CN110501733B - Self-adaptive grid VRS generation and service method - Google Patents
Self-adaptive grid VRS generation and service method Download PDFInfo
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- CN110501733B CN110501733B CN201910679958.0A CN201910679958A CN110501733B CN 110501733 B CN110501733 B CN 110501733B CN 201910679958 A CN201910679958 A CN 201910679958A CN 110501733 B CN110501733 B CN 110501733B
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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
- G01S19/01—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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- 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
- G01S19/42—Determining position
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Abstract
The invention discloses a self-adaptive grid VRS generation and service method, which comprises the steps of firstly reading coordinate information of a whole grid reference station, respectively generating grid points covering the whole reference station grid along the east direction and the north direction according to equal intervals, and obtaining coordinates of each grid point; then, double-difference error correction number information between the whole network reference stations of one epoch is read, and double-difference error correction numbers of the visible satellites of all grid points are calculated; judging the difference of double-difference error correction numbers of different grid points, and marking invalid grid points to obtain grid points with irregular epoch; judging the number of grid point user requests, marking grid points in service, and providing the VRS service of the epoch grid point; and repeating the steps until all the epochs are processed. The method generates the grid points in a real-time self-adaptive manner, and considers both the calculated amount of a CORS system and the user service precision; and the grid point VRS is dynamically generated according to the user request, so that the calculated amount of the CORS system is greatly reduced.
Description
Technical Field
The invention belongs to the satellite navigation positioning data processing technology, and particularly relates to a self-adaptive grid VRS generation and service method.
Background
At present, thousands of GNSS reference stations are established in China, and nearly hundreds of provincial and municipal CORS systems exist. However, the CORS system of a plurality of independent areas has the problems of repeated construction of GNSS reference station resources, incapability of sharing servers, limited user service range and number and the like. The necessity of the real-time high-precision positioning development of GNSS in China is to change a dispersed CORS system into a CORS system for national unified management, maintenance and service. For a nationwide CORS system, the service range and the service quantity of the CORS system are extremely large, and the VRS broadcasting mode commonly used by a regional CORS system can greatly limit the quantity of simultaneous online users, so that the requirements of large range and large user quantity cannot be met. Therefore, a grid VRS technology is proposed, in which grid points are divided at equal intervals within a service range, a grid VRS is established, and a service is provided to a user through the grid points. The system only needs to maintain the VRS of each grid point, thereby reducing the calculated amount of the system and removing the limit value of the number of users.
However, due to factors such as uneven distribution of reference stations and uneven distribution of atmospheric conditions in a measurement area, the accuracy of VRS observation values obtained by mesh points established at equal intervals is different, which may cause inconsistent accuracy of user services. On the other hand, if the grid points are arranged at equal intervals, the system calculation amount is increased and calculation resources are wasted if the intervals of the grid points are too small; if the grid point distance is too large, the accuracy of the VRS observation value of the grid point can be reduced, and therefore the user service accuracy is reduced.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides a self-adaptive grid VRS generation and service method, which adjusts the grid point spacing in real time according to the factors such as the distribution condition of a reference station, the atmospheric characteristics and the like, and simultaneously considers the calculation amount and the service precision.
The technical scheme adopted by the invention is as follows: a self-adaptive grid VRS generation and service method is characterized by comprising the following steps:
step 1: reading coordinate information of a whole-grid reference station, and respectively generating grid points covering the whole reference station grid along the east direction and the north direction at equal intervals to obtain coordinates of each grid point;
step 2: reading double-difference error correction information between the whole network reference stations of one epoch;
and step 3: calculating double-difference error correction numbers of the visible satellites of all grid points;
and 4, step 4: judging the difference of double-difference error correction numbers of different grid points, marking invalid grid points, and obtaining grid points with irregular epoch;
and 5: judging the number of grid point user requests, marking grid points in service, and providing the VRS step service of the epoch grid point;
step 6: and repeating the step 2 to the step 5 until all the epochs are processed.
Preferably, the specific implementation of step 3 comprises the following sub-steps:
step 3.1: reading the coordinates of a grid point, selecting 1 reference station closest to the grid point as a main reference station, recording as a master station, and acquiring double error correction information of N auxiliary reference stations closest to the master station; the auxiliary reference station is marked as an auxiliary station; n is a preset value;
step 3.2: calculating double-difference error correction numbers of all visible satellites of the grid point;
this step further comprises the substeps of:
step 3.2.1: reading the double-difference error correction number of one visible satellite of the main station, and finding out the auxiliary station with the double-difference error correction number of the satellite;
step 3.2.2: obtaining double-difference error correction number of the visible satellite at the grid point by linear interpolation;
step 3.2.3: repeating the step 3.2.1 to the step 3.2.2 until double error correction numbers of all visible satellites of the master station at the grid point are obtained;
step 3.3: and (3) repeating the step 3.1 to the step 3.2 until double error correction numbers of the visible satellites of all grid points are obtained.
Preferably, the specific implementation of step 3.2.2 comprises the following sub-steps:
(1) Selecting M auxiliary stations nearest to the grid point, and carrying out linear interpolation with the main station to obtain the double-difference error correction number Cor of the visible satellite at the grid point 1 (ii) a M is a preset value;
(2) Judging whether triangles capable of surrounding the grid points exist in all triangles formed by the primary station and the secondary stations obtained in the step 3.2.1;
if the triangle exists, the minimum triangle meeting the conditions is further found, namely the three vertexes of the triangle are closest to the distance of the grid point, linear interpolation is carried out by using the main station and the 2 auxiliary stations forming the triangle, and the double difference error correction number Cor of the visible satellite at the grid point is obtained 2 Comparison of Cor 2 And Cor 1 If the following conditions are met:
|Cor 2 -Cor 1 |≤0.2m；
the interpolation result is valid, and Cor is determined 2 As the double error correction number of the visual satellite at the grid point; if the inequality is not satisfied, the interpolation result is unreliable, and the double-error of the satellite at the grid point is considered to be unavailableA difference correction number;
if no triangle exists, cor is directly connected 1 As the double error correction for that visible satellite at the grid point.
Preferably, the specific implementation process of step 4 is as follows: reading the double-difference error correction number of one grid point, comparing the double-difference error correction number with the double-difference error correction number of the subsequent grid point, and marking the subsequent grid point as an invalid grid point if the difference meets a certain specified threshold; until all grid points are processed and judged.
Preferably, in step 4, when the discrepancy of the grid point double-difference error correction numbers is compared, only the grid point double-difference error correction numbers close to the distance of the grid point double-difference error correction numbers can be compared;
the specific implementation comprises the following substeps:
(1) Comparing the grid points in each row by the line owner;
the specific implementation comprises the following substeps:
1) Reading a Grid point Grid of a line (i,j) Double error correction number information Cor of (i,j) ；
2) Reading the Grid of the next Grid point of the line (i,k) Double error correction number information Cor of (i,k) When k = j +1;
3) Judging whether the two grid point visible satellites are the same or not, and if not, executing step 4); if the difference is the same, the difference of the double-difference error correction numbers of each visible satellite is sequentially compared, the maximum value of the absolute value of the difference is taken as the difference delta Cor of the double-difference error correction numbers among grid points, and the formula is expressed as follows:
wherein, the superscript 1,2,., s represents the visible satellite sequence number; if Δ Cor>0.02m, then 4) is performed; if delta Cor is less than or equal to 0.02m, marking Grid points Grid (i,k) As invalid grid points, i.e. bDeleted (i,k) =1; continuing to read the next Grid point Grid (i,k) Double error correction number information Cor of (i,k) When k = k +1, the number of bits is zero,repeat 3);
4) Making j = k, and repeating the steps 2) -3) until the row is processed;
5) Reading the next row of grid point information, and repeating the steps until all rows are processed;
(2) Taking columns as main, comparing grid points in each column;
the specific implementation comprises the following substeps:
1) Reading Grid of a Grid point of a column (i,j) Double error correction number information Cor of (i,j) (ii) a If Grid (i,j) As invalid grid points, i.e. bDeleted (i,j) If not, continuing to read the double difference error correction number information of the next Grid point until Grid point (i,j) Is an effective grid point; if Grid (i,j) If the grid points are always invalid, executing step 5);
2) Read the next Grid point Grid of the column (k,j) Double error correction number information Cor of (k,j) When k = i +1; if Grid point Grid (k,j) As invalid grid points, i.e. bDeleted (k,j) 1) -2) are re-executed, when i = k +1; otherwise, execute 3);
3) Judging whether the two grid point visible satellites are the same or not, and if not, executing step 4); if the difference values are the same, the difference of the double-difference error correction numbers of each visible satellite is sequentially compared, the maximum value of the absolute value of the difference is taken as the difference delta Cor of the double-difference error correction numbers among the grid points, and the formula is expressed as follows:
wherein, the superscript 1,2.. And s represents the visible satellite serial number; if Δ Cor>0.02m, then execute 4); if delta Cor is less than or equal to 0.02m, marking Grid points Grid (k,j) As invalid grid points, i.e. bDeleted (k,j) =1; continuing to read the next Grid point Grid (k,j) Double error correction number information Cor of (k,j) Where k = k +1, if Grid (k,j) Repeating 3) if the lattice point is valid, otherwise, letting k = k +1, and executing 4);
4) Repeating steps 1) -3) with i = k until the column is processed;
5) And reading the next column of grid point information, and repeating the steps until all columns are processed.
Preferably, the specific implementation of step 5 comprises the following sub-steps:
step 5.1: reading effective grid point information, if the grid point has a user request, generating VRS step information of the grid point according to the double-difference error correction number of the grid point and broadcasting the VRS step information to the user; if the grid point has no user request, stopping the VRS step information generation of the grid point;
step 5.2: and 5.1, repeating the step until all the effective grid points are processed.
Preferably, in step 5.1, when an irregular grid point is obtained initially, the default of the user request number is 0, and then the user request number is reset according to the request message of the user to the grid point received by each epoch;
the specific implementation process is as follows: receiving a certain epoch message, if the number of user requests of the grid point is 0 and the grid point is requested by a user in the epoch, setting the number of the user requests of the grid point to be 3600, generating VRS information of the grid point and broadcasting the VRS information to the user; if the user request number of the grid point is 0 and the grid point is not requested by the user, the VRS information of the grid point is not generated; if the number of user requests for the grid point is greater than 0, generating VRS information of the grid point no matter whether the grid point is requested by the user by the epoch, and subtracting 1 from the number of user requests for the grid point.
Compared with the prior art, the invention has the following advantages and beneficial effects:
(1) The method has the advantages that the unequal-interval grid points are generated in a self-adaptive mode, factors such as the distribution condition of the reference station, atmospheric characteristics and the like are considered, the accuracy of VRS observation values of the grid points in the whole grid is guaranteed, the consistency of user service accuracy is guaranteed, and the calculated amount and the user service accuracy of the CORS system are considered.
(2) Grid points are generated in real time from epoch to epoch, and the effectiveness of the reference station and the dynamic change of atmospheric conditions are considered.
(3) And generating the VRS information of the grid points according to the user request, and not generating the VRS information for the grid points without the user request, thereby greatly reducing the calculation amount of the CORS system.
Drawings
FIG. 1 is a flow chart of an embodiment of the present invention.
Detailed Description
In order to more clearly illustrate the present invention and/or the technical solutions in the prior art, the following will describe embodiments of the present invention with reference to the accompanying drawings. It is obvious that the drawings in the following description are only some examples of the invention, and that for a person skilled in the art, other drawings and embodiments can be derived from them without inventive effort.
Referring to fig. 1, the adaptive grid VRS generation and service method provided by the present invention includes the following steps:
step 1: reading coordinate information of a whole-grid reference station, and respectively generating grid points covering the whole reference station grid along the east direction and the north direction at equal intervals to obtain coordinates of each grid point;
the method specifically comprises the following steps:
step 1.1: and reading the coordinate information of the whole network reference station.
Step 1.2: and according to the distance d, which is usually 5km, generating n rows and m columns of grid points covering the whole reference station network in the east direction and the north direction respectively, and obtaining the coordinates of each grid point.
Step 2: reading double-difference error correction information between the whole network reference stations of one epoch;
and step 3: calculating double-difference error correction numbers of the visible satellites of all grid points;
the method specifically comprises the following steps:
step 3.1: and reading the coordinates of a grid point, selecting 1 reference station closest to the grid point as a main reference station (main station), and acquiring double-error correction information of 10 auxiliary reference stations (auxiliary stations) closest to the main station.
Step 3.2: calculating double-difference error correction numbers of all visible satellites of the grid point;
the step 3.2 specifically comprises the following steps:
step 3.2.1: and reading the double-difference error correction number of one visible satellite of the main station, and finding out the auxiliary station with the double-difference error correction number of the satellite.
Step 3.2.2: and linear interpolation is carried out to obtain the double-difference error correction number of the visual satellite at the grid point.
In this embodiment, the interpolation strategy specifically adopted is as follows:
2-3 auxiliary stations nearest to the grid point are selected, linear interpolation is carried out together with the main station, and the double-difference error correction number Cor of the visible satellite at the grid point is obtained 1 ；
Judging whether triangles capable of surrounding the grid point exist in all triangles formed by the primary station and the secondary stations obtained in the step 3.2.1, if so, further finding the minimum triangle meeting the conditions, namely the triangle with the three vertexes closest to the grid point, and performing linear interpolation by using the primary station and the 2 secondary stations forming the triangle to obtain the double-difference error correction number Cor of the visible satellite at the grid point 2 Comparison of Cor 2 And Cor 1 If it satisfies
|Cor 2 -Cor 1 |≤0.2m
The interpolation result is valid, and Cor is determined 2 As the double error correction number of the visual satellite at the grid point; if the inequality is not satisfied, the interpolation result is unreliable, and the double-difference error correction number of the satellite at the grid point cannot be obtained;
if there is no such triangle, cor is directly connected 1 As the double error correction for that visible satellite at the grid point.
3.2.3 repeat 3.2.1-3.2.2 until the double error correction at the grid point is obtained for all visible satellites at the Master station.
3.3 repeat 3.1-3.2 until the double error correction of the visible satellites for all grid points is obtained.
And 4, step 4: judging the difference of double-difference error correction numbers of different grid points, marking invalid grid points, and obtaining grid points with irregular epoch;
the specific implementation process is as follows: reading the double-difference error correction number of one grid point, comparing the double-difference error correction number with the double-difference error correction number of the subsequent grid point, and marking the subsequent grid point as an invalid grid point if the difference meets a certain specified threshold; until all grid points are processed and judged.
More specifically, at the beginning of each epoch calculation, the lattice point is set to valid, i.e., bDeleted =0; because the double-difference error correction number of the grid points is obtained by interpolation of the reference stations nearby the grid points, the double-difference error correction number of the grid points of the whole reference station network is obtained by different linear interpolation planes, when the double-difference error correction numbers of the grid points are compared, only the double-difference error correction number of the grid points close to the distance of the double-difference error correction number of the grid points can be compared, and the method specifically comprises the following steps:
(1) Comparing the grid points in each row by the line owner;
further comprising:
1) Reading a Grid point Grid of a line (i,j) Double error correction number information Cor of (i,j) ；
2) Reading the Grid of the next Grid point of the line (i,k) Double error correction number information Cor of (i,k) When k = j +1;
3) Judging whether the two grid point visible satellites are the same or not, and if not, executing step 4); if the difference values are the same, the difference of the double-difference error correction numbers of each visible satellite is sequentially compared, the maximum value of the absolute value of the difference is taken as the difference delta Cor of the double-difference error correction numbers among the grid points, and the formula is expressed as follows:
the superscript 1,2. If Δ Cor>0.02m, then 4) is performed; if delta Cor is less than or equal to 0.02m, marking Grid points Grid (i,k) As invalid grid points, i.e. bDeleted (i,k) =1; continuing to read the next Grid point Grid (i,k) Double error correction number information Cor of (i,k) When k = k +1, repeat 3);
4) Let j = k, repeat steps 2) -3) until the line is processed;
5) And reading the next row of grid point information, and repeating the steps until all rows are processed.
(2) Taking columns as main, comparing grid points in each column;
further comprising:
1) Reading a Grid point Grid of a column (i,j) Double error correction number information Cor of (i,j) (ii) a If Grid (i,j) As invalid grid points, i.e. bDeleted (i,j) If not, continuing to read the double difference error correction number information of the next Grid point until Grid point (i,j) Is a valid grid point; if Grid (i,j) If the grid points are always invalid, executing step 5);
2) Read the next Grid point Grid of the column (k,j) Double error correction number information Cor of (k,j) When k = i +1; if Grid point Grid (k,j) As invalid grid points, i.e. bDeleted (k,j) 1) -2) are re-executed, when i = k +1; otherwise, execute 3);
3) Judging whether the two grid point visible satellites are the same or not, and if not, executing step 4); if the difference values are the same, the difference of the double-difference error correction numbers of each visible satellite is sequentially compared, the maximum value of the absolute value of the difference is taken as the difference delta Cor of the double-difference error correction numbers among the grid points, and the formula is expressed as follows:
the superscript 1,2. If Δ Cor>0.02m, then 4) is performed; if delta Cor is less than or equal to 0.02m, marking Grid points Grid (k,j) As invalid grid points, i.e. bDeleted (k,j) =1; continuing to read the next Grid point Grid (k,j) Double error correction number information Cor of (k,j) Where k = k +1, if Grid (k,j) Repeating 3) if the lattice point is valid, otherwise, letting k = k +1, and executing 4);
4) Repeating steps 1) -3) with i = k until the column is processed;
5) And reading the next column of grid point information, and repeating the steps until all columns are processed.
And 5: judging the number of grid point user requests, marking grid points in service, and providing the VRS service of the epoch grid point;
the method specifically comprises the following steps:
step 5.1: reading effective grid point information, if the grid point has a user request, generating VRS information of the grid point according to the double-difference error correction number of the grid point and broadcasting the VRS information to the user; and if the grid point has no user request, stopping the generation of the VRS information of the grid point.
In this embodiment, when an irregular grid point is initially obtained, the default of the user request number is 0, and then the user request number is reset according to the request message of the user to the grid point received by each epoch, which specifically includes the following steps:
receiving a certain epoch message, if the number of user requests of the grid point is 0 and the grid point is requested by a user in the epoch, setting the number of user requests nDataReq of the grid point as 3600, generating VRS information of the grid point and broadcasting the VRS information to the user; if the number nDataReq of the user requests for the grid point is 0 and the grid point is not requested by the user, not generating VRS information of the grid point; if the number of user requests ndaareq for the mesh point is greater than 0, generating VRS information for the mesh point regardless of whether the mesh point is requested by a user from the epoch, and letting the number of user requests ndaareq = ndaareq-1 for the mesh point.
Step 5.2: and 5.1, repeating the step until all the effective grid points are processed.
Step 6: and repeating the step 2 to the step 5 until all the epochs are processed.
Although the present invention has been described in detail with reference to specific embodiments thereof, it will be understood by those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (7)
1. A self-adaptive grid VRS generation and service method is characterized by comprising the following steps:
step 1: reading coordinate information of a whole-grid reference station, and respectively generating grid points covering the whole reference station grid along the east direction and the north direction at equal intervals to obtain coordinates of each grid point;
step 2: reading double-difference error correction number information between the whole network reference stations of one epoch;
and step 3: calculating double-difference error correction numbers of the visible satellites of all grid points;
and 4, step 4: judging the difference of double-difference error correction numbers of different grid points, marking invalid grid points, and obtaining grid points with irregular epoch;
and 5: judging the number of grid point user requests, marking grid points in service, and providing VRS step service of the epoch grid point;
step 6: and repeating the step 2 to the step 5 until all the epochs are processed.
2. The adaptive grid VRS generation and service method according to claim 1, characterized in that the step 3 implementation comprises the following sub-steps:
step 3.1: reading coordinates of a grid point, selecting 1 reference station nearest to the grid point as a main reference station, recording as a master station, and acquiring double-error correction information of N auxiliary reference stations nearest to the master station; the auxiliary reference station is marked as an auxiliary station; wherein N is a preset value;
step 3.2: calculating double-difference error correction numbers of all visible satellites of the grid point;
this step further comprises the substeps of:
step 3.2.1: reading the double-difference error correction number of one visible satellite of the main station, and finding out the auxiliary station with the double-difference error correction number of the satellite;
step 3.2.2: obtaining double-difference error correction numbers of the visual satellite at the grid point by linear interpolation;
step 3.2.3: repeating the step 3.2.1 to the step 3.2.2 until double error correction numbers of all visible satellites of the master station at the grid point are obtained;
step 3.3: and repeating the step 3.1 to the step 3.2 until double error correction numbers of the visible satellites of all grid points are obtained.
3. The adaptive grid VRS generation and service method of claim 2, characterized in that the specific implementation of step 3.2.2 comprises the following sub-steps:
(1) Selecting M auxiliary stations nearest to the grid point, and carrying out linear interpolation together with the main station to obtain double-difference error correction number Cor of the visible satellite at the grid point 1 (ii) a Wherein M is a preset value;
(2) Judging whether triangles capable of surrounding the grid points exist in all triangles formed by the primary station and the secondary stations obtained in the step 3.2.1;
if the triangle exists, the minimum triangle meeting the conditions is further found, namely the three vertexes of the triangle are closest to the distance of the grid point, linear interpolation is carried out by using the main station and the 2 auxiliary stations forming the triangle, and the double difference error correction number Cor of the visible satellite at the grid point is obtained 2 Comparison of Cor 2 And Cor 1 If the following conditions are met:
|Cor 2 -Cor 1 |≤0.2m；
the interpolation result is valid, cor 2 As the double error correction number of the visual satellite at the grid point; if the inequality is not satisfied, the interpolation result is unreliable, and the double-difference error correction number of the satellite at the grid point cannot be obtained;
if there is no such triangle, cor is directly connected 1 As the double error correction for that visible satellite at the grid point.
4. The adaptive grid VRS generation and service method of claim 1, wherein the step 4 is implemented by the following steps: reading the double-difference error correction number of one grid point, comparing the double-difference error correction number with the double-difference error correction number of the subsequent grid point, and marking the subsequent grid point as an invalid grid point if the difference meets a certain specified threshold; until all grid points are processed and judged.
5. The adaptive grid VRS generation and service method of claim 1 or 4, characterized in that: in step 4, when the double-difference error correction numbers of the grid points are compared, only the double-difference error correction numbers of the grid points close to the distance of the grid points can be compared; the specific implementation comprises the following substeps:
(1) Comparing the grid points in each row by the line owner;
the specific implementation comprises the following substeps:
1) Reading a Grid point Grid of a line (i,j) Double error correction number information Cor of (i,j) ；
2) Reading the Grid of the next Grid point of the line (i,k) Double error correction number information Cor of (i,k) When k = j +1;
3) Judging whether the two grid point visible satellites are the same or not, and if not, executing step 4); if the difference is the same, the difference of the double-difference error correction numbers of each visible satellite is sequentially compared, the maximum value of the absolute value of the difference is taken as the difference delta Cor of the double-difference error correction numbers among grid points, and the formula is expressed as follows:
wherein, the superscript 1,2.. And s represents the visible satellite serial number; if Δ Cor>0.02m, then 4) is performed; if delta Cor is less than or equal to 0.02m, marking Grid points Grid (i,k) As invalid grid points, i.e. bDeleted (i,k) =1; continuing to read the next Grid point Grid (i,k) Double error correction number information Cor of (i,k) When k = k +1, repeat 3);
4) Let j = k, repeat steps 2) -3) until the line is processed;
5) Reading the next row of grid point information, and repeating the steps until all rows are processed;
(2) Taking columns as main, comparing grid points in each column;
the specific implementation comprises the following substeps:
1) Reading a Grid point Grid of a column (i,j) Double error correction number information Cor of (i,j) (ii) a If Grid (i,j) As invalid grid points, i.e. bDeleted (i,j) If not, continuing to read the double difference error correction number information of the next Grid point until Grid point (i,j) Is a valid grid point; if Grid (i,j) If the grid points are always invalid, executing step 5);
2) Read the next Grid point Grid of the column (k,j) Double error correction number information Cor of (k,j) When k = i +1; if Grid point Grid (k,j) As invalid grid points, i.e. bDeleted (k,j) 1) -2) are re-executed, when i = k +1; otherwise, execute 3);
3) Judging whether the two grid point visible satellites are the same or not, and if not, executing step 4); if the difference values are the same, the difference of the double-difference error correction numbers of each visible satellite is sequentially compared, the maximum value of the absolute value of the difference is taken as the difference delta Cor of the double-difference error correction numbers among the grid points, and the formula is expressed as follows:
wherein, the superscript 1,2.. And s represents the visible satellite serial number; if Δ Cor>0.02m, then 4) is performed; if delta Cor is less than or equal to 0.02m, marking Grid points Grid (k,j) As invalid grid points, i.e. bDeleted (k,j) =1; continuing to read the next Grid point Grid (k,j) Double error correction number information Cor of (k,j) In this case, k = k +1, if Grid (k,j) Repeating 3) if the lattice point is valid, otherwise, letting k = k +1, and executing 4);
4) Repeating steps 1) -3) with i = k until the column is processed;
5) And reading the next column of grid point information, and repeating the steps until all columns are processed.
6. The adaptive grid VRS generation and service method according to claim 1, characterized in that the step 5 implementation comprises the following sub-steps:
step 5.1: reading effective grid point information, if the grid point has a user request, generating VRS step information of the grid point according to the double-difference error correction number of the grid point and broadcasting the VRS step information to the user; if the grid point has no user request, stopping the VRS step information generation of the grid point;
step 5.2: and 5.1, repeating the step until all the effective grid points are processed.
7. The adaptive grid VRS generation and service method of claim 1 or 6, characterized in that: in step 5.1, when the irregular grid point is obtained initially, the user request number is defaulted to 0, and then the user request number is reset according to the request message of the user to the grid point received by each epoch;
the specific implementation process is as follows: receiving a certain epoch message, if the number of user requests of the grid point is 0 and the grid point is requested by a user by the epoch, setting the number of the user requests of the grid point to 3600, generating VRS information of the grid point and broadcasting the VRS information to the user; if the user request number of the grid point is 0 and the grid point is not requested by the user, the VRS information of the grid point is not generated; if the number of user requests for the grid point is greater than 0, generating VRS information of the grid point no matter whether the grid point is requested by the user by the epoch, and subtracting 1 from the number of user requests for the grid point.
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