CN117202342B - Regional reference station network RTK positioning service evaluation method and device based on PPK - Google Patents
Regional reference station network RTK positioning service evaluation method and device based on PPK Download PDFInfo
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Abstract
The invention provides a regional reference station network RTK positioning service evaluation method and device based on a PPK, which can well evaluate the network RTK positioning service quality by calculating a regional service quality index so as to determine the quality of the network RTK positioning service.
Description
Technical Field
The invention relates to the technical field of computers, in particular to a regional reference station network RTK positioning service evaluation method and device based on a PPK.
Background
The network RTK positioning technology is also called as a multi-reference station RTK positioning technology, integrates the technologies of computer network, database, wireless communication, GNSS positioning and the like, and utilizes a reference station network, a data processing center (control center), a data communication line and the like to broadcast differential correction data (such as differential data in RTCM format) to users (mobile stations).
PPK (Post Processed Kinematic) is a post-processing differential technology for obtaining centimeter-level positioning precision information, and compared with RTK (RTK Real time kinematic) real-time differential positioning, the PPK can record data of a mobile station end and a reference station end respectively for post-processing differential, so that the post-processing differential technology is not limited by the requirements of a communication link and real-time property between the reference station and the mobile station.
However, at present, there is no scheme capable of well evaluating the network RTK positioning service quality, and the quality of the network RTK positioning service quality cannot be known.
Disclosure of Invention
The present invention aims to provide a method and apparatus for evaluating a PPK-based regional reference station network RTK location service that overcomes or at least partially solves the above-mentioned problems.
In order to achieve the above purpose, the technical scheme of the invention is specifically realized as follows:
the invention provides a regional reference station network RTK positioning service evaluation method based on PPK, which comprises the following steps:
determining an area to be evaluated, and acquiring N grid points according to a preset longitude and latitude interval, wherein each grid point comprises a corresponding longitude and latitude and an elevation;
according to longitude, latitude and elevation information of each lattice point, encoding the lattice point into a GPGGA format under an NMEA0183 data format, and simultaneously requesting data service from the first network RTK service at preset intervals through an Ntrip2.0 communication protocol for preset time; receiving data returned by a request, wherein the data returned by the request is differential correction data broadcast by the first network RTK service, encoding the data in an RTCM data format, receiving and storing the data returned by the request, and converting the data into a text file in a Rinex3.04 format; switching the accessed service source into a second network RTK service and a third network RTK service to execute the operations;
reading the stored file content, and judging according to a preset rule according to the format description of Rinex3.04 to obtain the average satellite number condition, satellite frequency point condition and epoch missing condition in each grid point file;
PPK (Power Point-to-Point) calculation is carried out by taking data of the first network RTK service as a reference station, taking data of the second network RTK service and data of the third network RTK service as mobile stations, obtaining longitude and latitude and elevation values of each grid point under each epoch, and then taking unified values as a reference stationConverting the parameters into plane coordinates, and respectively calculating the north standard deviation x of the plane coordinates i And east standard deviation y i Calculating the internal coincidence precision P of each lattice point i ；
Calculating the quality of service index I of a single lattice point i ；
And calculating the regional service quality index Q.
Wherein:
the average satellite number is obtained by the following steps:
average satellite number S of any one of the lattice points i Calculated by the following formula:
wherein n is an integer representing the total number of theoretical time epochs of the stored file; s is(s) j The total number of satellites actually stored in each epoch time file is calculated; if f (S) i ) < 37, S i =0, otherwise S i ＝100；
The satellite frequency point condition is obtained by the following steps:
judging whether the following frequency points are missing
BDS:C2I、L2I、C1P、L1P、C7I、L7I、C5P、L5P、C6I、L6I；
GPS:C1C、L1C、C2W、L2W、C5Q、L5Q；
GLO:C1C、C2P；
GAL:C1C、L1C、C7Q、L7Q、C5Q、L5Q；
Satellite frequency point F of any lattice point i Calculated by the following formula:
wherein n is an integer representing the total number of theoretical time epochs of the stored file; f (f) j The number of the frequency points in each epoch time file is the number of the frequency points; if F (F) i ) < 20, then F i =0, otherwise F i ＝100；
The epoch missing situation is obtained by the following steps:
effective epoch Rate E i Calculated by the following formula:
wherein n is an integer representing the total number of theoretical time epochs of the stored file; e, e i The total number of the epochs actually stored in the file is calculated; if f (E) i ) Less than or equal to 5%, E i =0, otherwise E i ＝100。
Wherein:
the internal coincidence precision P of each lattice point is calculated i Comprising the following steps:
the internal coincidence precision P of each lattice point is calculated by the following formula i ：
If f (P) i ) > 5cm, P i =0, otherwise P i ＝100。
Wherein:
said calculating the quality of service index I of a single lattice point i Comprising the following steps:
calculating the quality of service index I of the single lattice point by the following formula i ：
Wherein:
the calculating the area quality of service index Q includes:
the regional quality of service index Q is calculated using the following formula:
another aspect of the present invention provides a PPK-based regional reference station network RTK location service assessment apparatus, including:
the acquisition module is used for determining an area to be evaluated, and acquiring N grid points according to the preset longitude and latitude intervals, wherein each grid point comprises corresponding longitude and latitude and elevation;
the data request module is used for encoding the data into a GPGGA format under an NMEA0183 data format according to the longitude and latitude and elevation information of each grid point, and simultaneously requesting data service from the first network RTK service at preset intervals through an Ntrip2.0 communication protocol for preset time; receiving data returned by a request, wherein the data returned by the request is differential correction data broadcast by the first network RTK service, encoding the data in an RTCM data format, receiving and storing the data returned by the request, and converting the data into a text file in a Rinex3.04 format; switching the accessed service source into a second network RTK service and a third network RTK service to execute the operations;
the judging module is used for reading the stored file content, judging according to a preset rule according to the format description of Rinex3.04, and obtaining the average satellite number condition, the satellite frequency point condition and the epoch missing condition in each grid point file;
the calculation module is used for carrying out PPK calculation by taking the data of the first network RTK service as a reference station and the data of the second network RTK service and the data of the third network RTK service as mobile stations to obtain longitude, latitude and elevation values of each grid point under each epoch, converting the longitude, latitude and elevation values into plane coordinates by uniform conversion parameters, and respectively calculating north standard deviation x of the plane coordinates i And east standard deviation y i Calculating the internal coincidence precision P of each lattice point i The method comprises the steps of carrying out a first treatment on the surface of the Calculating the quality of service index I of a single lattice point i The method comprises the steps of carrying out a first treatment on the surface of the And calculating the regional service quality index Q.
Wherein:
the judging module is specifically configured to obtain the average satellite number condition by:
any one of the gridsAverage satellite number S of net points i Calculated by the following formula:
wherein n is an integer representing the total number of theoretical time epochs of the stored file; s is(s) j The total number of satellites actually stored in each epoch time file is calculated; if f (S) i ) < 37, S i =0, otherwise S i ＝100；
The judging module is specifically configured to obtain the satellite frequency point situation by:
judging whether the following frequency points are missing
BDS:C2I、L2I、C1P、L1P、C7I、L7I、C5P、L5P、C6I、L6I；
GPS:C1C、L1C、C2W、L2W、C5Q、L5Q；
GLO:C1C、C2P；
GAL:C1C、L1C、C7Q、L7Q、C5Q、L5Q；
Satellite frequency point F of any lattice point i Calculated by the following formula:
wherein n is an integer representing the total number of theoretical time epochs of the stored file; f (f) j The number of the frequency points in each epoch time file is the number of the frequency points; if F (F) i ) < 20, then F i =0, otherwise F i ＝100；
The judging module is specifically configured to obtain the epoch missing situation by:
effective epoch Rate E i Calculated by the following formula:
wherein n is an integer representing the total number of theoretical time epochs of the stored file; e, e i The total number of the epochs actually stored in the file is calculated; if f (E) i ) Less than or equal to 5%, E i =0, otherwise E i ＝100。
Wherein:
the calculation module calculates the internal coincidence precision P of each lattice point by the following method i ：
The internal coincidence precision P of each lattice point is calculated by the following formula i ：
If f (P) i ) > 5cm, P i =0, otherwise P i ＝100。
Wherein:
the calculation module calculates the service quality index I of the single lattice point by the following method i ：
Calculating the quality of service index I of the single lattice point by the following formula i ：
Wherein:
the calculation module calculates the regional quality of service index Q by:
the regional quality of service index Q is calculated using the following formula:
therefore, the regional reference station network RTK positioning service evaluation method and device based on the PPK can well evaluate the network RTK positioning service quality by calculating the regional service quality index so as to determine the quality of the network RTK positioning service.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flowchart of a PPK-based regional reference station network RTK positioning service evaluation method provided by an embodiment of the invention;
fig. 2 is a schematic structural diagram of an RTK positioning service evaluation device for a PPK-based regional reference station network according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
Fig. 1 shows a flowchart of a method for evaluating an RTK positioning service of a network of a regional reference station based on a PPK according to an embodiment of the present invention, referring to fig. 1, the method for evaluating an RTK positioning service of a network of a regional reference station based on a PPK according to an embodiment of the present invention includes:
s1, determining an area to be evaluated, and acquiring N grid points according to preset longitude and latitude intervals, wherein each grid point comprises corresponding longitude and latitude and elevation.
In specific implementation, a region to be evaluated is selected through a geographic information system program, and N lattice points are acquired at a certain longitude and latitude interval, wherein the N lattice points comprise corresponding longitudes and latitudes and elevations.
S2, encoding the data into a GPGGA format under an NMEA0183 data format according to longitude, latitude and elevation information of each grid point, and simultaneously requesting data service from a first network RTK service at preset intervals through an Ntrip2.0 communication protocol for preset time; receiving data returned by the request, wherein the data returned by the request is differential correction data broadcasted by the first network RTK service, encoding the data in an RTCM data format, receiving and storing the data returned by the request, and converting the data into a text file in a Rinex3.04 format; and switching the accessed service source into the second network RTK service and the third network RTK service to execute the operation.
In particular, the grid points are encoded with their own latitude and longitude and elevation information into GPGGA format under NMEA0183 data format, and request data services from the A1 network RTK service simultaneously at 1 second intervals for 10 minutes via the ntrip2.0 communication protocol.
And for the data which is requested to be returned, namely the differential correction data broadcast by the A1 network RTK service, encoding the data in an RTCM data format, receiving and storing the data, and converting the data into a text file in a Rinex3.04 format.
And changing the accessed service source into A2 and A3, and repeating the steps.
And S3, reading the stored file content, and judging according to a preset rule according to the format description of Rinex3.04 to obtain the average satellite number condition, the satellite frequency point condition and the epoch missing condition in each grid point file.
As an alternative implementation of the embodiment of the present invention, the average satellite number is obtained by:
average satellite number S of any grid point i Calculated by the following formula:
wherein n is an integer representing the total number of theoretical time epochs of the stored file; s is(s) j The total number of satellites actually stored in each epoch time file is calculated; if f (S) i ) < 37, S i =0, otherwise S i ＝100。
Specifically, n is an integer, which represents the total number of theoretical time epochs of the stored file, for example, 10 minutes, and 600.
As an optional implementation manner of the embodiment of the present invention, the satellite frequency point situation is obtained by the following manner:
judging whether the following frequency points are missing
BDS:C2I、L2I、C1P、L1P、C7I、L7I、C5P、L5P、C6I、L6I；
GPS:C1C、L1C、C2W、L2W、C5Q、L5Q；
GLO:C1C、C2P；
GAL:C1C、L1C、C7Q、L7Q、C5Q、L5Q；
Satellite frequency point F of any lattice point i Calculated by the following formula:
wherein n is an integer representing the total number of theoretical time epochs of the stored file; f (f) j The number of the frequency points in each epoch time file is the number of the frequency points; if F (F) i ) < 20, then F i =0, otherwise F i ＝100；
As an alternative implementation of the embodiment of the present invention, the epoch missing situation is obtained by:
effective epoch Rate E i Calculated by the following formula:
wherein n is an integer representing the total number of theoretical time epochs of the stored file; e, e i The total number of the epochs actually stored in the file is calculated; if f (E) i ) Less than or equal to 5%, E i =0, otherwise E i ＝100。
S4, performing PPK calculation by using data of a first network RTK service as a reference station and data of a second network RTK service and data of a third network RTK service as mobile stations to obtain longitude, latitude and elevation values of each grid point under each epoch, converting the longitude, latitude and elevation values into plane coordinates by using uniform conversion parameters, and respectively calculating north standard deviation x of the plane coordinates i And east standard deviation y i Calculating the internal coincidence precision P of each lattice point i 。
In specific implementation, PPK data processing software is used, A1 service data is used as a reference station, A2 and A3 service data are respectively used as mobile stations, PPK calculation is carried out to obtain longitude, latitude and elevation values under each epoch of each lattice point, uniform conversion parameters are used for converting the longitude, latitude and elevation values into plane coordinates, and the north standard deviation x of the plane coordinates is calculated respectively i And east standard deviation y i Calculating the internal coincidence precision P of each lattice point i 。
As an alternative implementation of the embodiment of the invention, the internal coincidence precision P of each lattice point is calculated i Comprising the following steps:
the internal coincidence precision P of each lattice point is calculated by the following formula i ：
If f (P) i ) > 5cm, P i =0, otherwise P i ＝100。
S5, calculating the service quality index I of the single lattice point i 。
As an alternative implementation of the embodiment of the invention, the service quality index I of the single lattice point is calculated i Comprising the following steps:
calculating the quality of service index I of the single lattice point by the following formula i ：
And S6, calculating the regional service quality index Q.
As an alternative implementation of the embodiment of the present invention, calculating the area quality of service index Q includes: the area quality of service index Q is calculated using the following formula:
therefore, the regional reference station network RTK positioning service evaluation method based on the PPK can well evaluate the network RTK positioning service quality by calculating the regional service quality index so as to determine the quality of the network RTK positioning service.
Fig. 2 is a schematic structural diagram of a PPK-based regional reference station network RTK positioning service evaluation device according to an embodiment of the present invention, where the PPK-based regional reference station network RTK positioning service evaluation device applies the above method, and the following only briefly describes the structure of the PPK-based regional reference station network RTK positioning service evaluation device, and other unconditional matters refer to related descriptions in the above PPK-based regional reference station network RTK positioning service evaluation method, and referring to fig. 2, the PPK-based regional reference station network RTK positioning service evaluation device according to the embodiment of the present invention includes:
the acquisition module is used for determining an area to be evaluated, and acquiring N grid points according to preset longitude and latitude intervals, wherein each grid point comprises corresponding longitude and latitude and elevation;
the data request module is used for encoding the data into a GPGGA format under an NMEA0183 data format according to the longitude and latitude and the elevation information of each grid point, and simultaneously requesting data service from a first network RTK service at preset intervals through an Ntrip2.0 communication protocol for preset time; receiving data returned by the request, wherein the data returned by the request is differential correction data broadcasted by the first network RTK service, encoding the data in an RTCM data format, receiving and storing the data returned by the request, and converting the data into a text file in a Rinex3.04 format; switching the accessed service source into a second network RTK service and a third network RTK service to execute the operations;
the judging module is used for reading the stored file content, judging according to a preset rule according to the format description of Rinex3.04, and obtaining the average satellite number condition, the satellite frequency point condition and the epoch missing condition in each grid point file;
a calculation module for using the data of the first network RTK service as a reference station and using the second network RTK serviceThe data of the third network RTK service and the data of the third network RTK service are used as mobile stations, PPK calculation is carried out to obtain longitude, latitude and elevation values of each grid point under each epoch, the longitude, latitude and elevation values are converted into plane coordinates by uniform conversion parameters, and the north standard deviation x of the plane coordinates is calculated respectively i And east standard deviation y i Calculating the internal coincidence precision P of each lattice point i The method comprises the steps of carrying out a first treatment on the surface of the Calculating the quality of service index I of a single lattice point i The method comprises the steps of carrying out a first treatment on the surface of the And calculating the regional service quality index Q.
As an alternative to the embodiment of the present invention,
the judging module is specifically used for obtaining the average satellite number condition by the following modes:
average satellite number S of any grid point i Calculated by the following formula:
wherein n is an integer representing the total number of theoretical time epochs of the stored file; s is(s) j The total number of satellites actually stored in each epoch time file is calculated; if f (S) i ) < 37, S i =0, otherwise S i ＝100；
The judging module is specifically used for obtaining satellite frequency point conditions through the following modes:
judging whether the following frequency points are missing
BDS:C2I、L2I、C1P、L1P、C7I、L7I、C5P、L5P、C6I、L6I；
GPS:C1C、L1C、C2W、L2W、C5Q、L5Q；
GLO:C1C、C2P；
GAL:C1C、L1C、C7Q、L7Q、C5Q、L5Q；
Satellite frequency point F of any lattice point i Calculated by the following formula:
where n is an integer representing a stored fileTotal number of theoretical time epochs; f (f) j The number of the frequency points in each epoch time file is the number of the frequency points; if F (F) i ) < 20, then F i =0, otherwise F i ＝100；
The judging module is specifically configured to obtain the epoch missing situation by:
effective epoch Rate E i Calculated by the following formula:
wherein n is an integer representing the total number of theoretical time epochs of the stored file; e, e i The total number of the epochs actually stored in the file is calculated; if f (E) i ) Less than or equal to 5%, E i =0, otherwise E i ＝100。
As an alternative implementation of the embodiment of the present invention, the calculation module calculates the internal coincidence precision P of each lattice point by i ：
The internal coincidence precision P of each lattice point is calculated by the following formula i ：
If f (P) i ) > 5cm, P i =0, otherwise P i ＝100。
As an alternative implementation of the embodiment of the invention, the calculation module calculates the quality of service index I of the single lattice point by the following way i ：
Calculating the quality of service index I of the single lattice point by the following formula i ：
As an alternative implementation manner of the embodiment of the present invention, the calculating module calculates the area quality of service index Q by:
the area quality of service index Q is calculated using the following formula:
therefore, the regional reference station network RTK positioning service evaluation device based on the PPK can well evaluate the network RTK positioning service quality by calculating the regional service quality index so as to determine the quality of the network RTK positioning service.
The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and changes may be made to the present application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. which are within the spirit and principles of the present application are intended to be included within the scope of the claims of the present application.
Claims (4)
1. The regional reference station network RTK positioning service evaluation method based on the PPK is characterized by comprising the following steps of:
determining an area to be evaluated, and acquiring N grid points according to a preset longitude and latitude interval, wherein each grid point comprises a corresponding longitude and latitude and an elevation;
according to longitude, latitude and elevation information of each lattice point, encoding the lattice point into a GPGGA format under an NMEA0183 data format, and simultaneously requesting data service from a first network RTK service at preset intervals through an Ntrip2.0 communication protocol for preset time; receiving data returned by a request, wherein the data returned by the request is differential correction data broadcast by the first network RTK service, encoding the data in an RTCM data format, receiving and storing the data returned by the request, and converting the data into a text file in a Rinex3.04 format; switching the accessed service source into a second network RTK service and a third network RTK service to execute the operations;
reading the stored file content, and judging according to a preset rule according to the format description of Rinex3.04 to obtain the average satellite number condition, satellite frequency point condition and epoch missing condition in each grid point file;
the data of the first network RTK service is used as a reference station, the data of the second network RTK service and the data of the third network RTK service are used as mobile stations, PPK calculation is carried out, longitude and latitude and elevation values under each epoch of each lattice point are obtained, uniform conversion parameters are used for converting the longitude and latitude values into plane coordinates, and the north standard deviation x of the plane coordinates is calculated respectively i And east standard deviation y i Calculating the internal coincidence precision P of each lattice point i ；
Calculating the quality of service index I of a single lattice point i ；
Calculating a regional service quality index Q;
wherein:
the average satellite number is obtained by the following steps:
average satellite number S of any one of the lattice points i Calculated by the following formula:
wherein n is an integer representing the total number of theoretical time epochs of the stored file; s is(s) j The total number of satellites actually stored in each epoch time file is calculated; if f (S) i )<37, S i =0, otherwise S i ＝100；
The satellite frequency point condition is obtained by the following steps:
judging whether the following frequency points are missing
BDS:C2I、L2I、C1P、L1P、C7I、L7I、C5P、L5P、C6I、L6I；
GPS:C1C、L1C、C2W、L2W、C5Q、L5Q；
GLO：C1C、C2P；
GAL：C1C、L1C、C7Q、L7Q、C5Q、L5Q；
Satellite frequency point F of any lattice point i Calculated by the following formula:
wherein n is an integer representing the total number of theoretical time epochs of the stored file; f (f) j The number of the frequency points in each epoch time file is the number of the frequency points; if F (F) i ) < 20, then F i =0, otherwise F i ＝100；
The epoch missing situation is obtained by the following steps:
effective epoch Rate E i Calculated by the following formula:
wherein n is an integer representing the total number of theoretical time epochs of the stored file; e, e i The total number of the epochs actually stored in the file is calculated; if f (E) i ) Less than or equal to 5%, E i =0, otherwise E i ＝100；
The internal coincidence precision P of each lattice point is calculated i Comprising the following steps:
the internal coincidence precision P of each lattice point is calculated by the following formula i ：
If f (P) i ) > 5cm, P i =0, otherwise P i ＝100；
Said calculating the quality of service index I of a single lattice point i Comprising the following steps:
calculating the quality of service index I of the single lattice point by the following formula i ：
2. The method of claim 1, wherein calculating the area quality of service index Q comprises:
the regional quality of service index Q is calculated using the following formula:
3. a PPK-based regional reference station network RTK location service assessment apparatus, comprising:
the acquisition module is used for determining an area to be evaluated, and acquiring N grid points according to the preset longitude and latitude intervals, wherein each grid point comprises corresponding longitude and latitude and elevation;
the data request module is used for encoding the data into a GPGGA format under an NMEA0183 data format according to the longitude and latitude and elevation information of each lattice point, and simultaneously requesting data service from a first network RTK service at preset intervals through an Ntrip2.0 communication protocol for preset time; receiving data returned by a request, wherein the data returned by the request is differential correction data broadcast by the first network RTK service, encoding the data in an RTCM data format, receiving and storing the data returned by the request, and converting the data into a text file in a Rinex3.04 format; switching the accessed service source into a second network RTK service and a third network RTK service to execute the operations;
the judging module is used for reading the stored file content, judging according to a preset rule according to the format description of Rinex3.04, and obtaining the average satellite number condition, the satellite frequency point condition and the epoch missing condition in each grid point file;
the calculation module is used for carrying out PPK calculation by taking the data of the first network RTK service as a reference station and the data of the second network RTK service and the data of the third network RTK service as mobile stations to obtain longitude, latitude and elevation values of each grid point under each epoch, converting the longitude, latitude and elevation values into plane coordinates by uniform conversion parameters, and respectively calculating north standard deviation x of the plane coordinates i And east standard deviation y i Calculate eachThe internal coincidence precision Pi of each grid point; calculating the quality of service index I of a single lattice point i The method comprises the steps of carrying out a first treatment on the surface of the Calculating a regional service quality index Q;
wherein:
the judging module is specifically configured to obtain the average satellite number condition by:
average satellite number S of any one of the lattice points i Calculated by the following formula:
wherein n is an integer representing the total number of theoretical time epochs of the stored file; s is(s) j The total number of satellites actually stored in each epoch time file is calculated; if f (S) i ) < 37, S i =0, otherwise S i ＝100；
The judging module is specifically configured to obtain the satellite frequency point situation by:
judging whether the following frequency points are missing
BDS：C2I、L2I、C1P、L1P、C7I、L7I、C5P、L5P、C6I、L6I；
GPS：C1C、L1C、C2W、L2W、C5Q、L5Q；
GLO：C1C、C2P；
GAL：C1C、L1C、C7Q、L7Q、C5Q、L5Q；
Satellite frequency point F of any lattice point i Calculated by the following formula:
wherein n is an integer representing the total number of theoretical time epochs of the stored file; f (f) j The number of the frequency points in each epoch time file is the number of the frequency points; if F (F) i ) < 20, then F i =0, otherwise F i ＝100；
The judging module is specifically configured to obtain the epoch missing situation by:
effective epoch Rate E i Calculated by the following formula:
wherein n is an integer representing the total number of theoretical time epochs of the stored file; e, e i The total number of the epochs actually stored in the file is calculated; if f (E) i ) Less than or equal to 5%, E i =0, otherwise E i ＝100；
The calculation module calculates the internal coincidence precision P of each lattice point by the following method i ：
The internal coincidence precision P of each lattice point is calculated by the following formula i ：
If f (P) i ) > 5cm, P i =0, otherwise P i ＝100；
The calculation module calculates the service quality index I of the single lattice point by the following method i ：
Calculating the quality of service index I of the single lattice point by the following formula i ：
4. The apparatus of claim 3, wherein the means for calculating calculates the area quality of service index Q by:
the regional quality of service index Q is calculated using the following formula:
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