CN110927665B - Verification method and system for positioning accuracy of thousand-searching-cloud-track virtual reference station - Google Patents
Verification method and system for positioning accuracy of thousand-searching-cloud-track virtual reference station Download PDFInfo
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- 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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/0009—Transmission of position information to remote stations
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- G—PHYSICS
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- 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
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- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
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- 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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0278—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves involving statistical or probabilistic considerations
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Abstract
The invention relates to a verification method for the positioning accuracy of a thousand-searching-cloud-track virtual reference station, which comprises the following steps: selecting a virtual reference station positioning verification mode as relative positioning verification or absolute positioning verification according to the position of the virtual reference station and the requirement of verification precision; setting a verification point position and observation time according to the position of the virtual reference station, and acquiring the thousand searching virtual base station data of the verification point in the observation time; determining the coordinates of verification points according to the land network data or the IGS data according to the selected positioning verification mode; and comparing the calculated coordinates with the given coordinates of the thousand cloud searching virtual reference stations to obtain a positioning accuracy verification result of the thousand cloud searching virtual reference stations. The positioning of the thousand-searching-cloud-track virtual reference station can be verified in a large range and in multiple scenes without field measurement; the method has the advantages of no need of static measurement on the spot, controllable time, lower cost, time saving, labor saving and money saving, provides a precision basis for high-precision map acquisition and manufacture and unmanned positioning, and increases the safety factor.
Description
Technical Field
The invention relates to the field of electronic map data, in particular to a method and a system for verifying the positioning accuracy of a thousand-searching-cloud virtual reference station.
Background
In the process of high-precision map data acquisition, in order to improve the resolution precision of a POS (Position and Orientation System), pose information is generally resolved by introducing datum station data through post-resolution. There are two types of data sources for the reference station: the method is limited by the operating distance (20km) of the base stations and the number of the base stations, so that the efficiency is low and the cost is high; the second method is to cooperate with a thousand-searching-position company to perform the location solution without the base station by utilizing the thousand-searching-cloud service provided by the company. However, the reference station data of the cloud searching is not opened to the user, so that the user cannot verify the positioning accuracy of the cloud searching.
Disclosure of Invention
The invention provides a method and a system for verifying the positioning accuracy of a thousand-cloud-searching virtual reference station, aiming at the technical problems in the prior art, and solves the problem that a user cannot verify the positioning accuracy of the thousand-cloud-searching virtual reference station in the prior art.
The technical scheme for solving the technical problems is as follows: a method for verifying the positioning accuracy of a thousand-searching-cloud virtual reference station comprises the following steps:
step 1, selecting a virtual reference station positioning verification mode as relative positioning verification or absolute positioning verification according to the position of the virtual reference station and the requirement of verification precision;
step 2, setting a verification point position and observation time according to the position of the virtual reference station, and acquiring the thousand searching virtual base station data of the verification point in the observation time;
step 3, determining to calculate the coordinates of the verification point according to the land network data or the IGS data according to the selected positioning verification mode;
and 4, comparing the coordinates obtained by resolving with the given coordinates of the thousand cloud searching virtual reference stations to obtain a positioning accuracy verification result of the thousand cloud searching virtual reference stations.
A verification system for the positioning accuracy of a thousand-searching-cloud-track virtual reference station comprises a positioning verification mode selection module, a verification module and a verification module, wherein the positioning verification mode selection module is used for selecting the positioning verification mode of the virtual reference station to be relative positioning verification or absolute positioning verification according to the position of the virtual reference station and the requirement of the verification accuracy;
the data acquisition module is used for setting a verification point position and observation time according to the position of the virtual reference station and acquiring the searching virtual base station data of the verification point in the observation time;
the verification point coordinate calculating module is used for determining to calculate the coordinates of the verification points according to the land network data or the IGS data according to the selected positioning verification mode;
and the verification result output module is used for comparing the coordinates obtained by resolving with the given coordinates of the thousand-cloud-searching virtual reference station to obtain a positioning accuracy verification result of the thousand-cloud-searching virtual reference station.
The invention has the beneficial effects that: the coordinates of the virtual reference station are calculated according to the land network data or the IGS data, field measurement is not needed, and accuracy verification can be performed on the positioning of the thousand-searching-cloud virtual reference station in a large range and in multiple scenes; static measurement is not needed to be carried out on the spot, the time is controllable, and the verification can be completed in two months; the cost is lower, and labour saving and time saving saves money, reduces cost increase efficiency by a wide margin, for high accuracy map collection, preparation and for unmanned positioning provide the precision basis, increase factor of safety.
On the basis of the technical scheme, the invention can be further improved as follows.
Further, the step 2 further comprises: and converting the thousand-searching virtual base station data into ephemeris data in a rinex format by using data format conversion software.
Further, when the virtual reference station location verification mode is selected as the relative location verification in the step 1, the coordinates of the verification point are calculated according to the land network data in the step 3.
Further, the step 3 comprises:
the ephemeris data and the land network data converted from the thousand-searching virtual base station data are jointly solved for coordinates of a verification point, and a calculation formula can be as follows:
(X1，Y1，Z1) For the calculated thousand seek virtual station coordinates, (X)1'，Y1'，Z1') land network base station coordinates; (Δ X, Δ Y,Δ Z) is the coordinate correction; t is a real-time epoch; t is t0Is a reference time epoch.
Further, when the virtual reference station location verification mode is selected as absolute location verification in the step 1, the coordinates of the verification point are calculated according to the IGS data in the step 3. Further, the step 3 comprises: inputting the ephemeris data converted from the thousand seeking virtual base station data into a precision ephemeris for calculation in the future to obtain a calculation coordinate of the verification point, wherein the calculation formula is as follows:
wherein, (x, y, z) is the verification point coordinate obtained by absolute positioning verification calculation, (x)1，y1，z1)、(x2，y2，z2)、(x3，y3，z3) And (x)4，y4，z4) The observation data of four satellite tracking stations, satellite orbit information calculated by post-processing and used for satellite precision positioning, c is light velocity constant, d1、d2、d3And d4Baseline parameters, t, for the quartic ephemeris data, respectively1、t2、t3And t4Time, t, of four precise ephemeris data times, respectively0As reference time, Δ t1、Δt2、Δt3And Δ t4The time difference between the time of the four-time precise ephemeris data and the reference time.
Further, the step 4 comprises:
calculating the residual error between the coordinate obtained by calculation and the given coordinate of the thousand searching cloud virtual reference station, carrying out probability statistics on the residual error, and outputting an accuracy verification report.
The beneficial effect of adopting the further scheme is that: the virtual reference station positioning verification mode can be selected according to the requirement of precision and whether a land network exists near the position of the virtual reference station; the precise coordinates of the control points are obtained through the land network connection measurement and the precise single-point positioning technology, and compared with the control coordinates of the thousand cloud searching, massive precise information is obtained, so that the nationwide positioning precision of the thousand cloud searching virtual reference station is verified.
Drawings
Fig. 1 is a flowchart of a method for verifying the positioning accuracy of a kilo-seeking cloud virtual reference station according to an embodiment of the present invention;
fig. 2 is a flowchart of two verification methods for the positioning accuracy of the cloud-tracking virtual reference station according to the embodiment of the present invention;
fig. 3 is a block diagram of a verification system for location accuracy of a thousand-homing virtual reference station according to an embodiment of the present invention;
fig. 4 is a schematic physical structure diagram of an electronic device according to an embodiment of the present invention.
In the drawings, the components represented by the respective reference numerals are listed below:
101. the system comprises a positioning verification mode selection module 102, a data acquisition module 103, a verification point coordinate calculation module 104, a verification result output module 201, a processor 202, a communication interface 203, a memory 204 and a communication bus.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
The land network is an observation network which is mainly observed by a Satellite Navigation positioning System (GNSS), assisted by spatial technologies such as Very Long Baseline Interferometry (VLBI) Satellite Laser Ranging (SLR), combined with various technical means such as precision gravity and leveling measurement and covers the continental China, and comprises 260 continuous observation sites and 2000 irregular observation sites, and is high in precision, high in space-time resolution and capable of autonomously developing and developing a data processing System. The IGS (International GNSS service) provides high-precision satellite ephemeris and clock error data, and the IGS ephemeris product generates products such as satellite orbit parameters, earth rotation parameters, a survey station position solution and the like after the data of the global data center are calculated, analyzed and processed.
Fig. 1 is a flowchart of a method for verifying the positioning accuracy of a thousand-cloud-seeking virtual reference station according to an embodiment of the present invention, as shown in fig. 1, the method includes:
step 1, selecting a virtual reference station positioning verification mode as relative positioning verification or absolute positioning verification according to the position of the virtual reference station and the requirement of verification precision.
And 2, setting a verification point position and observation time according to the position of the virtual reference station, and acquiring the thousand searching virtual base station data of the verification point in the observation time.
And 3, determining the coordinates of the verification points according to the land network data or the IGS data according to the selected positioning verification mode.
And 4, comparing the calculated coordinates with the given coordinates of the thousand-cloud-searching virtual reference station to obtain a positioning accuracy verification result of the thousand-cloud-searching virtual reference station.
According to the verification method for the positioning accuracy of the thousand-cloud-searching virtual reference station, the coordinates of the virtual reference station are calculated according to the land network data or the IGS data, field measurement is not needed, and the accuracy verification can be performed on the positioning of the thousand-cloud-searching virtual reference station in a large range and in multiple scenes; static measurement is not needed to be carried out on the spot, the time is controllable, and the verification can be completed in two months; the cost is lower, and labour saving and time saving saves money, reduces cost increase efficiency by a wide margin, for high accuracy map collection, preparation and for unmanned positioning provide the precision basis, increase factor of safety.
Specifically, when the virtual reference station positioning verification mode is selected to be relative positioning verification or absolute positioning verification according to the position of the virtual reference station and the requirement of verification accuracy, the relative positioning verification mode depends on a nearby land network reference station, verification points of the virtual reference station can only be arranged on the periphery of a land network, the range of the selected verification points is small, verification cannot be performed in a land network-free area, combined solution is performed by using the kilosearching virtual base station data and the land network data when the coordinates of the virtual reference station are solved, the kilosearching virtual reference station coordinates can be obtained in real time, and millimeter-scale accuracy is achieved. The absolute positioning verification mode does not depend on a reference station, the position can be selected at will, the range of selected verification points is large, partial regions without a land network can also be verified, when the coordinate of the virtual reference station is solved, the thousand searching virtual base station data and the post-event precise ephemeris are used for solving, the coordinate cannot be obtained in real time, and centimeter-level precision is achieved. Therefore, the virtual reference station positioning verification mode can be selected according to the requirement of precision and whether a land network exists near the position of the virtual reference station. Fig. 2 is a flowchart of two verification methods for the positioning accuracy of the cloud-tracking virtual reference station according to the present invention.
Example 1
Embodiment 1 of the present invention is a first embodiment of a method for verifying location accuracy of a thousand-cloud-seeking virtual reference station according to the present invention, where a virtual reference station location verification manner in this embodiment is relative location verification, and specifically, the embodiment includes:
step 1, selecting a virtual reference station positioning verification mode as relative positioning verification according to needs.
And 2, setting a verification point position and observation time according to the position of the virtual reference station, and acquiring the thousand searching virtual base station data of the verification point in the observation time.
In the embodiment of the invention, the verification point position can be set on a national highway network, one thousand searching virtual reference station can cover the range of about 60km, 16 kilometers of unidirectional high speed is required nationwide, about 2500 verification points are required, and about 500 points around 260 land state networks nationwide can be taken for relative positioning.
And (3) acquiring the thousand-searching virtual base station data of the verification point by using NTRIP Client (Network Transport of RTCM data over IP Client) software when the observation time is more than 40 min.
Further, step 2 further comprises: and converting the thousand-searching virtual base station data into ephemeris data in a rinex format by using data format conversion software.
The conversion of the data format can be specifically carried out by using Rtkconv software, wherein Rtkconv is a very good RINEX converter, the software is specially designed for data in rtklib, and a user can convert the RTCM/BINEX format through the software so as to obtain a desired RINEX format data file. The method comprises the steps of converting original observation data in an ntrip (network Transport of RTCM via Internet Protocol) Format into ephemeris data in a rinex (Receiver Independent Exchange Format) general Format.
And (3) starting to receive data according to the observation time, judging whether the observation data meet the setting requirement, if so, executing the step 3, and if not, resetting the observation position receiving data.
And 3, jointly resolving the coordinates of the verification point by ephemeris data converted from the thousand searching virtual base station data and the land network data. Specifically, the calculation formula may be:
(X1，Y1，Z1) For the calculated thousand seek virtual station coordinates, (X)1'，Y1'，Z1') land network base station coordinates; (Δ X, Δ Y, Δ Z) is a coordinate correction amount; t is a real-time epoch; t is t0Is a reference time epoch.
And 4, comparing the calculated coordinates with the given coordinates of the thousand-cloud-searching virtual reference station to obtain a positioning accuracy verification result of the thousand-cloud-searching virtual reference station.
The method specifically comprises the following steps: and calculating the residual error between the coordinate obtained by calculation and the given coordinate of the thousand searching cloud virtual reference station, carrying out probability statistics on the residual error, and outputting an accuracy verification report.
In the embodiment of the verification method for the positioning accuracy of the thousand-cloud-searching virtual reference station, the precise coordinates of the control points are obtained through the land network connection measurement and the precise single-point positioning technology, and compared with the control coordinates of the thousand-cloud-searching, massive accuracy information is obtained, so that the nationwide positioning accuracy of the thousand-cloud-searching virtual reference station is verified.
Example 2
Embodiment 2 of the present invention is a second embodiment of the verification method for location accuracy of a thousand-cloud-seeking virtual reference station provided by the present invention, where a virtual reference station location verification manner in this embodiment is absolute location verification, and specifically, this embodiment includes:
step 1, selecting a virtual reference station positioning verification mode as absolute positioning verification according to needs.
And 2, setting a verification point position and observation time according to the position of the virtual reference station, and acquiring the thousand searching virtual base station data of the verification point in the observation time.
In the embodiment of the invention, the verification point position can be set on the national highway network, one thousand searching virtual reference station can cover the range of about 60km, 16 kilometers of unidirectional high speed is required nationwide, about 2500 verification points are required, and about 2000 points on the national highway network can be selected by absolute positioning.
And acquiring the data of the thousand-searching virtual base stations of the verification point by using NTRIPClient (network Transport of RTCM data over IP client) software when the observation time reaches more than 2 h.
Further, step 2 further comprises: and converting the thousand-searching virtual base station data into ephemeris data in a rinex format by using data format conversion software.
And (3) starting to receive data according to the observation time, judging whether the observation data meet the setting requirement, if so, executing the step 3, and if not, resetting the observation position receiving data.
And 3, inputting ephemeris data converted from thousand seeking virtual base station data into a precision ephemeris for resolving, and obtaining resolving coordinates of the verification point. Specifically, the calculation formula may be:
wherein, (x, y, z) is the verification point coordinate obtained by absolute positioning verification calculation, (x)1，y1，z1)、(x2，y2，z2)、(x3，y3，z3) And (x)4，y4，z4) The observation data of four satellite tracking stations, satellite orbit information calculated by post-processing and used for satellite precision positioning, c is light velocity constant, d1、d2、d3And d4Are respectively four essencesBaseline parameter, t, of secret ephemeris data1、t2、t3And t4Time, t, of four precise ephemeris data times, respectively0As reference time, Δ t1、Δt2、Δt3And Δ t4The time difference between the time of the four-time precise ephemeris data and the reference time.
And 4, comparing the calculated coordinates with the given coordinates of the thousand-cloud-searching virtual reference station to obtain a positioning accuracy verification result of the thousand-cloud-searching virtual reference station.
The method specifically comprises the following steps: and calculating the residual error between the coordinate obtained by calculation and the given coordinate of the thousand searching cloud virtual reference station, carrying out probability statistics on the residual error, and outputting an accuracy verification report.
Example 3
Embodiment 3 provided in the present invention is an embodiment of a verification system for location accuracy of a thousand-hunt-cloud virtual reference station, as shown in fig. 3, the system includes: the system comprises a positioning verification mode selection module 101, a data acquisition module 102, a verification point coordinate calculation module 103 and a verification result output module 104.
And the positioning verification mode selection module 101 is configured to select a virtual reference station positioning verification mode as relative positioning verification or absolute positioning verification according to the position of the virtual reference station and the requirement of verification accuracy.
The data obtaining module 102 is configured to set a verification point position and observation time according to the position of the virtual reference station, and obtain the thousand searching virtual base station data of the verification point within the observation time.
And the verification point coordinate calculating module 103 is used for determining to calculate the coordinates of the verification points according to the land network data or the IGS data according to the selected positioning verification mode.
And the verification result output module 104 is used for comparing the calculated coordinates with the given coordinates of the thousand-cloud-searching virtual reference station to obtain a positioning accuracy verification result of the thousand-cloud-searching virtual reference station.
It should be noted that, the system provided in the embodiment of the present invention specifically executes the method in each of the above embodiments, and details of the method in each of the above embodiments are described in detail, which are not described again in the embodiment of the present invention.
Fig. 4 is a schematic entity structure diagram of an electronic device according to an embodiment of the present invention, and as shown in fig. 4, the electronic device may include: the system comprises a processor 201, a communication interface 202, a memory 203 and a communication bus 204, wherein the processor 201, the communication interface 202 and the memory 203 are communicated with each other through the communication bus 204. The processor 201 may invoke a computer program stored on the memory 203 and executable on the processor 201 to perform the verification method for the location accuracy of the kilo-clouded virtual reference station provided by the above embodiments, for example, including: step 1, selecting a virtual reference station positioning verification mode as relative positioning verification or absolute positioning verification according to the position of the virtual reference station and the requirement of verification precision; step 2, setting a verification point position and observation time according to the position of the virtual reference station, and acquiring the thousand searching virtual base station data of the verification point in the observation time; step 3, determining the coordinates of verification points according to the land network data or the IGS data according to the selected positioning verification mode; and 4, comparing the calculated coordinates with the given coordinates of the thousand-cloud-searching virtual reference station to obtain a positioning accuracy verification result of the thousand-cloud-searching virtual reference station.
An embodiment of the present invention further provides a non-transitory computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, is implemented to perform the method for verifying the positioning accuracy of the thousand-cloud-tracking virtual reference station, which is provided in the foregoing embodiments, for example, the method includes: step 1, selecting a virtual reference station positioning verification mode as relative positioning verification or absolute positioning verification according to the position of the virtual reference station and the requirement of verification precision; step 2, setting a verification point position and observation time according to the position of the virtual reference station, and acquiring the thousand searching virtual base station data of the verification point in the observation time; step 3, determining the coordinates of verification points according to the land network data or the IGS data according to the selected positioning verification mode; and 4, comparing the calculated coordinates with the given coordinates of the thousand-cloud-searching virtual reference station to obtain a positioning accuracy verification result of the thousand-cloud-searching virtual reference 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. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (9)
1. A verification method for the positioning accuracy of a thousand-searching-cloud virtual reference station is characterized by comprising the following steps:
step 1, selecting a virtual reference station positioning verification mode as relative positioning verification or absolute positioning verification according to the position of the virtual reference station and the requirement of verification precision;
step 2, setting a verification point position and observation time according to the position of the virtual reference station, and acquiring the thousand searching virtual base station data of the verification point in the observation time;
step 3, determining to calculate the coordinates of the verification point according to the land network data or the IGS data according to the selected positioning verification mode;
and 4, comparing the coordinates obtained by resolving with the given coordinates of the thousand cloud searching virtual reference stations to obtain a positioning accuracy verification result of the thousand cloud searching virtual reference stations.
2. The method of claim 1, wherein step 2 further comprises: and converting the thousand-searching virtual base station data into ephemeris data in a rinex format by using data format conversion software.
3. The method according to claim 2, wherein when the virtual reference station location verification mode selected in step 1 is relative location verification, the coordinates of verification points are solved according to the land network data in step 3.
4. The method of claim 3, wherein step 3 comprises:
the ephemeris data and the land network data which are converted from the thousand seeking virtual base station data are combined to solve the coordinates of the verification point, and the calculation formula is as follows:
(X1，Y1，Z1) For the calculated thousand seek virtual station coordinates, (X)1'，Y1'，Z1') land network base station coordinates; (Δ X, Δ Y, Δ Z) is a coordinate correction amount; t is a real-time epoch; t is t0Is a reference time epoch.
5. The method according to claim 2, wherein when the virtual reference station positioning verification mode selected in step 1 is absolute positioning verification, the coordinates of the verification point are calculated in step 3 according to IGS data.
6. The method of claim 1, wherein the step 4 comprises:
calculating the residual error between the coordinate obtained by calculation and the given coordinate of the thousand searching cloud virtual reference station, carrying out probability statistics on the residual error, and outputting an accuracy verification report.
7. A verification system for the positioning accuracy of a thousand-searching-cloud virtual reference station is characterized by comprising:
the positioning verification mode selection module is used for selecting the virtual reference station positioning verification mode to be relative positioning verification or absolute positioning verification according to the position of the virtual reference station and the requirement of verification precision;
the data acquisition module is used for setting a verification point position and observation time according to the position of the virtual reference station and acquiring the searching virtual base station data of the verification point in the observation time;
the verification point coordinate calculating module is used for determining to calculate the coordinates of the verification points according to the land network data or the IGS data according to the selected positioning verification mode;
and the verification result output module is used for comparing the coordinates obtained by resolving with the given coordinates of the thousand-cloud-searching virtual reference station to obtain a positioning accuracy verification result of the thousand-cloud-searching virtual reference station.
8. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program performs the steps of the method for verifying the accuracy of a thousand-cloud-seeking virtual reference station position as claimed in any one of claims 1 to 6.
9. A non-transitory computer readable storage medium having stored thereon a computer program, wherein the computer program when executed by a processor implements the steps of the method for verifying the positioning accuracy of a kilo-tracked virtual reference station according to any one of claims 1 to 6.
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