations A, B, respectively; the superscript i denotes the number of co-viewing satellites of the reference station A, B and does not represent an exponential meaning;represents the single difference ionospheric delay between the reference stations A, B;represents the single difference tropospheric delay between the reference stations A, B;representing the ionospheric model coefficients to be determined;representing the tropospheric model coefficients to be determined; b is_A、L_ARespectively representing the latitude and longitude of the reference station a; b is_B、L_BRespectively, the latitude and longitude of the reference station B.

The undetermined model coefficients in the regional atmosphere delay model comprise

If the geographic location coordinates are expressed in terms of longitude, latitude, and altitude, then B_A、L_A、B_B、L_BRespectively, the geographic location coordinates (x) of the reference station A, B_A,y_A,z_A)、(x_B,y_B,z_B) Y in (1)_A、x_A、y_B、x_B。

Due to the fact thatB_A、L_A、B_B、L_BAre all acquired, and thus can calculate And determining the model coefficient to be determined in the regional atmosphere delay model.

And acquiring the single difference ionosphere delay and the single difference troposphere delay between the rover station and the main reference station according to the regional atmosphere delay model, the longitude and latitude of the main reference station and the longitude and latitude in the pre-positioning result of the rover station.

Specifically, the reference station closest to the rover U is selected as the master reference station R.

And if the geographic position coordinate is represented by longitude, latitude and altitude, the pre-positioning result according to the rover station comprises the longitude and latitude of the rover station.

And substituting the longitude and latitude of the main reference station and the longitude and latitude in the pre-positioning result of the rover station into the regional atmosphere delay model with the determined model coefficient to calculate the single difference ionospheric delay and the single difference tropospheric delay between the rover station and the main reference station.

The formula for calculating the single difference ionospheric delay and the single difference tropospheric delay between the rover U and the main reference station R is

Wherein the subscripts U, R denote the rover and the master reference station, respectively; the superscript i denotes the number of co-viewing satellites of the reference station A, B and does not represent an exponential meaning;represents the single difference ionospheric delay between the reference stations A, B;represents the single difference tropospheric delay between the reference stations A, B;representing ionospheric model coefficients;representing tropospheric model coefficients; b is_U、L_URespectively representing the latitude and longitude of the rover U; b is_R、L_RRespectively, the latitude and longitude of the master reference station R.

According to the embodiment of the invention, the single-difference atmospheric delay between the reference stations at two ends of the baseline of the multiple reference stations closest to the rover station is adopted, so that more accurate atmospheric correction numbers can be obtained under the condition of the long baseline, and the observation station can obtain a higher-precision positioning result under the condition of the long baseline according to the more accurate atmospheric correction numbers, so that the accuracy and the reliability of positioning can be improved and guaranteed.

Fig. 3 is a schematic diagram of a pseudo-range differential positioning system based on a network of reference stations according to an embodiment of the present invention. As shown in FIG. 3, the network of reference stations is made up of reference stations R1-R7 and a rover station is U (which may be referred to as a rover user U). Wherein, R5 is the main reference station.

The data center can acquire observation data of the common-view satellite of the reference station network according to the observation values of the reference stations; according to observation data of a common view satellite of a reference station network, an inter-station single-difference observation equation of pseudo range and carrier phase of the reference station network can be established; according to the inter-station single-difference observation equation of the pseudo range and the carrier phase of the reference station network, the single-difference ionosphere delay and the single-difference troposphere delay of the base line of each reference station can be obtained; according to a regional atmosphere delay model, the single difference ionospheric delay and the single difference tropospheric delay of a plurality of reference station baselines which are closest to the rover, the geographic position coordinates of the main reference station R5 and the pre-positioning result of the rover U, the single difference ionospheric delay and the single difference tropospheric delay between the rover U and the main reference station R5 can be obtained and used as difference correction information; the difference correction information is sent to the rover U.

And the rover station U can acquire the geographic position coordinates of the rover station U as the differential positioning result of the rover station U according to the differential correction information and the homodyne observation equation between the pseudo-range stations between the rover station U and the main reference station R5.

To facilitate an understanding of the above-described embodiments of the present invention, the following description is given by way of an example.

FIG. 4 is a schematic diagram of a reference station and rover station distribution provided according to an embodiment of the present invention. As shown in FIG. 4, four GNSS reference stations XIAA, SCSP, CQCS and SCBZ of the environment monitoring network constructed by the continental China were used for the test. Wherein XIAA, SCSP and CQCS are used as reference stations, and the length of a base line is about 500 km; the SCBZ is used as a rover and is spaced 340km from the main reference station XIAA.

The method provided by each of the above embodiments of the present invention is performed by using 2016 day 10 full-day observation results to perform pseudo-range differential positioning.

When resolving the single epoch ambiguity of the reference station, adopting a UNB3m model for troposphere stem delay components, and adopting GMF as a mapping function; the sampling interval for rover coordinate solution is 30s and the satellite cutoff altitude angle is set to 15 °.

Fig. 5 is a comparison diagram of positioning accuracy provided according to an embodiment of the present invention. The geographical position coordinates of the rover SCBZ are solved by respectively adopting single-point positioning, pseudo-range differential positioning and pseudo-range differential positioning based on a reference station network, the difference between the obtained coordinates through calculation and the known coordinates of the rover SCBZ is obtained, the plane positioning accuracy under a station center coordinate system (NEU) is shown in figure 5, and the statistical result of the plane positioning accuracy is shown in table 1.

TABLE 1 statistical results of plane positioning accuracy calculated by different methods

As shown in table 1, the plane accuracy (root mean square error) of the pseudo-range differential positioning using the reference station network is improved by 81.9% and 32.2%, respectively, and the ratio of the positioning accuracy better than 1m is improved by 68.8% and 6.8%, respectively, relative to the single-point positioning and the pseudo-range differential positioning. Therefore, the pseudo-range differential positioning method provided by the embodiments of the invention can solve the problems of poor positioning accuracy of the user and poor system reliability under a long distance condition, can obtain a positioning result with higher accuracy under a long baseline condition, and can improve and guarantee the accuracy and reliability of positioning.

Fig. 6 is a schematic structural diagram of a pseudo-range differential positioning apparatus based on a network of reference stations according to an embodiment of the present invention. Based on the content of the above embodiments, as shown in fig. 6, the apparatus includes a receiving module 601 and a positioning module 602, where:

a receiving module 601, configured to receive a single difference ionosphere delay and a single difference troposphere delay between a rover station and a main reference station, and a geographic position coordinate and a pseudorange observation value of the main reference station, where the single difference ionosphere delay and the single difference troposphere delay are sent by a server;

a positioning module 602, configured to obtain a geographic position coordinate of the rover station according to the single difference ionospheric delay and the single difference tropospheric delay between the rover station and the main reference station, the geographic position coordinate and the pseudorange observation value of the main reference station, and the pseudorange observation value of the rover station;

It should be noted that the pseudorange differential positioning apparatus provided in the embodiment of the present invention is a rover station.

Specifically, the server sends the single difference ionospheric delay and the single difference tropospheric delay between the rover station and the main reference station, and the geographic position coordinate and the pseudorange observation value of the main reference station to the rover station, and the receiving module 601 receives the single difference ionospheric delay and the single difference tropospheric delay between the rover station and the main reference station, and the geographic position coordinate and the pseudorange observation value of the main reference station.

The positioning module 602 performs pseudo-range differential positioning after processing data by using the single difference ionospheric delay and the single difference tropospheric delay between the rover station and the main reference station, and the geographic position coordinates of the main reference station, the pseudo-range observation value, and the original satellite observation data, and obtains the geographic position coordinates of the rover station as a pseudo-range differential positioning result by using the single difference ionospheric delay and the single difference tropospheric delay between the rover station and the main reference station as differential correction information (i.e., atmospheric correction values) during the pseudo-range differential positioning.

The pseudo-range differential positioning device based on the reference station network according to the embodiments of the present invention is used to execute the pseudo-range differential positioning method based on the reference station network according to the embodiments of the present invention, and specific methods and processes for implementing corresponding functions of each module included in the pseudo-range differential positioning device based on the reference station network are described in detail in the embodiments of the pseudo-range differential positioning method based on the reference station network, and are not described herein again.

The pseudo-range differential positioning device based on the reference station network is used for the pseudo-range differential positioning method based on the reference station network in the foregoing embodiments. Therefore, the description and definition in the pseudo-range differential positioning method based on the reference station network in the foregoing embodiments can be used for understanding the execution modules in the embodiments of the present invention.

Fig. 7 is a schematic structural diagram of a pseudo-range differential positioning apparatus based on a network of reference stations according to an embodiment of the present invention. Based on the content of the foregoing embodiments, as shown in fig. 7, the apparatus includes a first obtaining module 701, a second obtaining module 702, and a sending module 703, where:

a first obtaining module 701, configured to obtain a single difference ionospheric delay and a single difference tropospheric delay of a baseline of each reference station according to observation data of a common-view satellite of a reference station network;

a second obtaining module 702, configured to obtain a single difference ionospheric delay and a single difference tropospheric delay between the rover station and the main reference station according to the single difference ionospheric delays and the single difference tropospheric delays of the multiple reference station baselines closest to the rover station;

a sending module 703, configured to send the single difference ionospheric delay and the single difference tropospheric delay between the rover station and the main reference station, the geographic position coordinates of the main reference station, and the pseudorange observation value to the rover station;

It should be noted that the pseudo-range differential positioning apparatus provided in the embodiment of the present invention is a server.

Specifically, the first obtaining module 701 may determine a common-view satellite of each reference station network according to original satellite observation data acquired by each reference station, establish an inter-station single-difference observation equation of a pseudo range and a carrier phase of each reference station at two ends of a baseline of each reference station according to observation data of the common-view satellite of the reference station network, and perform sequential adjustment to obtain a single-difference ambiguity floating solution and a single-difference atmospheric delay between two reference stations at two ends of the baseline of each reference station according to the established inter-station single-difference observation equation of each pseudo range and carrier phase and observation data of the common-view satellite of the reference station network. And the single difference atmosphere delay between the two reference stations comprises two parts of single difference ionosphere delay and single difference troposphere delay.

The second obtaining module 702 may determine a model coefficient to be determined in the regional atmosphere delay model according to the single difference ionosphere delay and the single difference troposphere delay of the multiple reference station baselines closest to the rover station, and the longitude and latitude of each reference station of the end points of the multiple reference station baselines; and determining a model coefficient to be determined in the regional atmosphere delay model according to the single difference ionosphere delay and the single difference troposphere delay of a plurality of reference station baselines which are closest to the rover, and the longitude and latitude of each reference station of the end points of the plurality of reference station baselines.

The transmitting module 703 transmits the single difference ionospheric delay and the single difference tropospheric delay between the rover and the master reference station, and the geographic position coordinates and the pseudorange observations of the master reference station to the rover, such that the rover obtains the geographic position coordinates of the rover from the single difference ionospheric delay and the single difference tropospheric delay between the rover and the master reference station, the geographic position coordinates and the pseudorange observations of the master reference station, and the pseudorange observations of the rover.

Fig. 8 is a schematic physical structure diagram of an electronic device according to an embodiment of the present invention. Based on the content of the above embodiment, as shown in fig. 8, the electronic device may include: a processor (processor)801, a memory (memory)802, and a bus 803; wherein, the processor 801 and the memory 802 complete communication with each other through the bus 803; the processor 801 is configured to invoke computer program instructions stored in the memory 802 and executable on the processor 801 to perform the pseudo-range differential positioning methods provided by the above-described method embodiments, including, for example: receiving single difference ionosphere delay and single difference troposphere delay between the rover station and the main reference station, as well as geographic position coordinates and pseudo-range observed values of the main reference station, which are sent by a server; acquiring the geographical position coordinate of the rover station according to the single difference ionosphere delay and the single difference troposphere delay between the rover station and the main reference station, the geographical position coordinate and observation data of the main reference station and the pseudo-range observation value of the rover station; the main reference station is the reference station closest to the rover station; or comprises the following steps: acquiring single difference ionosphere delay and single difference troposphere delay of each reference station baseline according to observation data of a common-view satellite of a reference station network; acquiring single difference ionospheric delay and single difference tropospheric delay between the rover station and the main reference station according to the single difference ionospheric delay and the single difference tropospheric delay of a plurality of reference station baselines closest to the rover station; the single difference ionospheric delay and the single difference tropospheric delay between the rover station and the main reference station, the geographical position coordinates of the main reference station and the pseudo-range observation value are sent to the rover station; the main reference station is the reference station closest to the rover station.

Another embodiment of the present invention discloses a computer program product, the computer program product includes a computer program stored on a non-transitory computer readable storage medium, the computer program includes program instructions, when the program instructions are executed by a computer, the computer can execute the pseudo-range differential positioning method provided by the above-mentioned method embodiments, for example, the pseudo-range differential positioning method includes: receiving single difference ionosphere delay and single difference troposphere delay between the rover station and the main reference station, as well as geographic position coordinates and pseudo-range observed values of the main reference station, which are sent by a server; acquiring the geographical position coordinate of the rover station according to the single difference ionosphere delay and the single difference troposphere delay between the rover station and the main reference station, the geographical position coordinate and observation data of the main reference station and the pseudo-range observation value of the rover station; the main reference station is the reference station closest to the rover station; or comprises the following steps: acquiring single difference ionosphere delay and single difference troposphere delay of each reference station baseline according to observation data of a common-view satellite of a reference station network; acquiring single difference ionospheric delay and single difference tropospheric delay between the rover station and the main reference station according to the single difference ionospheric delay and the single difference tropospheric delay of a plurality of reference station baselines closest to the rover station; the single difference ionospheric delay and the single difference tropospheric delay between the rover station and the main reference station, the geographical position coordinates of the main reference station and the pseudo-range observation value are sent to the rover station; the main reference station is the reference station closest to the rover station.

Furthermore, the logic instructions in the memory 802 may be implemented in software functional units and stored in a computer readable storage medium when sold or used as a stand-alone product. Based on such understanding, the technical solutions of the embodiments of the present invention may be essentially implemented or make a contribution to the prior art, or may be implemented in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the methods of the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

Another embodiment of the present invention provides a non-transitory computer-readable storage medium, which stores computer instructions, the computer instructions causing a computer to execute the pseudo-range differential positioning method provided in the foregoing method embodiments, for example, including: receiving single difference ionosphere delay and single difference troposphere delay between the rover station and the main reference station, as well as geographic position coordinates and pseudo-range observed values of the main reference station, which are sent by a server; acquiring the geographical position coordinate of the rover station according to the single difference ionosphere delay and the single difference troposphere delay between the rover station and the main reference station, the geographical position coordinate and observation data of the main reference station and the pseudo-range observation value of the rover station; the main reference station is the reference station closest to the rover station; or comprises the following steps: acquiring single difference ionosphere delay and single difference troposphere delay of each reference station baseline according to observation data of a common-view satellite of a reference station network; acquiring single difference ionospheric delay and single difference tropospheric delay between the rover station and the main reference station according to the single difference ionospheric delay and the single difference tropospheric delay of a plurality of reference station baselines closest to the rover station; the single difference ionospheric delay and the single difference tropospheric delay between the rover station and the main reference station, the geographical position coordinates of the main reference station and the pseudo-range observation value are sent to the rover station; the main reference station is the reference station closest to the rover station.

The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.

Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. It is understood that the above-described technical solutions may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method of the above-described embodiments or some parts of the embodiments.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. A pseudo-range differential positioning method based on a reference station network is characterized by comprising the following steps:

2. The method of claim 1, wherein the step of obtaining the rover position coordinates from the single difference ionospheric delay and the single difference tropospheric delay between the rover station and the main reference station, the rover position coordinates and the pseudorange observations comprises:

3. A pseudo-range differential positioning method based on a reference station network is characterized by comprising the following steps:

4. The pseudo-range differential positioning method based on the reference station network as claimed in claim 3, wherein the specific step of obtaining the single difference ionospheric delay and the single difference tropospheric delay of each reference station baseline according to the observed data of the common view satellite of the reference station network comprises:

5. The pseudo-range differential positioning method based on the reference station network as claimed in claim 4, wherein the specific step of obtaining the single difference ionospheric delay and the single difference tropospheric delay of the baseline of each reference station according to the sequential adjustment method and the inter-station single difference observation equation of the pseudo-range and the carrier phase of the reference station network comprises:

6. The reference station network-based pseudo-range differential positioning method according to any one of claims 3 to 5, wherein the specific step of obtaining the single difference ionospheric delay and the single difference tropospheric delay between the rover station and the main reference station according to the single difference ionospheric delay and the single difference tropospheric delay of the reference station baselines closest to the rover station comprises:

7. A pseudo-range differential positioning device based on a reference station network is characterized by comprising:

8. A pseudo-range differential positioning device based on a reference station network is characterized by comprising:

9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor when executing the program realizes the steps of the reference station network based pseudorange differential positioning method according to any of claims 1-6.

10. A non-transitory computer readable storage medium having stored thereon a computer program, wherein the computer program is adapted to, when being executed by a processor, implement the steps of the reference station network based pseudorange differential positioning method according to any one of claims 1 to 6.