CN111045065A - Single epoch positioning method and system based on multi-reference station data - Google Patents
Single epoch positioning method and system based on multi-reference station data Download PDFInfo
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- CN111045065A CN111045065A CN201910936930.0A CN201910936930A CN111045065A CN 111045065 A CN111045065 A CN 111045065A CN 201910936930 A CN201910936930 A CN 201910936930A CN 111045065 A CN111045065 A CN 111045065A
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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
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
- G01S19/44—Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
Abstract
The invention relates to the technical field of high-precision satellite positioning, and discloses a single epoch positioning method based on multi-reference station data, which comprises the following steps: establishing an atmospheric error model in the baseline network by using the resolving data of the multiple baselines, and correcting atmospheric parameters; requesting VRS point data generated by the first grid; requesting VRS point data generated by a second grid, the second grid being adjacent to the first grid; and combining the VRS point data generated by the first grid and the VRS point data generated by the second grid, and performing fixed calculation in real time to obtain the ambiguity of the observed value. The number of solved equations is increased, the single epoch fixed ambiguity is accurately and quickly achieved, and the quick and accurate positioning of the mobile user can be achieved under the dynamic condition.
Description
Technical Field
The invention relates to the technical field of high-precision satellite positioning, and discloses a single epoch positioning method and system based on multi-reference station data.
Background
In satellite positioning, high-precision positioning of users is currently usually achieved using phase observations of a single reference station and user rover, where ambiguity in fixed carrier phase observations is the most critical technique. Due to the influence of other errors, the speed of positioning realized by data of a single reference station is low, the fixation within 1-2 seconds is difficult to realize, and the existing precise single-point positioning technology usually needs convergence time of more than thirty minutes to realize the positioning. Most of this time is spent on a fixed solution of its ambiguity. In practical applications, most of the positioning is realized based on a Virtual Reference Station (VRS) technology, and a service provider providing the VRS is based on a positioning service of a single virtual base station, that is, RTK positioning is realized through observation data of one virtual station. The existing VRS technology focuses on how to improve the fixed precision of a base line network so as to improve the positioning precision of a single VRS base station. And the dynamic environment is complex, and the loss of lock and cycle slip of the satellite often occur, so that the ambiguity is difficult to fix, and the accurate positioning is difficult.
Therefore, we need to research a new method and system for single epoch positioning.
Disclosure of Invention
In view of the problems faced by the background art, the present invention is directed to a method and system for fast single epoch positioning.
In order to achieve the purpose, the invention adopts the following technical scheme: a single epoch positioning method based on multi-reference station data is characterized in that a multi-baseline resolving data is utilized to establish an atmospheric error model in a baseline network, and atmospheric parameters are corrected; requesting VRS point data generated by the first grid; requesting VRS point data generated by a second grid, the second grid being adjacent to the first grid; and combining the VRS point data generated by the first grid and the VRS point data generated by the second grid, and performing fixed calculation in real time to obtain the ambiguity of the observed value.
Preferably, the observation value ambiguity is obtained by performing fixed resolving in real time according to the VRS point data generated by the first grid, and if the observation value ambiguity cannot be obtained, the VRS point data generated by the second grid is requested.
Preferably, according to VRS point data generated by the first grid, fixed resolving is carried out in real time to solve the ambiguity of the observation value, and specifically, a user receiver sends own position information to a CORS network; and generating VRS point data of the first grid according to the position information requested by the user receiver and broadcasting the VRS point data to the user, wherein the VRS point data generated by the first grid comprises the position information of the VRS point, the observation message information, the error correction information and part of private protocol information.
Preferably, the validity of the ambiguity of the observed value is checked by using a ratio test method and a success rate method.
Preferably, if combining the VRS point data generated by the first grid and the VRS point data generated by the second grid, performing fixed solution in real time, and when the ambiguity cannot be fixed, requesting the VRS point data in the next grid, where the next grid is adjacent to the second grid and the first grid, the second grid and the next grid are distributed in a clockwise manner, combining the VRS point data of the next grid, the VRS point data generated by the first grid and the VRS point data generated by the second grid, performing ambiguity fixed solution jointly, and solving the ambiguity of the observation value.
Preferably, the ambiguity fixing solution of the next epoch is entered until the number of the added VRS points exceeds a threshold value.
Preferably, a single epoch positioning method based on multi-reference station data includes: establishing a regional atmospheric error model by using a CORS network, and correcting atmospheric parameters; requesting data of a first reference station, performing fixed solution, and solving the ambiguity of an observation value, wherein the first reference station is a reference station with the minimum distance from a user mobile station; requesting data of a second reference station, the second reference station being the next smallest distance from the user rover; and combining the data of the first reference station and the data of the second reference station to perform fixed calculation to solve the ambiguity of the observed value.
Preferably, the ratio method and the success rate method are used for checking the effectiveness of the ambiguity of the observed value, if the ambiguity of the observed value cannot be obtained, the data of the next reference station is requested, the next reference station is the reference station with the next minimum distance from the rover station, and the data of the next reference station, the data of the first reference station and the data of the second reference station are combined to carry out fixed resolving until the ambiguity of the observed value is successfully fixed.
Preferably, a computer-readable storage medium, on which a computer program is stored, is characterized in that the computer program realizes the steps of any of the above methods when executed by a processor.
Preferably, a single epoch positioning system based on multi-reference station data comprises: the parameter correction module is used for establishing an atmospheric error model in the baseline network by utilizing the resolving data of the multiple baselines and correcting atmospheric parameters; a first data request module, configured to request VRS point data generated by the first mesh; a second data request module, configured to request VRS point data generated by a second mesh network, where the second mesh network is adjacent to the first mesh network; and the resolving module is used for combining the VRS point data generated by the first grid and the VRS point data generated by the second grid, performing fixed resolving in real time and solving the ambiguity of the observed value.
Compared with the prior art, the invention provides a single epoch positioning method based on multi-reference station data, which comprises the following steps: establishing an atmospheric error model in the baseline network by using the resolving data of the multiple baselines, and correcting atmospheric parameters; requesting VRS point data generated by the first grid; requesting VRS point data generated by a second grid, the second grid being adjacent to the first grid; and combining the VRS point data generated by the first grid and the VRS point data generated by the second grid, and performing fixed calculation in real time to obtain the ambiguity of the observed value. Or the single-epoch positioning method based on the multi-reference station data comprises the following steps: establishing a regional atmospheric error model by using a CORS network, and correcting atmospheric parameters; requesting data of a first reference station, performing fixed solution, and solving the ambiguity of an observation value, wherein the first reference station is a reference station with the minimum distance from a user mobile station; requesting data of a second reference station, the second reference station being the next smallest distance from the user rover; and combining the data of the first reference station and the data of the second reference station to perform fixed calculation to solve the ambiguity of the observed value. In both methods, reference station observation data participating in resolving are orderly added under a single epoch, the number of equations for resolving is increased, the single epoch ambiguity can be effectively and quickly fixed, and the ambiguity parameters can be quickly fixed without the aid of additional data of other epochs. Thereby the positioning calculation result reaches centimeter level or even millimeter level. When the user of the rover station cannot obtain a fixed solution by using the data of one reference station, the data of other reference stations nearby the rover station are also added into a resolving equation under the current single epoch, and single epoch positioning based on the data of multiple reference stations is achieved. The reference stations participating in the solution may be actual reference stations or virtual reference station points (VRS points).
Drawings
FIG. 1 is a schematic flow chart of a single epoch positioning method based on multi-reference station data according to the present invention;
FIG. 2 is a block diagram of a single epoch positioning system based on multi-reference station data in accordance with the present invention;
FIG. 3 is a flow chart illustrating another method for single epoch location based on multi-reference station data according to the present invention;
FIG. 4 is a mesh model diagram of a VRS in accordance with an embodiment of the present invention.
With the foregoing drawings in mind, certain embodiments of the disclosure have been shown and described in more detail below. These drawings and written description are not intended to limit the scope of the disclosed concepts in any way, but rather to illustrate the concepts of the disclosure to those skilled in the art by reference to specific embodiments.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, some of which are illustrated in the accompanying drawings and described below, wherein like reference numerals refer to like elements throughout. All other embodiments, which can be obtained by a person skilled in the art without any inventive step, based on the embodiments and the graphics of the invention, are within the scope of protection of the invention.
In satellite positioning, a positioning technology based on a carrier phase can provide a centimeter-level positioning effect, wherein ambiguity of a fixed carrier phase is the most critical technology, and a user needs to try to solve the ambiguity, namely a whole-week unknown number, so that the distance from a satellite to a receiver can be accurately obtained, and therefore accurate position information of the user can be obtained.
Fig. 1 provides a single epoch positioning method based on multi-reference station data according to the present invention, which includes: s1, establishing an atmospheric error model in the baseline network by using the resolving data of the multiple baselines, and correcting atmospheric parameters; s2, requesting VRS point data generated by the first grid; s3, requesting VRS point data generated by a second grid, the second grid being adjacent to the first grid; s4, combining the VRS point data generated by the first grid and the VRS point data generated by the second grid, and carrying out fixed resolving in real time to solve the ambiguity of the observed value;
fig. 2 provides a single-epoch positioning system based on multi-reference station data according to the present invention, which includes: s11, a parameter correction module is used for establishing an atmospheric error model in the baseline network by using the resolving data of the multiple baselines and correcting atmospheric parameters; s22, a first data request module, configured to request the VRS point data generated by the first mesh; s33, a second data request module, configured to request VRS point data generated by a second mesh, where the second mesh is adjacent to the first mesh; and S44, a resolving module is used for combining the VRS point data generated by the first grid and the VRS point data generated by the second grid, and performing fixed resolving in real time to solve the ambiguity of the observed value.
As shown in fig. 3, another single epoch positioning method based on multi-reference station data provided by the present invention includes: s10, establishing a regional atmospheric error model by using a CORS network, and correcting atmospheric parameters; s20, requesting data of a first reference station, performing fixed solution, and solving the ambiguity of the observation value, wherein the first reference station is the reference station with the minimum distance from the user rover station; s30, requesting data of a second reference station, wherein the second reference station is the reference station with the next minimum distance from the user rover; and S40, combining the data of the first reference station and the data of the second reference station, performing fixed solution, and solving the ambiguity of the observed value.
The relative positioning method determines the relative position (coordinate difference) between several receivers that synchronously track the same satellite signal. The relative position between two of the receivers can be represented by a baseline vector, which is also referred to as baseline vector positioning. When synchronous observation is used for relative positioning, many errors suffered by two stations are the same or substantially the same (such as satellite clock error, satellite ephemeris error, ionosphere error, troposphere error and the like), and in practical application, an RTK (real time kinematic) technology is generally adopted to realize rapid high-precision positioning. The rtk (real Time kinematic) technique is a technique for performing real-Time dynamic relative positioning using carrier phase observations. In making RTK measurements, a receiver located at a reference station (a known station with good observation conditions) broadcasts in real time, via a data communication link, information such as carrier-phase observations and known station coordinates to a floating user operating nearby. And the mobile user performs real-time relative positioning by using RTK data processing software according to the reference station and the carrier phase observation value acquired by the mobile user, and further obtains the three-dimensional coordinate of the mobile user according to the coordinate of the reference station.
When the distance between the base stations is long, a network RTK technology is adopted, firstly, observed values of a plurality of (generally 3) base stations around the mobile station and known station coordinates are utilized to solve a residual error item between the base stations, then, the mobile user can estimate a residual error item between the mobile user and the base station according to the rough position of the mobile user, and further, the three-dimensional coordinate of the mobile user is obtained.
Referring to fig. 4, a network RTK system of the present invention includes a reference station network, a data processing center and a data broadcasting center, a data communication link and a mobile subscriber. In fig. 4, the triangles represent the actual reference station, the cross shapes represent the actual positions of the ambulatory user, and the numbers 1-4 represent the first grid, the second grid, the third grid, and the fourth grid, respectively. The actual number of reference stations in this embodiment is 7. Each reference station is provided with a full-wavelength dual-frequency receiver, data transmission equipment, a meteorological instrument and the like. The precise coordinates of each reference station are known coordinates and each reference station has a good observation environment. The data processing center is mainly responsible for preprocessing and quality analysis of observation data from each reference station, unified solution, real-time estimation of respective systematic residual errors in the network, establishment of a corresponding error model, correction of atmospheric parameters, and transmission of the information to mobile users through the data broadcasting center.
Network RTK data communication links are mainly of two types: the first type of data communication link is data communication between fixed stations such as a reference station, a data processing center, and a data distribution center, and the communication of the first type of data communication link may be through an optical fiber, an optical cable, data communication, wireless communication, and the like. The second type of data communication link is mobile communication between the data distribution center and the streaming user.
The mobile subscriber is provided with a receiver for receiving signals from a satellite in real time, a data communication device and data processing software.
When a mobile user in a first grid needs to be positioned, firstly, a single-reference-station positioning mode is adopted, specifically, a mobile station receiver sends own position information to a service network; the service provider generates VRS point data of the first grid according to the position information requested by the user and broadcasts the VRS point data to the user, wherein the VRS point data generated by the first grid comprises the position information of the VRS point, the observation message information, the error correction information and part of private protocol information. Namely, the ambiguity of the observation value of the mobile user is determined by using the observation data of a reference station, wherein the reference station can be a physical reference station provided by a service provider or a virtual reference station provided by a virtual reference network. The observation data of the virtual reference station and the like are generated by the observation data of the physical reference station nearby and the known coordinates thereof according to a certain data generation equation, so that certain correlation exists between the observation data of the virtual reference station. When the observation value types of the user receiver comprise dual-frequency or tri-frequency observation values, observation value combinations with different characteristics can be established by utilizing the characteristics of the multi-frequency observation values, such as a non-geometric non-ionosphere combination observation value, a non-geometric combination observation value, a non-ionosphere combination observation value, an M-W combination observation value and the like. When the distance between two observation stations is relatively close, because the received errors are relatively similar, the influence of relevant errors of atmosphere, hardware and the like can be eliminated by establishing double differences on the observation values of the same type, and at the time t, the ambiguity is solved by using double difference observation equations of a plurality of groups of satellites by using the receiver m and the receiver n (wherein n is a reference station). And then checking whether the ambiguity is successfully fixed by using a ratio method and a success rate method. For example, at time t, the double-difference observation equation for receiver m, n (where n is the reference station), satellite i, j can be expressed as follows:
in the above formula
The phi-fraction table represents pseudorange and carrier-phase observations in meters,
representing a double difference operator, rho representing a geodetic distance, T representing a tropospheric delay error related to time, I representing an ionospheric delay error related to time, N representing a phase observation station ambiguity, and epsilon representing a residual term.
The equation (1.1) only gives the double-difference observation equation for the receiver m, n corresponding to the satellite i, j. Replacing the number j in the formula (1.1) with other characters can give a double difference equation set corresponding to a plurality of groups of satellites at the time t:
In a double-difference observation equation, the coordinate parameter correction numbers delta x, delta y and delta z and the ambiguity parameter Ni m can be tried to be solved according to a given solving method.
In the embodiment, the ratio method and the success rate method are used for testing the validity of the ambiguity of the observed value. When the fixed ambiguity of the single base station is detected to be invalid, namely the ambiguity cannot be fixed, for example, when slight occlusion exists, the ambiguity of the single base station of the single epoch is difficult to be fixed. We solve the equations using the observations from the two reference stations to find the ambiguity and the position coordinates of the user. When two reference stations are used to obtain the ambiguity and the position coordinates of the user, two situations are distinguished: one is to use VRS points to realize ambiguity fixing and position coordinate solution of users, and the other is to use actual reference stations to realize ambiguity fixing and position coordinate solution of users.
As shown in fig. 4. The virtual generation of the VRS adopts a grid model. The location that the user takes by default is generated for the nearest grid. And when the single epoch ambiguity fixing cannot be completed by using the VRS point data generated by the latest grid, namely the first grid, selecting the latest grid, and realizing the joint calculation of the data of the plurality of virtual reference stations by adopting the VRS point data generated by different baselines. Because different virtual VRS points in the same grid have linear relation, base stations of different grids nearby should be selected to generate virtual VRS point data. For example, the nearest mesh, selects a second mesh that is adjacent to the first mesh. Firstly, establishing an atmospheric error model in a baseline network by using the calculation results of the observation data of the 7 reference stations, and correcting atmospheric parameters; requesting VRS point data generated by the first grid; and requesting VRS point data generated by the second grid, and combining the VRS point data generated by the first grid and the VRS point data generated by the second grid to perform ambiguity fixed resolution to obtain the ambiguity of the observation value of the rover, thereby resolving the position of the rover.
And if the VRS point data generated by combining the first grid and the VRS point data generated by the second grid are combined, performing fixed calculation in real time, and when the observation value ambiguity is invalid, requesting VRS point data in the next grid, wherein the next grid is adjacent to the second grid and the first grid, the second grid and the next grid are distributed in a clockwise mode, and performing fixed calculation by combining the VRS point data of the next grid, the VRS point data generated by the first grid and the VRS point data generated by the second grid to obtain the observation value ambiguity. And entering ambiguity fixing resolution of the next epoch until the number of the added VRS points exceeds a threshold value.
As shown in fig. 4, in an embodiment, when it is detected that the ambiguity is resolved based on the data of the two reference stations, the fixed ambiguity is invalid, that is, the ambiguity is not fixed based on the two reference stations, VRS point data generated by a third grid different from the first grid and the second grid near the user is also added to the solution equation, where the third grid is a grid closest to the mobile user except the second grid, and the third grid is also adjacent to the first grid, and then the VRS point data generated by the first grid, the VRS point data generated by the second grid, and the VRS point data generated by the third grid are combined to perform fixed resolution in real time, so as to observe the ambiguity; because there is a linear relationship between different virtual reference sites within the same grid, we select VRS reference site data generated by reference sites of different grids in the vicinity of the user.
In short, when the multi-base-station ambiguity is fixed, data preprocessing is performed first, and the base-line network is kept in a fixed state even when there is no cycle slip. And establishing an atmospheric error model in the baseline network by using the multi-baseline calculation result, and correcting atmospheric parameters such as a convective stratum delay error, an ionospheric delay and the like. And synchronously resolving the position of the current point position by using the data of the double base stations. Taking reference station n as an example in equation (1.1), similarly, assuming that the data of the new reference station is successfully obtained and is denoted as p, replacing n in equation 1.1 with p can write the double-difference observation equation between the current rover receiver and the new reference station. And when the two base stations cannot be fixed, generating a virtual observation point in the range of the next grid in a clockwise mode to request VRS data of the virtual observation point, and fixing the position of the current point by using the data of the three virtual base stations. Because the maximum number of base stations forming a grid is n, the number of VRS points finally requested to be solved is less than n + 1.
The real-time calculating mode, the cloud calculating mode and the real-time calculating mode are different in timeliness of data processing. The cloud computing mode is safer than real-time computing, and in one embodiment, the cloud computing mode utilizes nearby added actual data to perform computing.
As shown in fig. 3, in an embodiment, the cloud computing mode process: and (4) preprocessing data. And correcting partial troposphere and ionosphere delay errors by utilizing an atmosphere correction mode established by a CORS network. Meanwhile, gross error detection is carried out on the data. The processing method of the step is the same as that of the real-time resolving model; and selecting data of nearby reference stations for single base station fixing. The selection of the base station follows the principle of minimum distance and ambiguity fixation. And meanwhile, the reference station data of the next minimum distance point is selected to perform multi-base-station single epoch calculation under the condition that a single base station cannot be fixed. The choice of multiple sites should avoid situations where sites are too far apart. Compared with the traditional ambiguity fixing mode, the ambiguity convergence can be accelerated by additionally broadcasting weather correction and other information in the fixing process. And (3) checking the effectiveness of the ambiguity of the observed value by using a ratio test method and a success rate method, and if the ambiguity of the observed value is not obtained, requesting the point data of the next reference station, wherein the next reference station is the reference station with the next minimum distance from the rover station, and combining the data of the next reference station, the data of the first reference station and the data of the second reference station to perform fixed calculation until the obtained ambiguity of the observed value is effective.
In one embodiment, the Continuous Operating Reference System (CORS) is a permanent station with receivers and other devices and data processing software connected by a data communication network, and is one or several fixed and continuous Operating Reference stations, and a network composed of modern computer, data communication and internet (LAN/WAN) technologies is used to automatically provide different types of observed values (carrier phase, pseudo-range), various corrections, state information and other related service items to users of different types, different requirements and different levels in real time. A single base station system has only one continuously operating station. Similar to an plus one RTK except that the reference station is replaced by a continuously running reference station with a control software to monitor the status of the satellites in real time, store and transmit the relevant data. A multi-base station system: a plurality of continuous observation stations are distributed in a certain area, each observation station is a single base station, and each single base station is controlled by a central control computer.
The invention also discloses a computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of any of the methods described above.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above.
The various embodiments or features mentioned herein may be combined with each other as additional alternative embodiments without conflict, within the knowledge and ability level of those skilled in the art, and a limited number of alternative embodiments formed by a limited number of combinations of features not listed above are still within the scope of the present disclosure, as understood or inferred by those skilled in the art from the figures and above.
Finally, it is emphasized that the above-mentioned embodiments, which are typical and preferred embodiments of the present invention, are only used for explaining and explaining the technical solutions of the present invention in detail for the convenience of the reader, and are not used to limit the protection scope or application of the present invention.
Therefore, any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be covered within the protection scope of the present invention.
Claims (10)
1. A single epoch positioning method based on multi-reference station data is characterized by comprising the following steps:
establishing an atmospheric error model in the baseline network by using the resolving data of the multiple baselines, and correcting atmospheric parameters;
requesting VRS point data generated by the first grid;
requesting VRS point data generated by a second grid, the second grid being adjacent to the first grid;
and combining the VRS point data generated by the first grid and the VRS point data generated by the second grid, and performing fixed calculation in real time to obtain the ambiguity of the observed value.
2. The method of claim 1, wherein: and carrying out fixed resolving to obtain the ambiguity of the observation value in real time according to the VRS point data generated by the first grid, and requesting the VRS point data generated by the second grid if the ambiguity of the observation value cannot be obtained.
3. The method of claim 2, wherein: according to the VRS point data generated by the first grid, the fixed resolving is carried out in real time to solve the ambiguity of the observed value, specifically,
the user receiver sends own position information to the CORS network;
and generating VRS point data of the first grid according to the position information requested by the user receiver and broadcasting the VRS point data to the user, wherein the VRS point data generated by the first grid comprises the position information of the VRS point, the observation message information, the error correction information and part of private protocol information.
4. The method of claim 2, wherein: and (5) checking the validity of the ambiguity of the observed value by using a ratio test method and a success rate method.
5. The method of claim 1, wherein: and if the VRS point data generated by the first grid and the VRS point data generated by the second grid are combined, performing fixed resolving in real time, when the ambiguity cannot be fixed, requesting VRS point data in the next grid, wherein the next grid is adjacent to the second grid and the first grid, the second grid and the next grid are distributed in a clockwise mode, and combining the VRS point data of the next grid, the VRS point data generated by the first grid and the VRS point data generated by the second grid, performing ambiguity fixed resolving jointly, and solving the ambiguity of the observed value.
6. The method of claim 5, wherein: and entering ambiguity fixing resolution of the next epoch until the number of the added VRS points exceeds a threshold value.
7. A single epoch positioning method based on multi-reference station data is characterized by comprising the following steps:
establishing a regional atmospheric error model by using a CORS network, and correcting atmospheric parameters;
requesting data of a first reference station, performing fixed solution, and solving the ambiguity of an observation value, wherein the first reference station is a reference station with the minimum distance from a user mobile station;
requesting data of a second reference station, the second reference station being the next smallest distance from the user rover;
and combining the data of the first reference station and the data of the second reference station to perform fixed calculation to solve the ambiguity of the observed value.
8. The method of claim 7, wherein: and (3) checking the effectiveness of the ambiguity of the observed value by using a ratio method and a success rate method, if the ambiguity of the observed value cannot be obtained, requesting data of a next reference station, wherein the next reference station is a reference station with the next minimum distance from the rover station, and combining the data of the next reference station, the data of the first reference station and the data of the second reference station to carry out fixed resolving until the ambiguity of the observed value is successfully fixed.
9. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 8.
10. A single epoch positioning system based on multi-reference station data, comprising:
the parameter correction module is used for establishing an atmospheric error model in the baseline network by utilizing the resolving data of the multiple baselines and correcting atmospheric parameters;
a first data request module, configured to request VRS point data generated by the first mesh;
a second data request module, configured to request VRS point data generated by a second mesh network, where the second mesh network is adjacent to the first mesh network;
and the resolving module is used for combining the VRS point data generated by the first grid and the VRS point data generated by the second grid, performing fixed resolving in real time and solving the ambiguity of the observed value.
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