CN113031037B

CN113031037B - Device positioning method and device, electronic device and computer readable medium

Info

Publication number: CN113031037B
Application number: CN202110569484.1A
Authority: CN
Inventors: 苏景岚
Original assignee: Tencent Technology Shenzhen Co Ltd
Current assignee: Tencent Technology Shenzhen Co Ltd
Priority date: 2021-05-25
Filing date: 2021-05-25
Publication date: 2021-08-06
Anticipated expiration: 2041-05-25
Also published as: CN113031037A

Abstract

A device positioning method, a device, an electronic device and a computer readable medium are provided, which relate to the technical field of positioning and can be applied to scenes including but not limited to maps, navigation, automatic driving, intelligent traffic and the like. The method comprises the following steps: determining a target double-difference atmospheric delay and a double-difference residual error of each second satellite relative to each main base line of the first satellite according to the observed quantities of the m-1 second satellites relative to the main reference station of the first satellite; determining atmosphere position gradient values and atmosphere second-order influence parameters between a target area reference station network and the m common-view satellites according to target double-difference atmosphere delay and double-difference residual errors of each second satellite relative to each main base line of the first satellite; and generating observation data of the virtual reference station according to the atmospheric layer position gradient value and the atmospheric layer second-order influence parameter. The equipment positioning method, the device, the electronic equipment and the computer readable medium can improve the accuracy of observation data of the virtual reference station and realize high-accuracy positioning of the equipment.

Description

Device positioning method and device, electronic device and computer readable medium

Technical Field

The present disclosure relates to the field of positioning technologies, and in particular, to a device positioning method and apparatus, an electronic device, and a computer readable medium.

Background

In the field of satellite positioning technology, for example, a Continuously Operating Reference station system (CORS system for short) is a product of multi-azimuth and deep crystallization in high and new technologies such as satellite positioning technology, computer network technology, digital communication technology, and the like. The accuracy of the observation data of the current virtual reference station is poor, so that the accuracy of a positioning server based on the observation data of the virtual reference station is poor.

Therefore, a new device positioning method, apparatus, electronic device and computer readable medium are needed.

It is to be noted that the information disclosed in the above background section is only for enhancement of understanding of the background of the present disclosure.

Disclosure of Invention

The embodiment of the disclosure provides a device positioning method, a device, an electronic device and a computer readable medium, so that the accuracy of observation data of a virtual reference station is improved at least to a certain extent.

The embodiment of the disclosure provides an apparatus positioning method, which includes: determining a target area reference station network according to an initial position of target equipment, wherein the target area reference station network comprises N +1 reference stations, the N +1 reference stations comprise a main reference station and N target reference stations, N main base lines are formed between the main reference station and each target reference station, and N is a positive integer greater than or equal to 2; acquiring m common-view satellites of the target area reference station network, wherein m is a positive integer, and the m common-view satellites comprise 1 first satellite and m-1 second satellites; determining a target double-differenced atmospheric delay and a double-differenced residual error of each of the second satellites relative to a respective primary baseline of the first satellite from observations of the m-1 second satellites relative to the primary reference station of the first satellite; determining an atmosphere position gradient value and an atmosphere second-order influence parameter between the target area reference station network and the m co-view satellites according to the target double-difference atmosphere delay and the double-difference residual error of each second satellite relative to each main base line of the first satellite; generating observation data of a virtual reference station according to the atmospheric layer position gradient value and the atmospheric layer second-order influence parameter; and sending the observation data of the virtual reference station to the target equipment so that the target equipment can generate the position information of the target equipment according to the observation data of the virtual reference station.

The embodiment of the present disclosure provides an apparatus positioning device, including: the base station network determining module is configured to determine a target area base station network according to the initial position of the target device, the target area base station network comprises N +1 base stations, the N +1 base stations comprise a main reference station and N target base stations, N main base lines are formed between the main reference station and each target base station, and N is a positive integer greater than or equal to 2; the common-view satellite determining module is configured to acquire m common-view satellites of a target area reference station network, wherein m is a positive integer, and the m common-view satellites comprise 1 first satellite and m-1 second satellites; a network resolving module configured to determine a target double-difference atmospheric delay and a double-difference residual error of each of the second satellites relative to a respective primary baseline of the first satellite from observations of the m-1 second satellites relative to the primary reference station of the first satellite; the error parameter determination module is configured to determine an atmospheric layer position gradient value and an atmospheric layer second-order influence parameter between a target area reference station network and the m co-view satellites according to target double-difference atmospheric layer delay and double-difference residual errors of each second satellite relative to each main base line of the first satellite; the observation data generation module is configured to generate observation data of the virtual reference station according to the atmosphere position gradient value and the atmosphere second-order influence parameter; and the target equipment positioning module is configured to send the observation data of the virtual reference station to the target equipment so that the target equipment can generate the position information of the target equipment according to the observation data of the virtual reference station.

In an exemplary embodiment of the present disclosure, the target double-differenced atmospheric delay comprises a double-differenced ionospheric delay, the atmospheric position gradient value comprises an ionospheric position gradient value, and the atmospheric second-order influence parameter comprises an ionospheric second-order influence parameter; wherein the error parameter determination module comprises: a relative position information unit configured to obtain relative position information between each target reference station and the main reference station according to the coordinate information of each target reference station and the coordinate information of the main reference station; a weight information unit configured to obtain weight information according to the double-difference residual and the geometric distance between each target base station and the main reference station; and the first error parameter determination unit is configured to obtain an ionospheric position gradient value and an ionospheric second-order influence parameter according to the relative position information, the weight information and the double-difference ionospheric delay.

In an exemplary embodiment of the present disclosure, the target double-differenced atmospheric delay comprises a double-differenced tropospheric delay, the atmospheric position gradient value comprises a tropospheric position gradient value, and the atmospheric second-order influence parameter comprises a tropospheric second-order influence parameter; wherein the error parameter determination module comprises: a relative position information unit configured to obtain relative position information between each target reference station and the main reference station according to the coordinate information of each target reference station and the coordinate information of the main reference station; a weight information unit configured to obtain weight information according to the double-difference residual and the geometric distance between each target base station and the main reference station; and the second error parameter determination unit is configured to obtain a troposphere position gradient value and a troposphere second-order influence parameter according to the relative position information, the weight information and the double-difference troposphere delay.

In an exemplary embodiment of the present disclosure, the relative position information unit includes: the geocentric coordinate subunit is configured to acquire geocentric coordinate information of each target base station and geocentric coordinate information of the main reference station; a transformation matrix subunit configured to obtain a transformation matrix from the geocentric coordinate system of the main reference station to the station-centric coordinate system; the relative coordinate parameter subunit is configured to determine a relative coordinate parameter of each target reference station according to the geocentric coordinate information of each target reference station and the geocentric coordinate information of the main reference station; and the relative position information subunit is configured to determine the relative position information between each target reference station and the main reference station according to the relative coordinate parameter of each target reference station, the geocentric coordinate information of the main reference station and the conversion matrix.

In an exemplary embodiment of the present disclosure, the atmosphere position gradient values include an ionosphere position gradient value and a troposphere position gradient value, and the atmosphere second-order influence parameters include an ionosphere second-order influence parameter and a troposphere second-order influence parameter; wherein, observation data generation module includes: the ionosphere delay unit is configured to obtain double-difference ionosphere delay of the virtual reference station according to the ionosphere position gradient value and the ionosphere second-order influence parameter; the troposphere delay unit is configured to obtain double-difference troposphere delay of the virtual reference station according to the troposphere position gradient value and the troposphere second-order influence parameter; an observation acquisition unit configured to obtain the primary reference station observations of the m-1 second satellites relative to the first satellite; an observation data generating unit configured to determine observation data of a virtual reference station according to a double difference ionospheric delay of the virtual reference station, a double difference tropospheric delay of the virtual reference station and an observation amount of the m-1 second satellites with respect to the main reference station of the first satellite.

In an exemplary embodiment of the present disclosure, the ionospheric delay unit comprises: a coordinate information determination subunit configured to determine coordinate information of the virtual reference station according to an initial position of the target device; a relative coordinate parameter subunit configured to determine a relative coordinate parameter of the virtual reference station according to the coordinate information of the virtual reference station and the coordinate information of the main reference station; and the ionosphere delay subunit is configured to determine the double-difference ionosphere delay of the virtual reference station according to the ionosphere position gradient value, the ionosphere second-order influence parameter, the coordinate information of the virtual reference station, the coordinate information of the main reference station and the coordinate parameter of the virtual reference station.

In an exemplary embodiment of the present disclosure, the root tropospheric delay unit comprises: a coordinate information determination subunit configured to determine coordinate information of the virtual reference station according to an initial position of the target device; a relative coordinate parameter subunit configured to determine a relative coordinate parameter of the virtual reference station according to the coordinate information of the virtual reference station and the coordinate information of the main reference station; and the troposphere delay subunit is configured to determine the double-difference troposphere delay of the virtual reference station according to the troposphere position gradient value, the troposphere second-order influence parameter, the coordinate information of the virtual reference station, the coordinate information of the main reference station and the coordinate parameter of the virtual reference station.

In an exemplary embodiment of the present disclosure, N adjacent baselines are formed between adjacent target reference stations; wherein, the network resolving module includes: an initial double-differenced atmospheric delay unit configured to determine an initial double-differenced atmospheric delay for each second satellite relative to a respective primary baseline of the first satellite from observations of the m-1 second satellites relative to the primary reference station of the first satellite; a double-difference ambiguity unit configured to determine a double-difference ambiguity of each second satellite with respect to a respective primary baseline of the first satellite and a double-difference ambiguity of respective adjacent baselines based on observations of the m-1 second satellites with respect to the primary reference station of the first satellite; the counting vector unit is configured to determine a counting vector according to the double-difference ambiguity of each second satellite relative to each main baseline of the first satellite and the double-difference ambiguity of each adjacent baseline, and the counting vector comprises N counting indexes; an abnormal value determination unit configured to determine that an initial double difference atmosphere delay of an nth main baseline in initial double difference atmosphere delays of each second satellite with respect to respective main baselines of the first satellite is an abnormal value if a target value of an nth count index in the count vector is greater than a count threshold, N being a positive integer greater than or equal to 1 and less than or equal to N; and the target double-difference atmosphere delay unit is configured to take the initial double-difference atmosphere delay after the abnormal value is removed as the target double-difference atmosphere delay.

In an exemplary embodiment of the present disclosure, the count vector unit includes: a count index initial value subunit configured to determine initial values of N count indexes in the count vector; a first increment operation subunit, configured to perform increment operation on the q-th count index and the q + 1-th count index if a difference between a double-difference ambiguity of each second satellite with respect to a q-th main baseline of the first satellite and a double-difference ambiguity of a q + 1-th main baseline is not equal to a double-difference ambiguity of an adjacent baseline between the q-th reference station and the q + 1-th reference station, q being a positive integer greater than or equal to 1 and less than N; the second increment operation subunit is configured to perform increment operation on the Nth counting index and the 1 st counting index if the difference value between the double-difference ambiguity of each second satellite relative to the Nth main base line of the first satellite and the double-difference ambiguity of the 1 st main base line is not equal to the double-difference ambiguity of the adjacent base line between the Nth reference station and the 1 st reference station; and the counting vector target value determining subunit is configured to determine target values of the N counting indexes according to the increment operation result.

In an exemplary embodiment of the present disclosure, the device positioning apparatus further includes: the coordinate information acquisition module is configured to acquire coordinate information of N +1 reference stations in a target area reference station network; the spatial bipartite tree generation module is configured to divide the N +1 reference stations into spatial bipartite trees according to the coordinate information of the N +1 reference stations; and the main reference station determining module is configured to search the spatial treelet according to the initial position of the target device, obtain a reference station which is matched with the initial position distance of the target device, and determine the reference station as the main reference station.

In an exemplary embodiment of the present disclosure, the reference station network determining module includes at least one of the following units: the first reference station networking unit is configured to determine an alternative reference station with signal strength larger than a signal strength threshold value between the first reference station and the target device as a reference station in a target area reference station network; the second reference station networking unit is configured to determine an alternative reference station with the center position coinciding with the initial position of the target device as a reference station in the target area reference station network; and the third reference station networking unit is configured to determine the candidate reference stations with the distance to the initial position of the target equipment smaller than the distance threshold value as the reference stations in the target area reference station network.

An embodiment of the present disclosure provides an electronic device, including: at least one processor; storage means for storing at least one program which, when executed by at least one processor, causes the at least one processor to implement the device location method as in the above embodiments.

The embodiments of the present disclosure provide a computer-readable medium, on which a computer program is stored, which when executed by a processor implements the device positioning method as in the above embodiments.

According to an aspect of the application, a computer program product or computer program is provided, comprising computer instructions, the computer instructions being stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions to cause the computer device to perform the method provided in the various alternative implementations described above.

In the technical solutions provided in some embodiments of the present disclosure, after obtaining the target double-difference atmospheric delay and the double-difference residual of each main baseline of the first satellite by resolving, obtaining an atmospheric layer position gradient value capable of representing an elevation direction and an atmospheric layer second-order influence parameter capable of representing an atmospheric layer delay second-order change influence by using the target double-difference atmospheric delay and the double-difference residual of each second satellite relative to each main baseline of the first satellite, and generating observation data of the virtual reference station based on the atmospheric layer position gradient value and the atmospheric layer second-order influence parameter. Particularly, when the positioning service is faced to a mountainous area or an active atmosphere area, the accuracy of the observation data of the virtual reference station can be effectively improved, and the high-accuracy positioning of the target equipment is realized.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure. It is to be understood that the drawings in the following description are merely exemplary of the disclosure, and that other drawings may be derived from those drawings by one of ordinary skill in the art without the exercise of inventive faculty.

Fig. 1 shows a schematic diagram of an exemplary system architecture to which the device positioning method or apparatus of the embodiments of the present disclosure may be applied.

Fig. 2 schematically shows a flow chart of a device positioning method according to an embodiment of the present disclosure.

Fig. 3 schematically illustrates a schematic diagram of a network of target area reference stations according to one embodiment of the present disclosure.

Fig. 4 schematically illustrates a schematic diagram of a master baseline in a network of target area reference stations, according to one embodiment of the present disclosure.

Fig. 5 schematically shows a flow chart of a device localization method according to another embodiment of the present disclosure.

Fig. 6 schematically shows a flow chart of a device localization method according to yet another embodiment of the present disclosure.

Fig. 7 schematically illustrates a flow chart of a device location method according to yet another embodiment of the present disclosure.

Fig. 8 schematically shows a flow chart of a device localization method according to yet another embodiment of the present disclosure.

Fig. 9 schematically illustrates a schematic diagram of adjacent baselines in a network of target area reference stations, according to one embodiment of the present disclosure.

Fig. 10 schematically shows a flow chart of a device location method according to yet another embodiment of the present disclosure.

Fig. 11 schematically illustrates a flow chart of a device location method according to yet another embodiment of the present disclosure.

Fig. 12 schematically illustrates a flow chart of a device location method according to yet another embodiment of the present disclosure.

Fig. 13 schematically illustrates a flow chart of a device location method according to yet another embodiment of the present disclosure.

Figure 14 schematically shows a schematic diagram of a continuously operating reference station system.

FIG. 15 schematically shows a block diagram of a device locating apparatus according to an embodiment of the present disclosure.

FIG. 16 shows a schematic diagram of an electronic device suitable for use in implementing embodiments of the present disclosure.

Detailed Description

Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art.

Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the disclosure. One skilled in the relevant art will recognize, however, that the subject matter of the present disclosure can be practiced without one or more of the specific details, or with other methods, components, devices, steps, and so forth. In other instances, well-known methods, devices, implementations, or operations have not been shown or described in detail to avoid obscuring aspects of the disclosure.

The block diagrams shown in the figures are functional entities only and do not necessarily correspond to physically separate entities. I.e. these functional entities may be implemented in the form of software, or in at least one hardware module or integrated circuit, or in different networks and/or processor means and/or microcontroller means.

The flow charts shown in the drawings are merely illustrative and do not necessarily include all of the contents and operations/steps, nor do they necessarily have to be performed in the order described. For example, some operations/steps may be decomposed, and some operations/steps may be combined or partially combined, so that the actual execution sequence may be changed according to the actual situation.

In the related art, the Global Navigation Satellite System (GNSS) is also called a Global Navigation Satellite System, and is a space-based radio Navigation positioning System capable of providing all-weather 3-dimensional coordinates and speed and time information to a user at any location on the earth's surface or in the near-earth space. The common systems include the GPS (Global Positioning System), the BeiDou Navigation Satellite System (BDS), the Global Navigation Satellite System (Global Navigation SATELLITE SYSTEM, GLONASS) and GALILEO. The earliest occurrence was GPS. With the opening of the comprehensive services of the BDS and GLONASS systems in recent years, particularly, the BDS system develops more and more rapidly in the civil field. Satellite navigation systems have been widely used in aviation, navigation, communications, personnel tracking, consumer entertainment, mapping, time service, vehicle monitoring management, and car navigation and information services, and a general trend is to provide high-precision services for real-time applications.

A schematic diagram of a CORS system is shown in fig. 14, where a network of reference stations of the CORS system may include a plurality of reference stations 1410. The rover station 1420 (i.e., the target device) may be a user terminal and may therefore also be referred to as a subscriber station or a mobile station.

A Virtual Reference Station (VRS) technique, also called a Virtual Reference Station technique, is a Real-time kinematic (RTK) technique, and establishes a plurality of Reference stations forming a mesh coverage in a certain area, establishes a Virtual Reference Station near a target device, and calculates a Virtual observation value of the Virtual Reference Station according to actual observation values of the surrounding Reference stations, thereby realizing high-precision positioning of a user Station; the virtual reference station technology mainly includes a control center 1430, a base station 1410, and a rover station 1420. Unlike conventional RTK measurement techniques, the reference stations of the VRS network do not send any correction information directly to the rover station 1420, but instead send all of the raw data over the data communication line to the control center 1430. Meanwhile, before the mobile station 1420 transmits a rough coordinate (i.e., the initial position of the target device) to the control center through the short message function of GSM, after the control center 1430 receives the initial position of the target device, the computer in the control center 1430 automatically selects an optimal set of reference stations according to the initial position of the target device, and based on the information transmitted from these stations based on the observed quantity of the global navigation satellite system 1440, the difference signal (i.e., the correction data 1401 in the figure) with high precision is transmitted to the mobile station to integrally correct the orbit error of GPS, the error caused by ionosphere, troposphere and atmospheric refraction. The effect of this differential signal is equivalent to generating a virtual reference station beside the rover station as the virtual reference station of the target device, thereby solving the problem of limitation on RTK working distance and ensuring the accuracy of the user. Compared with the traditional RTK technology, the VRS improves the reliability of the system, improves the positioning precision and enlarges the effective working range.

However, the current virtual reference station technology is equal-weight processing on double-difference atmospheric delay, and does not consider the influence of second-order changes of altitude direction and atmospheric delay, so that the accuracy of the virtual reference station observation data generated in mountainous areas or ionized layer active areas is poor, and the accuracy of the positioning server based on the virtual reference station observation data is poor.

As shown in fig. 1, the system architecture may include a ground reference station system 110 (a CORS system), a high precision positioning service platform 120, a user terminal 130 (target device), and a navigation satellite 140. The ground reference station system 110 may include a plurality of reference stations 111. One or more servers (not shown) may be included in the high precision location services platform 120. The ground reference station system (CORS system) 110 generates original observation data 101 based on communication data with the navigation satellite 140, and the high-precision positioning service platform 120 receives the original observation data 101 sent by the ground reference station system 110, generates observation data of a virtual reference station based on the original observation data 101, and performs difference service distribution and position reporting to the user terminal 130. Wherein the location reporting is optional.

It should be understood that the number of specific devices, servers, navigation satellites 140, reference stations 111 of user terminal 130 in fig. 1 is merely illustrative. There may be any number of user terminals, navigation satellites, and reference stations, as desired for an implementation. For example, the high-precision positioning service platform 120 may be a server cluster composed of a plurality of servers.

The user may use the user terminal 130 to interact with the high accuracy positioning service platform 120 to receive or send messages or the like. The user terminal 130 may be various electronic devices having a display screen and supporting web browsing, including but not limited to an in-vehicle device 131, an unmanned aerial vehicle 132, a smart phone 133, a tablet computer, a portable computer, a desktop computer, a wearable device, a virtual reality device, a smart home, and so on.

The server may be a server that provides various services. For example, the user terminal 130 uploads the initial location of the target device to the server. The server can determine a target area reference station network according to the initial position of the target device, wherein the target area reference station network comprises N +1 reference stations, the N +1 reference stations comprise a main reference station and N target reference stations, N main base lines are formed between the main reference station and each target reference station, and N is a positive integer greater than or equal to 2; acquiring m common-view satellites of the target area reference station network, wherein m is a positive integer, and the m common-view satellites comprise 1 first satellite and m-1 second satellites of the first satellite; determining a target double-difference atmospheric delay and a double-difference residual error of each second satellite relative to each main baseline of the first satellite according to the observed quantities of the m-1 second satellites relative to the main reference station of the first satellite; determining an atmospheric layer position gradient value and an atmospheric layer second-order influence parameter between the target area reference station network and the m co-view satellites according to the target double-difference atmospheric layer delay and the double-difference residual error of each second satellite relative to each main base line of the first satellite; and generating observation data of the virtual reference station according to the atmosphere position gradient value and the atmosphere second-order influence parameter. The server feeds back the observation data of the virtual reference station to the user terminal 130, and the user terminal 130 can generate the position information of the target device according to the observation data of the virtual reference station, so that the user terminal 130 can be accurately positioned based on the observation data of the high-precision virtual reference station. The m common-view satellites may be m navigation satellites of the navigation satellites 140 in fig. 1.

Further, in the embodiment of the present disclosure, data such as the observed quantity of the m-1 second satellites with respect to the main reference station of the first satellite, the target double-difference atmospheric delay and double-difference residual of each second satellite with respect to the main baseline of the first satellite, the atmospheric position gradient value and atmospheric second-order influence parameter between the target area base station network and the m co-view satellites, and the observed data of the virtual reference station may be stored in a block chain (Blockchain). The blockchain is a novel application mode of computer technologies such as distributed data storage, point-to-point transmission, a consensus mechanism and an encryption algorithm. The block chain, which is essentially a decentralized database, is a string of data blocks associated by using a cryptographic method, and each data block contains information of a batch of network transactions, which is used for verifying the validity (anti-counterfeiting) of the information and generating a next block. The blockchain may include a blockchain underlying platform, a platform product services layer, and an application services layer.

The block chain underlying platform can comprise processing modules such as user management, basic service, intelligent contract and operation monitoring. The user management module is responsible for identity information management of all blockchain participants, and comprises public and private key generation maintenance (account management), key management, user real identity and blockchain address corresponding relation maintenance (authority management) and the like, and under the authorization condition, the user management module supervises and audits the transaction condition of certain real identities and provides rule configuration (wind control audit) of risk control; the basic service module is deployed on all block chain node equipment and used for verifying the validity of the service request, recording the service request to storage after consensus on the valid request is completed, for a new service request, the basic service firstly performs interface adaptation analysis and authentication processing (interface adaptation), then encrypts service information (consensus management) through a consensus algorithm, transmits the service information to a shared account (network communication) completely and consistently after encryption, and performs recording and storage; the intelligent contract module is responsible for registering and issuing contracts, triggering the contracts and executing the contracts, developers can define contract logics through a certain programming language, issue the contract logics to a block chain (contract registration), call keys or other event triggering and executing according to the logics of contract clauses, complete the contract logics and simultaneously provide the function of upgrading and canceling the contracts; the operation monitoring module is mainly responsible for deployment, configuration modification, contract setting, cloud adaptation in the product release process and visual output of real-time states in product operation, such as: alarm, monitoring network conditions, monitoring node equipment health status, and the like.

The platform product service layer provides basic capability and an implementation framework of typical application, and developers can complete block chain implementation of business logic based on the basic capability and the characteristics of the superposed business. The application service layer provides the application service based on the block chain scheme for the business participants to use.

Fig. 2 schematically shows a flow chart of a device positioning method according to an embodiment of the present disclosure. The method provided by the embodiment of the present disclosure may be processed by any electronic device with computing processing capability, for example, the server and/or the user terminal 130 in the embodiment of fig. 1 described above, and in the following embodiment, the server is taken as an execution subject for example, but the present disclosure is not limited thereto.

As shown in fig. 2, a device positioning method provided by the embodiment of the present disclosure may include the following steps.

In step S210, a target area base station network is determined according to the initial position of the target device, where the target area base station network includes N +1 base stations, the N +1 base stations include a main reference station and N target base stations, N main base lines are formed between the main reference station and each target base station, and N is a positive integer greater than or equal to 2.

In the embodiment of the present disclosure, the target device may be an end user that needs to perform positioning, such as the reference numeral 310 shown in fig. 3, which may correspond to a user terminal 130. The target device may be, for example, a mobile phone, a vehicle-mounted electronic device, a portable computer, etc., and the disclosure is not particularly limited thereto. The initial position of the target device may be position information that an error between the target device and its actual position, which is determined by existing data in the target device, is greater than an error threshold (which may be set according to an actual situation), that is, the initial position of the target device may have a large error and cannot represent the actual position of the target device.

As shown in fig. 3, the N +1 reference stations in the target area network of reference stations may include: reference station A and reference station B₁Reference station B₂And a reference station B₃I.e. N = 3. Wherein, assume the reference station A as the main reference station, and the reference station B₁、B₂And B₃Is a target reference station. The primary baseline may include: AB₁、AB₂And AB₃I.e. N (N = 3) main baselines. A schematic diagram of the main base line of the target regional reference station network shown in fig. 3 can be seen in fig. 4.

In an exemplary embodiment, the master reference station may be determined among N +1 reference stations. The master reference station may be determined by: acquiring coordinate information of N +1 reference stations in a target area reference station network; dividing the N +1 reference stations into spatial binary trees according to the coordinate information of the N +1 reference stations; and searching the spatial bipartite tree according to the initial position of the target equipment, obtaining a reference station which is matched with the initial position distance of the target equipment, and determining the reference station as a main reference station.

The spatial Binary tree (Binary space partitioning) may be, for example, a high-dimensional index tree data structure (K-dimensional tree, Kd-tree), where the K-dimensional tree is a data structure that organizes points in K-dimensional euclidean space, and K is a positive integer. The K-dimensional tree is a binary tree with each node being a K-dimensional point. All non-leaf nodes can be viewed as partitioning the space into two half-spaces with one hyperplane. The subtree to the left of the node represents a point to the left of the hyperplane and the subtree to the right of the node represents a point to the right of the hyperplane.

The method of selecting the hyperplane may be as follows: each node is associated with a dimension of the K dimensions that is perpendicular to the hyperplane. Thus, if the selection is divided according to the x-axis, all nodes with x values less than a specified value will appear in the left sub-tree and all nodes with x values greater than the specified value will appear in the right sub-tree. Thus, the hyperplane can be determined using this x value, with the normal being the unit vector of the x-axis. When searching the spatial bipartite tree according to the initial position of the target device, the initial position of the target device can be used as an input point, the nearest neighbor search is performed based on the spatial bipartite tree, and the main reference station is obtained through solving, so that the initial position distance between the main reference station and the target device is the minimum of the reference stations.

In step S220, m common-view satellites of the target area reference station network are obtained, where m is a positive integer, and the m common-view satellites include 1 first satellite and m-1 second satellites.

In the embodiment of the present disclosure, the m common-view satellites of the target area reference station network refer to navigation satellites in the target area reference station network, each reference station of which can perform communication and observation. Wherein, a first satellite (or a reference satellite) can be determined among the m co-view satellites according to the altitude and the signal-to-noise ratio of each co-view satellite. For example, the altitude angle and the signal-to-noise ratio of each co-view satellite may be weighted and summed, and the co-view satellite with the largest weighted sum may be determined as the first satellite. Wherein the weight of the elevation angle may be set to be greater than the weight of the signal-to-noise ratio. The elevation angle refers to the solar elevation angle, i.e. the included angle between the direction line from one point to the observation target and the horizontal plane. The elevation angle is the main observed quantity for calculating the height difference between two points in the triangulation elevation measurement. m-1 co-view satellites of the m co-view satellites except the first satellite are named as second satellites.

In an exemplary embodiment, determining the target area network of reference stations based on the initial location of the target device may include at least one of the following 1-3:

1. and determining the alternative reference station with the signal strength greater than the signal strength threshold (which can be set according to actual requirements) with the target device as the reference station in the target area reference station network.

In the embodiment of the disclosure, N +1 candidate reference stations may be selected from the several candidate reference stations as N +1 reference stations in the target area reference station network. The signal strength between the N +1 candidate reference stations and the target device is greater than a signal strength threshold.

2. And determining the candidate reference station with the center position coincident with the initial position of the target equipment as the reference station in the target area reference station network.

In the embodiment of the disclosure, N +1 candidate reference stations may be selected from the several candidate reference stations as N +1 reference stations in the target area reference station network. The circle center position of the minimum circumcircle of the N +1 candidate reference stations is the center position of the N +1 candidate reference stations. Wherein the center positions of the N +1 candidate reference stations coincide with the initial position of the target device.

3. And determining the alternative reference station with the distance from the initial position of the target equipment smaller than a distance threshold (which can be set according to actual requirements) as the reference station in the target area reference station network.

In the embodiment of the disclosure, N +1 candidate reference stations may be selected from the several candidate reference stations as N +1 reference stations in the target area reference station network. The distance between the N +1 candidate reference stations and the initial position of the target device is smaller than a distance threshold value.

In an exemplary embodiment, a candidate reference stations may be further selected based on the step 1, b candidate reference stations may be further selected based on the step 2, and c candidate reference stations may be further selected based on the step 3, so as to obtain a + b + c candidate reference stations as N +1 reference stations in the target area reference station network. Wherein a + b + c = N +1, a, b, c are integers greater than 0.

Wherein the alternative reference stations may be all reference stations recorded in the CORS system.

In step S230, a target double-differenced atmospheric delay and a double-differenced residual error for each second satellite relative to a respective primary baseline of the first satellite are determined from observations of m-1 second satellites relative to a primary reference station of the first satellite.

In the disclosed embodiments, an RTK solution may be performed for a target area base station network based on observations of m-1 second satellites relative to a primary reference station of a first satellite. Wherein the observations of the m-1 second satellites with respect to the primary reference station of the first satellite may include pseudorange observations and carrier-phase observations. The RTK solution is a differential method that processes the observations of two reference stations in real time. The target double-difference atmospheric delay and the double-difference residual error of each second satellite relative to the main base line of the first satellite can be referred to as formula (1), formula (2) and formula (11).

In step S240, an atmospheric position gradient value and an atmospheric second-order influence parameter between the target area reference station network and the m co-view satellites are determined according to the target double-difference atmospheric delay and the double-difference residual error of each second satellite relative to the main base lines of the first satellite.

In the embodiment of the disclosure, based on a double-difference atmosphere delay, a double-difference residual error, an atmosphere position gradient value and an atmosphere second-order influence parameter simultaneous equation, the atmosphere position gradient value and the atmosphere second-order influence parameter are subjected to least square solution, and a least square estimation value of the atmosphere position gradient value and the atmosphere second-order influence parameter is obtained. In which the simultaneous equations may refer to formula (8), formula (9), formula (13), and formula (14) below. In the solving process of the simultaneous equation, the double-difference atmospheric layer delay can be regarded as a dependent variable, the relative position information between the main reference station and the target reference station in each main base line is regarded as an independent variable, and the atmospheric layer position gradient value and the atmospheric layer second-order influence parameter are regarded as coefficients to be solved to carry out the simultaneous equation. In the least square estimation process, the weight of each target reference station of the target in each main base line can be determined according to the double-difference residual error of each main base line, and least square weighted estimation is carried out. In the step, the influence of the elevation direction and the second-order change of the atmosphere delay on the double-difference atmosphere delay can be reflected through the simulated atmosphere position gradient value and the second-order influence parameter of the atmosphere. Specifically, reference may be made to the embodiments in fig. 5 and fig. 6, which are not repeated herein.

In step S250, observation data of the virtual reference station is generated according to the atmosphere position gradient value and the atmosphere second-order influence parameter.

In the embodiment of the disclosure, the observation data of the virtual reference station can be determined based on the observation value of the first satellite relative to the main reference station, the geometric distance of the virtual reference station relative to the first satellite, the observation data of the main reference station relative to the first satellite, the atmosphere position gradient value and the atmosphere second-order influence parameter. When the observation value comprises a pseudo-range observation value and a carrier phase observation value, the observation data of the virtual reference station can comprise pseudo-range observation data and carrier phase observation data. In determining the geometric distance of the virtual reference station relative to the first satellite, the coordinate information of the virtual reference station may be determined from the initial position of the target device, and the geometric distance of the virtual reference station relative to the first satellite may be determined based on the coordinate information of the virtual reference station and the coordinate information of the first satellite. Reference may be made in particular to the embodiment shown in fig. 7.

In step S260, the observation data of the virtual reference station is transmitted to the target device, so that the target device generates the location information of the target device according to the observation data of the virtual reference station.

According to the equipment positioning method provided by the embodiment of the disclosure, after the target double-difference atmospheric layer delay and the double-difference residual error of each main base line of the first satellite are obtained through calculation, the atmospheric layer position gradient value capable of representing the elevation direction and the atmospheric layer second-order influence parameter capable of representing the atmospheric layer delay second-order change influence are obtained by using the target double-difference atmospheric layer delay and the double-difference residual error of each second satellite relative to each main base line of the first satellite, and the observation data of the virtual reference station are generated based on the atmospheric layer position gradient value and the atmospheric layer second-order influence parameter. Particularly, when the positioning service is faced to a mountainous area or an active atmosphere area, the accuracy of the observation data of the virtual reference station can be effectively improved, and the high-accuracy positioning of the target equipment is realized.

In this embodiment, the target double-differenced atmospheric delay may include a double-differenced ionospheric delay, the atmospheric-position gradient value may include an ionospheric-position gradient value, and the atmospheric second-order influence parameter may include an ionospheric second-order influence parameter. And assuming that the jth co-view satellite in the m co-view satellites is the first satellite, and j is a positive integer greater than or equal to 1 and less than or equal to m.

In the disclosed embodiment, the double differential ionospheric delay can be expressed as:

（1）

wherein the content of the first and second substances,

representing the dual ionospheric delay of the ith second satellite relative to the respective primary baseline of the first satellite j as acquired by pseudorange observations of the ith co-view satellite (i.e. the second satellite) relative to the primary reference station a of the first satellite j,

representing AB obtained from pseudorange observations of an ith second satellite relative to a primary reference station A of a first satellite j_nDouble differential ionospheric delay of the main baseline, N being an integer greater than 0 and less than or equal to N, B_nRepresenting the nth target reference station in the target area network of reference stations.

Representing the double difference ionospheric delay of an ith second satellite acquired from carrier-phase observations of the ith co-view satellite relative to the primary reference station a of the first satellite j relative to the respective primary baselines of the first satellite j,

representing the relative position of the ith second satelliteAB obtained from carrier phase observations of the primary reference station A of the first satellite j_nA double difference ionospheric delay vector of the main baseline.

The double difference residual mentioned in step S230 can be expressed as:

（2）

wherein the content of the first and second substances,

indicating that a pseudorange double-difference residual is obtained from a pseudorange observation of an ith co-view satellite relative to a primary reference station a of a first satellite j to each primary baseline of an ith second satellite relative to the first satellite j,

representing AB obtained from pseudorange observations of an ith second satellite relative to a primary reference station A of a first satellite j_nPseudorange double-differenced residuals for the main baseline.

Representing the acquisition of the carrier phase double-difference residuals of the ith second satellite relative to each of the primary baselines of the first satellite j from the carrier phase observations of the ith co-view satellite,

AB representing carrier phase observations of an ith second satellite relative to a first satellite j_nThe carrier phase double difference residual of the main baseline. Double-differenced residuals based on equation (2) may include pseudorange double-differenced residuals and carrier-phase double-differenced residuals.

As shown in fig. 5, step S240 in the above-mentioned embodiment of fig. 2 may further include the following steps.

In step S510, relative position information between each target reference station and the main reference station is obtained based on the coordinate information of each target reference station and the coordinate information of the main reference station.

In the embodiment of the present disclosure, the relative position information is used to characterize the size of the relative position between the target reference station and the master reference station in each master base line.

In an exemplary embodiment, Earth-center coordinate (Earth-Centered, Earth-Fixed, ECEF coordinate for short) information of each target reference station and Earth-center coordinate information of the main reference station may be acquired; obtaining a transformation matrix from a geocentric coordinate system (ECEF coordinate system) of a main reference station to a station-centered coordinate system; determining relative coordinate parameters of each target reference station according to geocentric coordinate information of each target reference station and geocentric coordinate information of the main reference station; and determining the relative position information between each target reference station and the main reference station according to the relative coordinate parameters of each target reference station, the geocentric coordinate information of the main reference station and the conversion matrix.

Where the ECEF coordinate system is a cartesian coordinate system centered on the earth, also known as a "common surface" system, in which X, Y, Z represent coordinate locations, e.g., the (0, 0, 0) point represents the earth's centroid. An Earth-fixed coordinate system (also called as a station coordinate system, an east-north-sky coordinate system) is used for knowing the law of motion of other objects centered on an observer, such as the viewing angle, azimuth angle, distance and the like of a GPS satellite visible to a receiver, and the Earth-fixed coordinate system is used for the station coordinate system.

In the embodiment of the present disclosure, for N main base lines, the relative position information between each target base station and the main reference station may be represented as follows:

（3）

（4）

wherein the main reference station A is converted from ECEF coordinate system to the station center coordinate system by a conversion matrix of

。

Is the geocentric coordinate information of the primary reference station,

as a target reference station

N is a positive integer greater than or equal to 1 and less than or equal to N.

As a target reference station

Relative coordinate parameters of.

In step S520, weight information is obtained according to the double-difference residual and the geometric distance between each target reference station and the main reference station.

In the embodiment of the disclosure, exponential function operation can be performed on the absolute value of the double-difference residual error of the target reference station according to each main baseline to obtain an exponential operation result; carrying out square operation on the geometric distance between the target reference station and the main reference station to obtain a square operation result; and determining weight information by using the exponential operation result and the square operation result.

For example, for the nth main baseline, its weight information

Can be represented by the following formula:

（5）

（6）

（7）

wherein the content of the first and second substances,

is a target reference station

The geometric distance from the main reference station a,

and

referring to the formula (2),

is the weight information of the ith second satellite relative to the primary baselines of the first satellite j.

Is a target reference station

Weight information under pseudorange observations for each co-view satellite.

Is a target reference station

Weight information under carrier phase observations of each co-view satellite.

In step S530, an ionospheric position gradient value and an ionospheric second-order influence parameter are obtained according to the relative position information, the weight information, and the double-difference ionospheric delay.

In the embodiment of the disclosure, least square estimation operation can be performed on the relative position information, the weight information and the double-difference ionospheric delay through a weighted least square algorithm, so as to obtain an ionospheric position gradient value and an ionospheric second-order influence parameter. For a double-difference ionospheric delay vector of the ith second satellite relative to each primary baseline of the first satellite j acquired from the pseudorange observations of each common-view satellite, it can be expressed as:

（8）

wherein the content of the first and second substances,

is the ionospheric position gradient value of the ith second satellite relative to the first satellite j,

、

and

is an ionospheric second order influence parameter.

For each primary baseline of the first satellite j for the ith second satellite acquired from the carrier-phase observations of each second satellite relative to the primary reference station of the first satellite, this can be expressed as:

（9）

weighted least squares estimation is performed on equations (8) and (9) to obtain:

（10）

further, the gradient value of the position of the ionized layer and the second-order influence parameter of the ionized layer can be obtained by the formula (10).

In this embodiment, corresponding weight information is set for each main baseline based on the double-difference residual and the geometric distance between each target reference station and the main reference station, and each main baseline can be reasonably weighted. To improve the estimation accuracy. After the target double-difference ionospheric delay and the double-difference residual of each main baseline of the first satellite are obtained through calculation, an ionospheric position gradient value capable of representing the elevation direction and an ionospheric second-order influence parameter capable of representing the influence of the second-order variation of the ionospheric delay are obtained by using the target double-difference ionospheric delay and the double-difference residual of each second satellite relative to each main baseline of the first satellite, and the influence of the second-order variation of the elevation direction and the ionospheric delay can be considered, so that the accuracy of the observation data of the virtual reference station generated in the subsequent steps can be improved. Particularly, when the positioning service is faced to mountainous areas or areas with active ionosphere, the accuracy of the observation data of the virtual reference station can be effectively improved.

In this embodiment, the target double-differenced atmospheric delay may comprise a double-differenced tropospheric delay, the atmospheric position gradient value may comprise a tropospheric position gradient value, and the atmospheric second-order influence parameter may comprise a tropospheric second-order influence parameter.

When m co-view satellites, the jth co-view satellite is the first satellite. The double difference tropospheric delay can be expressed as:

（11）

wherein the content of the first and second substances,

the double differenced tropospheric delay for an ith second satellite relative to the primary baselines of the first satellite j acquired by pseudorange observations of the ith co-view satellite relative to the primary reference station a of the first satellite j,

AB representing pseudorange observations obtained from an ith second satellite relative to a primary reference station A of a first satellite j_nA double difference tropospheric delay of the main baseline, N being an integer greater than 0 and less than or equal to N,

for the double difference tropospheric delays of an ith second satellite relative to the primary baselines of the first satellite j acquired by carrier-phase observations of the ith co-view satellite relative to the primary reference station a of the first satellite j,

representing AB obtained from carrier phase observations of the ith second satellite relative to the master reference station A of the first satellite j_nDouble difference of the main baseline tropospheric delay.

As shown in fig. 6, step S240 in the above-mentioned embodiment of fig. 2 may further include the following steps.

In step S610, relative position information between each target reference station and the main reference station is obtained from the coordinate information of each target reference station and the coordinate information of the main reference station.

The embodiment of the present disclosure may take steps similar to step S510, and the relative position information obtained in this step may be represented as follows:

（12）

for the explanation of each symbol in formula (12), please refer to formula (3), which is not described herein again.

In step S620, weight information is obtained according to the double difference residual and the geometric distance between each target reference station and the main reference station.

In the embodiment of the disclosure, exponential function operation can be performed on the absolute value of the double-difference residual error of the target reference station according to each main baseline to obtain an exponential operation result; carrying out square operation on the geometric distance between the target reference station and the main reference station to obtain a square operation result; and determining weight information by using the exponential operation result and the square operation result. The weight information may be represented as equation (5), equation (6), and equation (7).

In step S630, a troposphere position gradient value and a troposphere second-order influence parameter are obtained from the relative position information, the weight information, and the double-difference troposphere delay.

In the embodiment of the disclosure, least square estimation operation can be performed on the relative position information, the weight information and the double-difference troposphere delay through a weighted least square algorithm, so as to obtain a troposphere position gradient value and a troposphere second-order influence parameter. For a double difference tropospheric delay vector obtained from a pseudorange observation to each of the principal baselines of the ith second satellite relative to the first satellite j, it can be expressed as:

（13）

wherein the content of the first and second substances,

is the gradient value of the troposphere position,

、

and

is a tropospheric second order influence parameter.

For a double difference ionospheric delay vector obtained from carrier-phase observations to each primary baseline of the ith second satellite relative to the first satellite j, it can be expressed as:

（14）

weighted least squares estimation is performed on equations (13) and (14), and the following can be obtained:

（15）

further, the ionospheric position gradient value and the ionospheric second-order influence parameter can be obtained by equation (15).

In this embodiment, corresponding weight information is set for each main baseline based on the double-difference residual and the geometric distance between each target reference station and the main reference station, and each main baseline can be reasonably weighted. To improve the estimation accuracy. After the target double-difference troposphere delay and the double-difference residual of each main base line of the first satellite are obtained through calculation, a troposphere position gradient value capable of representing the elevation direction and a troposphere second-order influence parameter capable of representing the influence of second-order variation of troposphere delay are obtained by using the target double-difference troposphere delay and the double-difference residual of each second satellite relative to each main base line of the first satellite, and the influence of the second-order variation of the elevation direction and the troposphere delay can be considered, so that the accuracy of the observation data of the virtual reference station generated in the subsequent step can be improved. Particularly, when the positioning service is performed in mountainous areas or areas with active troposphere, the accuracy of the observation data of the virtual reference station can be effectively improved.

In this embodiment, the atmospheric position gradient values may include ionospheric position gradient values (expressed as in equation (10))

) And tropospheric position gradient values (expressed as in equation (15))

) The atmospheric second-order influence parameter may include an ionospheric second-order influence parameter (expressed as in equation (10))

) And tropospheric second order influence parameter (expressed as in equation (15))

）。

As shown in fig. 7, step S250 in the above-mentioned embodiment of fig. 2 may further include the following steps.

In step S710, a double-difference ionospheric delay of the virtual reference station is obtained according to the ionospheric position gradient value and the ionospheric second-order influence parameter.

In the embodiment of the disclosure, the coordinate information of the virtual reference station can be determined according to the initial position of the target device; determining relative coordinate parameters of the virtual reference stations according to the coordinate information of the virtual reference stations and the coordinate information of the main reference station; and determining the double-difference ionospheric delay of the virtual reference station according to the ionospheric position gradient value, the ionospheric second-order influence parameter, the coordinate information of the virtual reference station, the coordinate information of the main reference station and the coordinate parameter of the virtual reference station.

In determining the coordinate information of the virtual reference station, the initial position of the target device may be used as the coordinate information of the virtual reference station

. In determining the relative coordinate parameters, a calculation similar to equation (4) may be performed. Double-difference ionospheric delay of virtual reference station

Can be obtained by the following formula:

（16）

wherein the content of the first and second substances,

is a relative coordinate parameter of the virtual reference station relative to the master reference station.

See formula (4) for a calculation of (c).

In step S720, a double-difference tropospheric delay of the virtual reference station is obtained based on the tropospheric position gradient value and the tropospheric second-order influence parameter.

In the embodiment of the disclosure, the coordinate information of the virtual reference station can be determined according to the initial position of the target device; determining relative coordinate parameters of the virtual reference stations according to the coordinate information of the virtual reference stations and the coordinate information of the main reference station; and determining the double-difference troposphere delay of the virtual reference station according to the troposphere position gradient value, the troposphere second-order influence parameter, the coordinate information of the virtual reference station, the coordinate information of the main reference station and the coordinate parameter of the virtual reference station.

Wherein the double-difference tropospheric delay of the virtual reference station is obtained by:

（17）

in step S730, observations of m-1 second satellites are obtained relative to a primary reference station of the first satellite.

Wherein the observations of the m-1 second satellites with respect to the primary reference station of the first satellite may include pseudorange observations and carrier phase observations.

In step S740, the observation data of the virtual reference station is determined according to the double-difference ionospheric delay of the virtual reference station, the double-difference tropospheric delay of the virtual reference station, and the observed quantities of the m-1 second satellites with respect to the main reference station of the first satellite.

In embodiments of the present disclosure, the observations of the virtual reference station may comprise pseudorange observations and carrier phase observations. Pseudo-range observations of the virtual reference station may be obtained by:

（18）

（19）

wherein the content of the first and second substances,

is the pseudorange observation for the ith co-view satellite relative to the primary reference station a of the first satellite j.

Is the geometric distance from the virtual reference station to the ith co-view satellite,

is the geometric distance from the primary reference station to the ith co-view satellite,

is the geometric distance from the primary reference station a to the first satellite j.

Is the geometric distance of the virtual reference station V to the first satellite j.

Assuming j =1, that is, the first co-view satellite is the first satellite, the pseudo-range virtual observation of the virtual reference station is as follows:

（20）

in the embodiment of the present disclosure, the carrier phase observation data of the virtual reference station may be obtained by the following formula:

（21）

（22）

wherein the content of the first and second substances,

is the carrier phase observation of the ith co-view satellite relative to the primary reference station a of the first satellite j. Assuming j =1, that is, the first co-view satellite is the first satellite, the carrier phase virtual observations of the virtual reference station are as follows:

（23）

In the embodiment of the disclosure, N adjacent baselines are formed between adjacent target reference stations. As shown in fig. 9 for reference station B₁，B₂，…，B_NThe N adjacent baselines generated by this can be expressed as: b is₁B₂，B₂B₃，B₃B₄，…，B_N-1B_N，B_NB₁。

As shown in fig. 8, step S230 in the above-mentioned embodiment of fig. 2 may further include the following steps.

In step S810, an initial double-differenced atmospheric delay for each second satellite relative to the primary baseline of the first satellite is determined from observations of m-1 second satellites relative to the primary reference station of the first satellite.

In the embodiment of the disclosure, the initial double-differenced atmospheric delay of each second satellite relative to the main baselines of the first satellite can be obtained through the RTK network solution.

Wherein the initial double-differenced atmospheric delay is shown in equations (1) and (11).

In step S820, double-difference ambiguities of each second satellite relative to the primary baselines of the first satellite and double-difference ambiguities of adjacent baselines are determined from observations of m-1 second satellites relative to the primary reference station of the first satellite.

In the embodiment of the disclosure, the double-difference ambiguity of each main baseline and each adjacent baseline can be obtained by RTK network solution. Double-difference ambiguities may be expressed as follows:

（24）

wherein the content of the first and second substances,

for a main baseline A obtained from observations of an ith second satellite relative to a main reference station A of a first satellite j

The double-difference ambiguity of (a) is,

adjacent baselines obtained for observations from an ith second satellite relative to a primary reference station A of a first satellite j

Where N is a positive integer greater than 0 and less than N.

Adjacent baselines obtained for observations of an ith second satellite relative to a primary reference station A of a first satellite j

Double-difference ambiguity of (a).

In step S830, a count vector is determined according to the double-difference ambiguities of the second satellites relative to the main baselines of the first satellite and the double-difference ambiguities of the adjacent baselines, and the count vector includes N count indexes.

In the disclosed embodiment, a count vector

Can be expressed as follows:

（25）

wherein the content of the first and second substances,

is the nth count index.

In step S840, if the target value of the nth counting index in the counting vector is equal to the culling index, it is determined that the initial double difference atmosphere delay of the nth main baseline in the initial double difference atmosphere delays of each second satellite relative to the main baselines of the first satellite is an abnormal value, and N is a positive integer greater than or equal to 1 and less than or equal to N.

In step S850, the initial double difference atmosphere delay from which the abnormal value is removed is set as the target double difference atmosphere delay.

In the embodiment of the present disclosure, the main reference station and the N target reference stations form N +1 reference stations.

As shown in fig. 10, step S830 in the above-mentioned fig. 8 embodiment may further include the following steps.

In step S1010, initial values of N count indexes in the count vector are determined.

In the embodiment of the present disclosure, the initial values of the N counting indexes in the counting vector may be determined by the following formula.

（26）

In step S1020, if the difference between the double-difference ambiguity of each second satellite with respect to the qth main baseline of the first satellite and the double-difference ambiguity of the q +1 st main baseline is not equal to the double-difference ambiguity of the adjacent baseline between the qth reference station and the q +1 st reference station, performing an incremental operation on the qth count index and the q +1 st count index, where q is a positive integer greater than or equal to 1 and less than N.

E.g., q =1, the double-difference ambiguities of each second satellite with respect to the q =1 primary baseline of the first satellite

Difference of double-difference ambiguities from the q +1=2 main baselines

Double difference ambiguity not equal to adjacent baselines between the q =1 st and q +1=2 nd reference stations

I.e. by

Then, the index is counted for the q =1

And q +1=2 counting indexes

And performing increment operation. The increment may for example = 1. Namely, it is

，

. However, it should be understood that the increment is only an example, and the embodiment of the present disclosure does not specially limit the specific increment.

For another example, when q =2, there are: if it is

When it is, then

，

。

For another example, when q = N-1, there are: if it is

When it is, then

，

。

In step S1030, if the difference between the double-difference ambiguity of each second satellite with respect to the nth main baseline of the first satellite and the double-difference ambiguity of the 1 st main baseline is not equal to the double-difference ambiguity of the adjacent baseline between the nth reference station and the 1 st reference station, the nth count index and the 1 st count index are subjected to incremental operation.

In the disclosed embodiment, the double-difference ambiguities of each second satellite relative to the Nth primary baseline of the first satellite

Double-difference ambiguity from the 1 st main baseline

Is not equal to the double-difference ambiguity of the adjacent baseline between the Nth reference station and the 1 st reference station

Then count the index for the Nth

And 1 st count index

And performing increment operation. Namely when

When it is, then

，

。

In step S1040, target values of the N count indexes are determined based on the incremental operation result.

In the present embodiment, after the target values of the N count indexes are determined, in the subsequent step, as in step S840 of the embodiment shown in fig. 8, the culling index may be, for example, 2. That is, when the target value of the nth count indicator is equal to 2, the nth of the initial double-differenced atmospheric delays of each second satellite relative to the primary baselines of the first satellite is determinedThe initial double differenced atmospheric delay of the main baseline is an outlier. For example, when n-1, i.e., if

Then, then

、

、

And

for abnormal values, it is necessary to eliminate

Then, then

、

、

And

is an abnormal value, if

Then, then

、

、

And

is an abnormal value.

As shown in fig. 11, a device positioning method provided by the embodiment of the present disclosure may include the following steps.

In step S1110, a target area network of reference stations is determined according to the initial location of the target device.

In step S1120, the reference station closest to the initial position of the target device is selected as the master reference station.

In embodiments of the present disclosure, a Kd-Tree algorithm may be employed to select the master reference station. For the description of the Kd-Tree algorithm, see the above related contents, and are not repeated here.

In step S1130, the master reference station and the target reference station in the target area network of reference stations form a master baseline.

In the embodiment of the present disclosure, as shown in fig. 9, the main baseline may include: AB₁，AB₂，…，AB_N. Further, N adjacent baselines may also be formed. The adjacent baselines can be referred to the related description related to fig. 9, and the description thereof is omitted here.

In step S1140, a first satellite is selected according to the altitude and the signal-to-carrier-noise ratio of each co-view satellite in the target area network of reference stations.

In the embodiment of the disclosure, the altitude angle and the signal-to-noise ratio of each common-view satellite may be weighted and summed, and the common-view satellite with the largest weighted and summed value may be determined as the first satellite. Wherein the weight of the elevation angle may be greater than the weight of the signal-to-noise ratio.

In step S1150, the target area base station network RTK is resolved to obtain double-difference ambiguity, double-difference ionosphere delay, double-difference troposphere delay, and the network RTK is resolved to obtain double-difference residual.

In the disclosed embodiment, double difference ambiguity is visible as equation (24).

The double-differenced ionospheric delay may include acquiring double-differenced ionospheric delays from pseudo-range observations and acquiring double-differenced ionospheric delays from carrier-phase observations. The double differential ionospheric delay is visible as in equation (1).

The double difference tropospheric delays may include obtaining double difference tropospheric delays from pseudorange observations and obtaining double difference tropospheric delays from carrier phase observations. Double difference tropospheric delay is visible (11).

Double difference residuals are visible in equation (2).

In step S1160, an ionosphere position gradient value and an ionosphere second-order influence parameter of the double-difference ionosphere delay with respect to the position, and a troposphere position gradient value and a troposphere second-order influence parameter of the double-difference troposphere delay with respect to the position are estimated from the network RTK solution information based on weighted least squares.

Step S1160 of the present disclosure may adopt steps similar to those of the embodiments shown in fig. 5 and fig. 6, and is not repeated herein.

In step S1170, the observation data of the virtual reference station is generated based on the ionosphere position gradient value, the ionosphere second-order influence parameter, the troposphere position gradient value, and the troposphere second-order influence parameter in the target area base station network.

Step S1170 of the embodiment of the disclosure may take steps similar to those of fig. 7, and will not be described herein again.

In step S1180, the virtual reference station observation data obtained in the above steps is checked, and if the check fails, the main reference station is reselected and gradient variation values of double difference ionosphere and troposphere delays in the regional reference station network with respect to the position and second-order influence parameters are re-estimated.

In the embodiment of the present disclosure, the checking method for the virtual reference station may be: and when the prediction error is larger than a prediction error threshold value, the observation data inspection of the virtual reference station is not passed. The prediction error threshold may be, for example, 10cm, but the technical solution of the present disclosure is not particularly limited thereto.

When the verification fails, the reference station of the N +1 reference stations except the original main reference station next to the initial position of the target device may be determined as the reselected main reference station.

In step S1190, the observation data of the virtual reference station is output to the target device (end user).

As shown in fig. 12, the execution subject of the embodiment of the present disclosure may be, for example, a server 1210. The server 1210 can receive observations from the target regional reference station network 1220 of each second satellite relative to the primary reference station of the first satellite and the rover's initial position 1202 from the rover 1230 (i.e., the target device) and can perform the following steps: estimating an atmospheric delay variation factor of a target area reference station network based on weighted least squares and generating observation data 1201 of a virtual reference station; broadcasting observation data 1201 of the virtual reference station to the rover 1230; so that the target device generates the position information of the target device according to the observation data 1201 of the virtual reference station, and the accurate positioning of the target device is realized. The atmospheric delay variation factor may include an atmospheric layer position gradient value and an atmospheric layer second-order influence parameter.

In step S1310, the master reference station and N target reference stations in the target area reference station network are grouped into N master base lines.

In step S1320, N adjacent baselines are formed between adjacent target reference stations, and a closed network baseline loop of the target area reference stations is constructed.

In step S1330, an RTK solution is performed by the target area base station network to obtain double-differenced ionospheric delay, double-differenced tropospheric delay, double-differenced ambiguity, and double-differenced residual.

In step S1340, outlier detection and elimination are performed on the double-difference ionosphere and double-difference troposphere delay parameters based on the double-difference ambiguity closure characteristics.

In the disclosed embodiment, the target double difference atmosphere delay after the culling operation can be expressed as follows, wherein N-q outliers are supposed to be culled, and q is an integer greater than 0.

（27）

（28）

Wherein the content of the first and second substances,

to eliminate the manipulated double difference ionospheric delays of the ith second satellite relative to the respective primary baselines of the first satellite j as acquired by the pseudorange observations of the ith co-view satellite relative to the primary reference station of the first satellite j,

and the double-difference ionospheric delay of the ith second satellite relative to each main baseline of the first satellite j, which is acquired by the carrier phase observation of the ith co-view satellite relative to the main reference station of the first satellite j after the removing operation.

Representing A obtained from pseudorange observations of an ith second satellite relative to a primary reference station of a first satellite j

The double differential ionospheric delay of the main baseline,

。

is an integer greater than 0 and less than or equal to N.

Indicating the ith second satelliteA obtained from carrier phase observations of a satellite with respect to a first satellite j

Double differential ionospheric delay of the main baseline.

To cull the operative double difference tropospheric delays of the ith second satellite relative to the primary baselines of the first satellite j as acquired by pseudorange observations of the ith co-view satellite relative to the primary reference station of the first satellite j,

and removing double-difference tropospheric delays of the ith second satellite relative to each main baseline of the first satellite j, which are acquired by carrier phase observation of the ith co-view satellite relative to a main reference station of the first satellite j after the operation.

The double difference of the main baseline delays the troposphere,

。

is an integer greater than 0 and less than or equal to N.

Representing a obtained carrier phase observations of the ith second satellite relative to the primary reference station of the first satellite j

Double differential troposphere of main baselineAnd (4) delaying.

In step S1350, weight information is set.

In the embodiment of the present disclosure, for the target double-differenced atmosphere delay after the culling operation, the weight information may be as follows.

（29）

（30）

（31）

In step S1360, an ionospheric position gradient value and an ionospheric second-order influence parameter of the target regional reference station grid double-difference ionospheric delay with respect to the position are calculated based on weighted least squares.

Step S1360 in the embodiment of the present disclosure may take steps similar to those of the embodiment of fig. 5. Further, the relative position information based on equation (27) may be adjusted by equation (3) as follows:

（32）

wherein the content of the first and second substances,

。

the following equations (33) and (34) can be adjusted based on equations (8) and (9) of equation (27), respectively.

（33）

（34）

Meanwhile, the calculation manner of the ionospheric position gradient value and the ionospheric second-order influence parameter based on equation (27) can be adjusted by equation (10) as follows:

（35）

in step S1370, a troposphere position gradient value and a troposphere second-order influence parameter of the target area reference station network double difference troposphere delay with respect to position are calculated based on the weighted least squares.

Step S1370 in the embodiment of the present disclosure may take similar steps as the embodiment of fig. 6.

The relative position information based on equation (28) may be adjusted by equation (12) as follows:

（36）

wherein the content of the first and second substances,

。

the following equations (37) and (38) can be adjusted based on equations (13) and (14) of equation (28), respectively.

（37）

（38）

Further, the manner of calculating the tropospheric position gradient values and tropospheric second-order influence parameters based on equation (28) can be adjusted by equation (15) as follows.

（39）

According to the equipment positioning method, the reasonable weighting of each main base line is carried out according to the double-difference residual error obtained by real-time solution of the target base station in the target area base station network through RTK and the geometric distance between each target base station and the main reference station, the influence of the elevation direction and the atmospheric layer delay second-order change on the area error modeling is considered, and the accuracy and the reliability of the observation data of the virtual reference station can be improved. The observation data of the virtual reference station generated by the method can be used for differential data broadcasting of the CORS system, and therefore high-precision differential positioning service of the CORS system is optimized.

The following describes embodiments of the apparatus of the present disclosure, which may be used to perform the above-mentioned device positioning method of the present disclosure. For details not disclosed in the embodiments of the apparatus of the present disclosure, refer to the embodiments of the apparatus positioning method described above in the present disclosure.

Referring to fig. 15, an apparatus positioning device 1500 according to an embodiment of the present disclosure may include: a reference station network determination module 1510, a co-view satellite determination module 1520, a network solution module 1530, an error parameter determination module 1540, an observation data generation module 1550, and a target device location module 1560.

The reference station network determining module 1510 may be configured to determine a target area reference station network according to an initial position of a target device, where the target area reference station network includes N +1 reference stations, where the N +1 reference stations include a main reference station and N target reference stations, where N main reference lines are formed between the main reference station and each target reference station, and N is a positive integer greater than or equal to 2.

The common-view satellite determining module 1520 may be configured to obtain m common-view satellites of the target area reference station network, where m is a positive integer, and the m common-view satellites include 1 first satellite and m-1 second satellites of the first satellite.

The network solution module 1530 may be configured to determine a target double difference atmospheric delay and a double difference residual for each second satellite relative to the primary baseline of the first satellite from observations of the m-1 second satellites relative to the primary reference station of the first satellite.

The error parameter determination module 1540 may be configured to determine the atmosphere position gradient value and the atmosphere second-order influence parameter between the target regional reference station network and the m co-view satellites according to the target double-differenced atmosphere delay and the double-differenced residual for each second satellite with respect to the respective main baselines of the first satellite.

The observation data generating module 1550 may be configured to generate observation data of the virtual reference station according to the atmosphere position gradient value and the atmosphere second-order influence parameter.

The target device location module 1560 may be configured to send the virtual reference station observations to the target device so that the target device generates location information for the target device from the virtual reference station observations.

According to the equipment positioning device provided by the embodiment of the disclosure, after the target double-difference atmospheric layer delay and the double-difference residual error of each main base line of the first satellite are obtained through calculation, the atmospheric layer position gradient value capable of representing the elevation direction and the atmospheric layer second-order influence parameter capable of representing the atmospheric layer delay second-order change influence are obtained by using the target double-difference atmospheric layer delay and the double-difference residual error of each second satellite relative to each main base line of the first satellite, and the observation data of the virtual reference station are generated based on the atmospheric layer position gradient value and the atmospheric layer second-order influence parameter. Particularly, when the positioning service is faced to a mountainous area or an active atmosphere area, the accuracy of the observation data of the virtual reference station can be effectively improved, and the high-accuracy positioning of the target equipment is realized.

In an exemplary embodiment, the target double-differenced atmospheric delay may comprise a double-differenced ionospheric delay, the atmospheric-position gradient values may comprise ionospheric-position gradient values, and the atmospheric second-order influence parameters may comprise ionospheric second-order influence parameters. The error parameter determination module 1540 may include: a relative position information unit configured to obtain relative position information between each target reference station and the main reference station based on the coordinate information of each target reference station and the coordinate information of the main reference station; a weight information unit configurable to obtain weight information based on the double difference residuals and geometric distances between each target reference station and the master reference station; a first error parameter determination unit configured to obtain the ionospheric position gradient value and the ionospheric second-order influence parameter according to the relative position information, the weight information, and the double-difference ionospheric delay.

In an exemplary embodiment, the target double-differenced atmospheric delay may comprise a double-differenced tropospheric delay, the atmospheric position gradient value may comprise a tropospheric position gradient value, and the atmospheric second-order influence parameter may comprise a tropospheric second-order influence parameter; the error parameter determination module 1540 may include: a relative position information unit configured to obtain relative position information between each target reference station and the main reference station based on the coordinate information of each target reference station and the coordinate information of the main reference station; a weight information unit configurable to obtain weight information based on the double difference residuals and geometric distances between each target reference station and the master reference station; a second error parameter determining unit configured to obtain the troposphere position gradient value and the troposphere second-order influence parameter according to the relative position information, the weight information, and the double-difference troposphere delay.

In an exemplary embodiment, the relative position information unit may include: the geocentric coordinate subunit can be configured to acquire geocentric coordinate information of each target reference station and geocentric coordinate information of the main reference station; a transformation matrix subunit configurable to obtain a transformation matrix from a geocentric coordinate system of the master reference station to a geocentric coordinate system; the relative coordinate parameter subunit is configured to determine a relative coordinate parameter of each target reference station according to geocentric coordinate information of each target reference station and geocentric coordinate information of the main reference station; and the relative position information subunit can be configured to determine the relative position information between each target reference station and the main reference station according to the relative coordinate parameter of each target reference station, the geocentric coordinate information of the main reference station and the conversion matrix.

In an exemplary embodiment, the atmospheric position gradient values may include an ionospheric position gradient value and a tropospheric position gradient value, and the atmospheric second-order influence parameters may include an ionospheric second-order influence parameter and a tropospheric second-order influence parameter; the observation data generating module 1550 may include: the ionized layer delay unit can be configured to obtain double-difference ionized layer delay of the virtual reference station according to the ionized layer position gradient value and the ionized layer second-order influence parameter; a troposphere delay unit configurable to obtain a double-difference troposphere delay of the virtual reference station from the troposphere position gradient value and the troposphere second order impact parameter; an observation acquisition unit configurable to obtain observations of m-1 second satellites relative to a primary reference station of a first satellite; an observation data generating unit may be configured to determine the observation data of the virtual reference station based on a double differential ionospheric delay of the virtual reference station, a double differential tropospheric delay of the virtual reference station and an observation of the m-1 second satellites with respect to a master reference station of a first satellite.

In an exemplary embodiment, the ionospheric delay unit may include: a coordinate information determination subunit configurable to determine coordinate information of the virtual reference station according to an initial position of the target device; a relative coordinate parameter subunit configurable to determine a relative coordinate parameter of the virtual reference station from the coordinate information of the virtual reference station and the coordinate information of the master reference station; the ionosphere delay subunit can be configured to determine the double-difference ionosphere delay of the virtual reference station according to the ionosphere position gradient value, the ionosphere second-order influence parameter, the coordinate information of the virtual reference station, the coordinate information of the main reference station and the coordinate parameter of the virtual reference station.

In an exemplary embodiment, the tropospheric delay unit may comprise: a coordinate information determination subunit configurable to determine coordinate information of the virtual reference station according to an initial position of the target device; a relative coordinate parameter subunit configurable to determine a relative coordinate parameter of the virtual reference station from the coordinate information of the virtual reference station and the coordinate information of the master reference station; a tropospheric delay subunit configurable to determine a double-difference tropospheric delay for the virtual reference station from the tropospheric position gradient value, the tropospheric second-order impact parameter, the coordinate information of the virtual reference station, the coordinate information of the main reference station and the coordinate parameter of the virtual reference station.

In an exemplary embodiment, N adjacent baselines may be formed between adjacent target reference stations; among other things, the network solution module 1530 may include: an initial double-differenced atmospheric delay unit configurable to determine an initial double-differenced atmospheric delay for each second satellite relative to a respective primary baseline of the first satellite based on observations of m-1 second satellites relative to a primary reference station of the first satellite; a double-difference ambiguity unit configurable to determine a double-difference ambiguity of each second satellite relative to a respective primary baseline of the first satellite and a double-difference ambiguity of respective adjacent baselines based on observations of m-1 second satellites relative to a primary reference station of the first satellite; the counting vector unit can be configured to determine a counting vector according to the double-difference ambiguity of each second satellite relative to each main baseline of the first satellite and the double-difference ambiguity of each adjacent baseline, wherein the counting vector comprises N counting indexes; an abnormal value determination unit configured to determine that an initial double difference atmospheric delay of an nth main baseline among initial double difference atmospheric delays of each second satellite with respect to respective main baselines of the first satellite is an abnormal value if a target value of an nth count index in the count vector is greater than a count threshold, N being a positive integer greater than or equal to 1 and less than or equal to N; the target double difference atmosphere delay unit may be configured to take the initial double difference atmosphere delay after the outlier is eliminated as the target double difference atmosphere delay.

In an exemplary embodiment, the master reference station and the N target reference stations form N +1 reference stations; wherein, the count vector unit may include: a count index initial value subunit configurable to determine initial values of N count indexes in the count vector; a first increment operation subunit, configured to perform increment operation on a q-th count index and a q + 1-th count index if a difference between a double-difference ambiguity of each second satellite with respect to a q-th main baseline of the first satellite and a double-difference ambiguity of a q + 1-th main baseline is not equal to a double-difference ambiguity of an adjacent baseline between the q-th reference station and the q + 1-th reference station, q being a positive integer greater than or equal to 1 and less than N; the second increment operation subunit may be configured to perform increment operation on the nth count index and the 1 st count index if a difference between a double-difference ambiguity of each second satellite with respect to an nth main baseline of the first satellite and a double-difference ambiguity of the 1 st main baseline is not equal to a double-difference ambiguity of an adjacent baseline between the nth reference station and the 1 st reference station; and the counting vector target value determining subunit can be configured to determine the target values of the N counting indexes according to the increment operation result.

In an exemplary embodiment, the device positioning apparatus 1500 may further include: the coordinate information acquisition module is configured to acquire coordinate information of N +1 reference stations in the target area reference station network; the spatial bipartite tree generation module can be configured to divide the N +1 reference stations into spatial bipartite trees according to the coordinate information of the N +1 reference stations; and the main reference station determining module can be configured to search the spatial treelet according to the initial position of the target device, obtain a reference station with a distance matching with the initial position of the target device, and determine the reference station as the main reference station.

In an exemplary embodiment, the reference station network determination module 1510 may include at least one of the following elements: a first reference station networking unit, configured to determine, as a reference station in the target area reference station network, an alternative reference station having a signal strength with the target device greater than a signal strength threshold; a second reference station networking unit, configured to determine an alternative reference station with a center position coinciding with the initial position of the target device as a reference station in the target area reference station network; a third reference station networking unit, configured to determine, as a reference station in the target area network of reference stations, an alternative reference station whose distance from the initial position of the target device is smaller than a distance threshold.

FIG. 16 shows a schematic diagram of an electronic device suitable for use in implementing embodiments of the present disclosure. It should be noted that the electronic device 1600 shown in fig. 16 is only an example, and should not bring any limitation to the functions and the scope of the application of the embodiments of the present disclosure.

As shown in fig. 16, the electronic apparatus 1600 includes a Central Processing Unit (CPU) 1601 that can perform various appropriate actions and processes in accordance with a program stored in a Read Only Memory (ROM) 1602 or a program loaded from a storage portion 1608 into a Random Access Memory (RAM) 1603. In the RAM 1603, various programs and data necessary for system operation are also stored. The CPU 1601, ROM 1602, and RAM 1603 are connected to each other via a bus 1604. An input/output (I/O) interface 1605 is also connected to the bus 1604.

The following components are connected to the I/O interface 1605: an input portion 1606 including a keyboard, a mouse, and the like; an output portion 1607 including a display device such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and a speaker; a storage portion 1608 including a hard disk and the like; and a communication section 1609 including a network interface card such as a LAN card, a modem, or the like. The communication section 1609 performs communication processing via a network such as the internet. The driver 1610 is also connected to the I/O interface 1605 as needed. A removable medium 1611 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 1610 as necessary, so that a computer program read out therefrom is mounted in the storage portion 1608 as necessary.

In particular, the processes described below with reference to the flowcharts may be implemented as computer software programs, according to embodiments of the present disclosure. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In such embodiments, the computer program may be downloaded and installed from a network via the communication portion 1609, and/or installed from the removable media 1611. When the computer program is executed by a Central Processing Unit (CPU) 1601, various functions defined in the system of the present application are executed.

It should be noted that the computer readable media shown in the present disclosure may be computer readable signal media or computer readable storage media or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having at least one wire, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In contrast, in the present disclosure, a computer-readable signal medium may include a propagated data signal with computer-readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises at least one executable instruction for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The modules and/or units and/or sub-units described in the embodiments of the present disclosure may be implemented by software, or may be implemented by hardware, and the described modules and/or units and/or sub-units may also be disposed in a processor. Wherein the names of such modules and/or units and/or sub-units in some cases do not constitute a limitation on the modules and/or units and/or sub-units themselves.

As another aspect, the present application also provides a computer-readable medium, which may be contained in the electronic device described in the above embodiments; or may exist separately without being assembled into the electronic device. The computer readable medium carries one or more programs which, when executed by an electronic device, cause the electronic device to implement the method as described in the embodiments below. For example, the electronic device may implement the steps shown in fig. 2, 5, 6, 7, 8, 10, 11, 12, or 13.

It should be noted that although in the above detailed description several modules or units or sub-units of the device for action execution are mentioned, such a division is not mandatory. Indeed, the features and functions of two or more modules or units or sub-units described above may be embodied in one module or unit or sub-unit, according to embodiments of the present disclosure. Conversely, the features and functions of one module or unit described above may be further divided into embodiments by a plurality of modules or units or sub-units.

Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein may be implemented by software, or by software in combination with necessary hardware. Therefore, the technical solution according to the embodiments of the present disclosure may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (which may be a CD-ROM, a usb disk, a removable hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which may be a personal computer, a server, a touch terminal, or a network device, etc.) to execute the method according to the embodiments of the present disclosure.

Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A method for locating a device, comprising:

determining a target area reference station network according to an initial position of target equipment, wherein the target area reference station network comprises N +1 reference stations, the N +1 reference stations comprise a main reference station and N target reference stations, N main base lines are formed between the main reference station and each target reference station, and N is a positive integer greater than or equal to 2;

acquiring m common-view satellites of the target area reference station network, wherein m is a positive integer, and the m common-view satellites comprise 1 first satellite and m-1 second satellites;

determining a target double-differenced atmospheric delay and a double-differenced residual error of each of the second satellites relative to a respective primary baseline of the first satellite from observations of the m-1 second satellites relative to the primary reference station of the first satellite;

determining an atmosphere position gradient value and an atmosphere second-order influence parameter between the target area reference station network and the m co-view satellites according to the target double-difference atmosphere delay and the double-difference residual error of each second satellite relative to each main base line of the first satellite;

generating observation data of a virtual reference station according to the atmospheric layer position gradient value and the atmospheric layer second-order influence parameter;

sending the observation data of the virtual reference station to the target equipment so that the target equipment can generate the position information of the target equipment according to the observation data of the virtual reference station;

n adjacent baselines are formed between adjacent target reference stations; the determining a target double differential atmospheric delay for each of the second satellites relative to a respective primary baseline of the first satellite from observations of the m-1 second satellites relative to the primary reference station of the first satellite, comprising:

determining an initial double-differenced atmospheric delay for each of the second satellites relative to a respective primary baseline of the first satellite from observations of the m-1 second satellites relative to the primary reference station of the first satellite;

determining double-difference ambiguities of each of the second satellites with respect to respective primary baselines of the first satellite and double-difference ambiguities of respective adjacent baselines from observations of the m-1 second satellites with respect to the primary reference station of the first satellite;

determining a counting vector according to the double-difference ambiguity of each second satellite relative to each main baseline of the first satellite and the double-difference ambiguity of each adjacent baseline, wherein the counting vector comprises N counting indexes;

if the target value of the nth counting index in the counting vector is greater than the counting threshold value, determining that the initial double difference atmosphere delay of the nth main baseline in the initial double difference atmosphere delay of each second satellite relative to each main baseline of the first satellite is an abnormal value, wherein N is a positive integer greater than or equal to 1 and less than or equal to N;

and taking the initial double-difference atmosphere delay after the abnormal value is removed as the target double-difference atmosphere delay.

2. The method of claim 1, wherein said target double-differenced atmospheric delay comprises a double-differenced ionospheric delay, said atmospheric-position gradient values comprise ionospheric-position gradient values, and said atmospheric second-order influence parameters comprise ionospheric second-order influence parameters;

wherein, according to the target double-difference atmospheric delay and the double-difference residual error of each second satellite relative to each main baseline of the first satellite, determining an atmospheric position gradient value and an atmospheric second-order influence parameter between the target regional reference station network and the m co-view satellites comprises:

obtaining relative position information between each target reference station and the main reference station according to the coordinate information of each target reference station and the coordinate information of the main reference station;

obtaining weight information according to the double-difference residual error and the geometric distance between each target reference station and the main reference station;

and obtaining the ionosphere position gradient value and the ionosphere second-order influence parameter according to the relative position information, the weight information and the double-difference ionosphere delay.

3. The method of claim 1, wherein the target double-differenced atmospheric delay comprises a double-differenced tropospheric delay, the atmospheric position gradient values comprise tropospheric position gradient values, and the atmospheric second-order influence parameters comprise tropospheric second-order influence parameters;

and obtaining the troposphere position gradient value and the troposphere second-order influence parameter according to the relative position information, the weight information and the double-difference troposphere delay.

4. A method according to claim 2 or 3, wherein obtaining relative position information between each target reference station and the main reference station based on the coordinate information of each target reference station and the coordinate information of the main reference station comprises:

acquiring geocentric coordinate information of each target reference station and geocentric coordinate information of the main reference station;

obtaining a transformation matrix from the geocentric coordinate system of the main reference station to the station-centric coordinate system;

determining relative coordinate parameters of each target reference station according to geocentric coordinate information of each target reference station and geocentric coordinate information of the main reference station;

and determining the relative position information between each target reference station and the main reference station according to the relative coordinate parameters of each target reference station, the geocentric coordinate information of the main reference station and the conversion matrix.

5. The method of claim 1, wherein the atmospheric position gradient values comprise ionospheric position gradient values and tropospheric position gradient values, and the atmospheric second-order influence parameters comprise ionospheric second-order influence parameters and tropospheric second-order influence parameters;

wherein, generating observation data of the virtual reference station according to the atmospheric layer position gradient value and the atmospheric layer second-order influence parameter comprises:

obtaining double-difference ionospheric delay of the virtual reference station according to the ionospheric position gradient value and the ionospheric second-order influence parameter;

obtaining double-difference troposphere delay of the virtual reference station according to the troposphere position gradient value and the troposphere second-order influence parameter;

obtaining observations of m-1 second satellites relative to the primary reference station of the first satellite;

determining the observation data of the virtual reference station from a double-differenced ionospheric delay of the virtual reference station, a double-differenced tropospheric delay of the virtual reference station, and an observation of the m-1 second satellites relative to the master reference station of the first satellite.

6. The method of claim 5, wherein obtaining the double-differenced ionospheric delay for the virtual reference station based on the ionospheric position gradient values and the ionospheric second-order impact parameters comprises:

determining coordinate information of the virtual reference station according to the initial position of the target device;

determining relative coordinate parameters of the virtual reference stations according to the coordinate information of the virtual reference stations and the coordinate information of the main reference station;

and determining the double-difference ionospheric delay of the virtual reference station according to the ionospheric position gradient value, the ionospheric second-order influence parameter, the coordinate information of the virtual reference station, the coordinate information of the main reference station and the relative coordinate parameter of the virtual reference station.

7. The method of claim 5, wherein obtaining the double-differenced tropospheric delay for the virtual reference station from the tropospheric position gradient values and the tropospheric second-order influence parameters comprises:

and determining the double-difference troposphere delay of the virtual reference station according to the troposphere position gradient value, the troposphere second-order influence parameter, the coordinate information of the virtual reference station, the coordinate information of the main reference station and the relative coordinate parameter of the virtual reference station.

8. The method of claim 1, wherein determining a count vector based on double-difference ambiguities of each second satellite relative to each primary baseline of the first satellite and double-difference ambiguities of each neighboring baseline comprises:

determining initial values of N counting indexes in the counting vector;

if the difference value of the double-difference ambiguity of each second satellite relative to the q-th main base line of the first satellite and the double-difference ambiguity of the q + 1-th main base line is not equal to the double-difference ambiguity of the adjacent base line between the q-th reference station and the q + 1-th reference station, performing increment operation on the q-th counting index and the q + 1-th counting index, wherein q is a positive integer which is greater than or equal to 1 and less than N;

if the difference value of the double-difference ambiguity of each second satellite relative to the Nth main base line of the first satellite and the double-difference ambiguity of the 1 st main base line is not equal to the double-difference ambiguity of the adjacent base line between the Nth reference station and the 1 st reference station, performing incremental operation on the Nth counting index and the 1 st counting index;

and determining target values of the N counting indexes according to the increment operation result.

9. The method of claim 1, further comprising:

acquiring coordinate information of N +1 reference stations in the target area reference station network;

dividing the N +1 reference stations into spatial binary trees according to the coordinate information of the N +1 reference stations;

and searching the spatial bipartite tree according to the initial position of the target equipment to obtain a reference station which is matched with the initial position distance of the target equipment, and determining the reference station as the main reference station.

10. The method of claim 1, wherein determining a target area network of reference stations based on the initial location of the target device comprises at least one of:

determining the candidate reference station with the signal strength greater than the signal strength threshold value with the target device as the reference station in the target area reference station network;

determining an alternative reference station with the center position coincident with the initial position of the target equipment as a reference station in the target area reference station network;

and determining the candidate reference station with the distance from the initial position of the target equipment smaller than the distance threshold value as the reference station in the target area reference station network.

11. An apparatus positioning device, comprising:

the base station network determining module is configured to determine a target area base station network according to an initial position of target equipment, the target area base station network comprises N +1 base stations, the N +1 base stations comprise a main reference station and N target base stations, N main base lines are formed between the main reference station and each target base station, and N is a positive integer greater than or equal to 2;

a common-view satellite determining module configured to acquire m common-view satellites of the target area reference station network, where m is a positive integer, and the m common-view satellites include 1 first satellite and m-1 second satellites;

a network solution module configured to determine a target double-difference atmospheric delay and a double-difference residual for each of the second satellites relative to a respective primary baseline of the first satellite from the primary reference station observations of the m-1 second satellites relative to the first satellite;

an error parameter determination module configured to determine an atmosphere position gradient value and an atmosphere second-order influence parameter between the target area reference station network and the m co-view satellites according to the target double-difference atmosphere delay and the double-difference residual error of each second satellite relative to each main baseline of the first satellite;

the observation data generation module is configured to generate observation data of the virtual reference station according to the atmosphere position gradient value and the atmosphere second-order influence parameter;

the target equipment positioning module is configured to send the observation data of the virtual reference station to the target equipment so that the target equipment can generate the position information of the target equipment according to the observation data of the virtual reference station;

n adjacent baselines are formed between adjacent target reference stations; the network resolving module comprises: an initial double-differenced atmospheric delay unit configured to determine an initial double-differenced atmospheric delay for each second satellite relative to a respective primary baseline of the first satellite from observations of the m-1 second satellites relative to the primary reference station of the first satellite; a double-difference ambiguity unit configured to determine a double-difference ambiguity of each second satellite with respect to a respective primary baseline of the first satellite and a double-difference ambiguity of respective adjacent baselines based on observations of the m-1 second satellites with respect to the primary reference station of the first satellite; the counting vector unit is configured to determine a counting vector according to the double-difference ambiguity of each second satellite relative to each main baseline of the first satellite and the double-difference ambiguity of each adjacent baseline, and the counting vector comprises N counting indexes; an abnormal value determination unit configured to determine that an initial double difference atmosphere delay of an nth main baseline in initial double difference atmosphere delays of each second satellite with respect to respective main baselines of the first satellite is an abnormal value if a target value of an nth count index in the count vector is greater than a count threshold, N being a positive integer greater than or equal to 1 and less than or equal to N; and the target double-difference atmosphere delay unit is configured to take the initial double-difference atmosphere delay after the abnormal value is removed as the target double-difference atmosphere delay.

12. The apparatus of claim 11, wherein the target double-differenced atmospheric delay comprises a double-differenced ionospheric delay, the atmospheric position gradient values comprise ionospheric position gradient values, and the atmospheric second-order influence parameters comprise ionospheric second-order influence parameters; wherein the error parameter determination module comprises:

a relative position information unit configured to obtain relative position information between each target reference station and the main reference station according to the coordinate information of each target reference station and the coordinate information of the main reference station;

a weight information unit configured to obtain weight information according to the double-difference residual and the geometric distance between each target base station and the main reference station;

and the first error parameter determination unit is configured to obtain an ionospheric position gradient value and an ionospheric second-order influence parameter according to the relative position information, the weight information and the double-difference ionospheric delay.

13. The apparatus of claim 11, wherein the target double-differenced atmospheric delay comprises a double-differenced tropospheric delay, the atmospheric position gradient value comprises a tropospheric position gradient value, and the atmospheric second-order influence parameter comprises a tropospheric second-order influence parameter; wherein the error parameter determination module comprises:

and the second error parameter determination unit is configured to obtain a troposphere position gradient value and a troposphere second-order influence parameter according to the relative position information, the weight information and the double-difference troposphere delay.

14. The apparatus of claim 12 or 13, wherein the relative position information unit comprises:

the geocentric coordinate subunit is configured to acquire geocentric coordinate information of each target base station and geocentric coordinate information of the main reference station;

a transformation matrix subunit configured to obtain a transformation matrix from the geocentric coordinate system of the main reference station to the station-centric coordinate system;

the relative coordinate parameter subunit is configured to determine a relative coordinate parameter of each target reference station according to the geocentric coordinate information of each target reference station and the geocentric coordinate information of the main reference station;

and the relative position information subunit is configured to determine the relative position information between each target reference station and the main reference station according to the relative coordinate parameter of each target reference station, the geocentric coordinate information of the main reference station and the conversion matrix.

15. The apparatus of claim 11, wherein the atmospheric position gradient values comprise ionospheric position gradient values and tropospheric position gradient values, and the atmospheric second-order influence parameters comprise ionospheric second-order influence parameters and tropospheric second-order influence parameters; wherein the observation data generation module comprises:

the ionosphere delay unit is configured to obtain double-difference ionosphere delay of the virtual reference station according to the ionosphere position gradient value and the ionosphere second-order influence parameter;

the troposphere delay unit is configured to obtain double-difference troposphere delay of the virtual reference station according to the troposphere position gradient value and the troposphere second-order influence parameter;

an observation acquisition unit configured to obtain the primary reference station observations of m-1 second satellites relative to the first satellite;

an observation data generating unit configured to determine observation data of a virtual reference station according to a double difference ionospheric delay of the virtual reference station, a double difference tropospheric delay of the virtual reference station and an observation amount of the m-1 second satellites with respect to the main reference station of the first satellite.

16. The apparatus of claim 15, wherein the ionospheric delay unit comprises:

a coordinate information determination subunit configured to determine coordinate information of the virtual reference station according to an initial position of the target device;

a relative coordinate parameter subunit configured to determine a relative coordinate parameter of the virtual reference station according to the coordinate information of the virtual reference station and the coordinate information of the main reference station;

and the ionosphere delay subunit is configured to determine the double-difference ionosphere delay of the virtual reference station according to the ionosphere position gradient value, the ionosphere second-order influence parameter, the coordinate information of the virtual reference station, the coordinate information of the main reference station and the relative coordinate parameter of the virtual reference station.

17. The apparatus of claim 15, wherein the tropospheric delay unit comprises:

and the troposphere delay subunit is configured to determine the double-difference troposphere delay of the virtual reference station according to the troposphere position gradient value, the troposphere second-order influence parameter, the coordinate information of the virtual reference station, the coordinate information of the main reference station and the relative coordinate parameter of the virtual reference station.

18. The apparatus of claim 11, wherein the count vector unit comprises:

a count index initial value subunit configured to determine initial values of N count indexes in the count vector;

a first increment operation subunit, configured to perform increment operation on the q-th count index and the q + 1-th count index if a difference between a double-difference ambiguity of each second satellite with respect to a q-th main baseline of the first satellite and a double-difference ambiguity of a q + 1-th main baseline is not equal to a double-difference ambiguity of an adjacent baseline between the q-th reference station and the q + 1-th reference station, q being a positive integer greater than or equal to 1 and less than N;

the second increment operation subunit is configured to perform increment operation on the Nth counting index and the 1 st counting index if the difference value between the double-difference ambiguity of each second satellite relative to the Nth main base line of the first satellite and the double-difference ambiguity of the 1 st main base line is not equal to the double-difference ambiguity of the adjacent base line between the Nth reference station and the 1 st reference station;

and the counting vector target value determining subunit is configured to determine target values of the N counting indexes according to the increment operation result.

19. The apparatus of claim 11, wherein the apparatus further comprises:

the coordinate information acquisition module is configured to acquire coordinate information of N +1 reference stations in a target area reference station network;

the spatial bipartite tree generation module is configured to divide the N +1 reference stations into spatial bipartite trees according to the coordinate information of the N +1 reference stations;

and the main reference station determining module is configured to search the spatial treelet according to the initial position of the target device, obtain a reference station which is matched with the initial position distance of the target device, and determine the reference station as the main reference station.

20. The apparatus of claim 11, wherein the reference station network determination module comprises at least one of:

the first reference station networking unit is configured to determine an alternative reference station with signal strength larger than a signal strength threshold value between the first reference station and the target device as a reference station in a target area reference station network;

the second reference station networking unit is configured to determine an alternative reference station with the center position coinciding with the initial position of the target device as a reference station in the target area reference station network;

and the third reference station networking unit is configured to determine the candidate reference stations with the distance to the initial position of the target equipment smaller than the distance threshold value as the reference stations in the target area reference station network.

21. An electronic device, comprising:

at least one processor;

storage means for storing at least one program;

when executed by the at least one processor, cause the at least one processor to implement the method of any one of claims 1-10.

22. A computer-readable medium, on which a computer program is stored, which program, when being executed by a processor, carries out the method according to any one of claims 1-10.