CN117233814A - Real-time high-precision positioning method and system based on single-frequency receiving equipment - Google Patents
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Abstract
The invention discloses a real-time high-precision positioning method and a system based on single-frequency receiving equipment, which relate to the technical field of satellite positioning and navigation, wherein the method comprises the following steps: acquiring real-time single-frequency satellite observation data, precise ephemeris data, precise clock error data, ionosphere data and temperature atmospheric pressure data; acquiring satellite pseudo-range observation values and satellite carrier phase observation values according to single-frequency satellite observation data; performing satellite selection operation on single-frequency satellite observation data to generate target satellite observation data; calculating satellite three-dimensional coordinates according to the target satellite observation data and the precise ephemeris data, calculating the observation satellite clock difference according to the precise clock difference data, calculating the ionosphere delay error according to the ionosphere data, and calculating the troposphere delay error according to the temperature and atmospheric pressure data; and determining the accurate coordinates of the target device according to the calculated values, the observation equation and the positioning coordinate equation. The positioning system reduces the cost of the device while avoiding errors and interference between multiple frequency signals.
Description
Technical Field
The invention relates to the technical field of satellite positioning and navigation, in particular to a real-time high-precision positioning method and system based on single-frequency receiving equipment.
Background
Global navigation satellite system (Global Navigation Satellite System, GNSS) is a satellite positioning and navigation based technology, widely used in the fields of transportation, agriculture, mapping, aerospace, etc. Conventional GNSS positioning methods have limitations in terms of high-precision positioning, such as expensive equipment cost, complex infrastructure requirements, and exposure to multipath effects, signal occlusion, and atmospheric delays. In particular in low cost equipment and infrastructure-free environments, it becomes more difficult to obtain highly accurate positioning results.
The prior art generally employs dual frequency precision single point positioning (Precise Point Position, PPP) and differential positioning methods, wherein multi-frequency receiving devices are generally more expensive than single frequency receiver devices, which require more complex hardware and algorithms to process signals at multiple frequencies, increasing manufacturing costs and device price. In addition, the design and operation of the multi-frequency receiving device are relatively more complex, it needs to process and coordinate signals of multiple frequencies, and perform complex algorithm processing such as multi-frequency differential positioning or phase smoothing, and it is more sensitive to the influence of environmental factors such as signal attenuation and multi-path reflection, which may cause an increase in positioning error.
Disclosure of Invention
The invention aims to provide a real-time high-precision positioning method and a real-time high-precision positioning system based on single-frequency receiving equipment, which reduce the cost of the equipment and avoid errors and interference among a plurality of frequency signals.
In order to achieve the above object, the present invention provides the following solutions:
in a first aspect, the present invention provides a real-time high-precision positioning method based on a single-frequency receiving device, including:
acquiring single-frequency satellite observation data acquired by a GNSS single-frequency receiver module in real time, precise ephemeris data, precise clock error data and ionosphere data acquired by a network server module in real time, and temperature and atmospheric pressure data acquired by an integrated sensor module in real time;
acquiring satellite pseudo-range observation values and satellite carrier phase observation values according to the single-frequency satellite observation data;
performing satellite selection operation on the single-frequency satellite observation data to generate target satellite observation data;
calculating satellite three-dimensional coordinates according to the target satellite observation data and the precise ephemeris data, calculating an observation satellite clock difference according to the precise clock difference data, calculating an ionosphere delay error according to the ionosphere data, and calculating a troposphere delay error according to the temperature and atmospheric pressure data;
calculating the geometric distance between a satellite and a single-frequency receiver antenna according to the observed satellite clock error, the ionosphere delay error, the troposphere delay error, the satellite pseudo-range observed value, the satellite carrier phase observed value and an observation equation;
determining the accurate coordinates of a target device according to the geometric distance between the satellite and the single-frequency receiver antenna, the three-dimensional coordinates of the satellite and a positioning coordinate equation; the target device is a device provided with the GNSS single-frequency receiver module, the network server module and the integrated sensor module.
Optionally, performing a satellite selection operation on the single-frequency satellite observation data to generate target satellite observation data, which specifically includes:
and deleting satellite observation data with the elevation angle smaller than 20 degrees in the single-frequency satellite observation data, and determining the rest single-frequency satellite observation data as target satellite observation data.
Optionally, calculating satellite three-dimensional coordinates according to the target satellite observation data and the precise ephemeris data specifically includes:
and interpolating the precise ephemeris data according to the target satellite observation data to generate real-time satellite three-dimensional coordinates.
Optionally, calculating an ionospheric delay error according to the ionospheric data specifically includes:
according to the ionosphere data and formulaCalculating a seasonal variation coefficient; wherein A is the seasonal variation coefficient, alpha n Seasonal variation value for the nth parameter, < ->Geomagnetic latitude of the intersection point of the signal propagation path and the central ionosphere is defined, and m is the number of parameters;
according to the ionosphere data and formulaCalculating an average radiation flow coefficient; wherein P is the average radiant flux coefficient, beta n Average radiant flux for the nth parameter;
according to the seasonal variation coefficient, the average radiation flow coefficient and the formulaCalculating an ionospheric delay error; wherein I is ionospheric delay error, DC is a first time constant, T is the time angle at which the signal propagation path intersects the central ionosphere, T p Is a second time constant.
Optionally, calculating tropospheric delay error according to the temperature and atmospheric pressure data specifically includes:
according to the temperature and atmospheric pressure data and formulaTroposphere for calculating zenith directionA delayed dry component and a tropospheric delayed wet component; wherein d dry To delay the dry component of the troposphere, P 0 For measuring the air pressure of the station, g' is the calculated coefficient, d wet For the tropospheric delay wet component, t' is the air temperature at the station, e 0 For measuring the water vapour pressure of the station +.>To measure the latitude of the station, h 0 The elevation of the measuring station;
according to the tropospheric delay dry component, the tropospheric delay wet component and the formula t=m d ·d dry +M w ·d wet Calculating troposphere delay errors; wherein T is tropospheric delay error, M d M is a mapping function corresponding to the tropospheric delay dry component w The mapping function corresponding to the tropospheric delay wet component.
Optionally, the observation equation is:
wherein P is j For the j-th satellite pseudorange observation,is the j satellite carrier phase observation value, lambda is the carrier wavelength, ρ j For the geometrical distance between the j-th satellite and the antenna of the single-frequency receiver, c is the speed of light, dt is the clock difference of the single-frequency receiver, dt j For the j-th observation satellite clock difference, T j Tropospheric delay error for the j-th satellite,>multipath error for the j-th satellite, +.>For the j-th satellite relative effect error, N j For integer ambiguity, ε, for the j-th satellite 1 For first pseudo-range observation noise and unmodeledError influence of profiling epsilon 2 Noise is observed for the second pseudorange and the error effects are not modeled.
Optionally, the positioning coordinate equation is:
wherein ρ is j For the geometrical distance between the jth satellite and the single frequency receiver antenna, (X, y, z) is the exact coordinates of the target device, (X) j ,Y j ,Z j ) Is the j-th satellite three-dimensional coordinate.
In a second aspect, the present invention provides a real-time high-precision positioning system based on a single-frequency receiving device, including:
the GNSS single-frequency receiver module is used for acquiring single-frequency satellite observation data;
the network server module is used for collecting precise ephemeris data, precise clock error data and ionosphere data;
the integrated sensor module is used for collecting temperature and atmospheric pressure data;
the data processing module is respectively connected with the GNSS single-frequency receiver module, the network server module and the integrated sensor module and is used for executing the real-time high-precision positioning method based on the single-frequency receiving equipment.
Optionally, the system further comprises: a power management module, a solar photovoltaic panel, and a 18650 battery pack;
the power management module is respectively connected with the solar photovoltaic panel and the 18650 battery pack and is used for controlling the solar photovoltaic panel to charge the 18650 battery pack;
the 18650 battery pack is respectively connected with the GNSS single-frequency receiver module, the network server module, the integrated sensor module and the data processing module, and is used for providing power for the GNSS single-frequency receiver module, the network server module, the integrated sensor module and the data processing module.
Optionally, the data processing module is a development board platform based on raspberry group 4B.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention provides a real-time high-precision positioning method and a real-time high-precision positioning system based on single-frequency receiving equipment. The position information of the target device is determined by utilizing the single-frequency satellite observation data acquired by the GNSS single-frequency receiver module, so that the cost of the whole equipment is reduced compared with that of the multi-frequency receiving equipment, and meanwhile, the problems of errors and interference among a plurality of frequency signals acquired by the multi-frequency receiving equipment and higher sensitivity of the multi-frequency receiving equipment to environmental change and multipath interference are avoided.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings that are needed in 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 real-time high-precision positioning method based on a single-frequency receiving device according to an embodiment of the present invention;
fig. 2 is a schematic block diagram of a real-time high-precision positioning system based on a single-frequency receiving device according to an embodiment of the present invention.
Symbol description:
the system comprises a GNSS single-frequency receiver module-1, a network server module-2, an integrated sensor module-3, a data processing module-4, a power management module-5, a solar photovoltaic panel-6 and a 18650 battery pack-7.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention aims to provide a real-time high-precision positioning method and a real-time high-precision positioning system based on single-frequency receiving equipment, which reduce the cost of the equipment and avoid errors and interference among a plurality of frequency signals.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
Example 1
The embodiment provides a real-time high-precision positioning method based on single-frequency receiving equipment, as shown in fig. 1, and each step of the positioning method is described in detail below:
step 101: the method comprises the steps of acquiring single-frequency satellite observation data acquired in real time by a GNSS single-frequency receiver module, precise ephemeris data, precise clock error data and ionosphere data acquired in real time by a network server module, and temperature and atmospheric pressure data acquired in real time by an integrated sensor module.
Step 102: and acquiring satellite pseudo-range observation values and satellite carrier phase observation values according to the single-frequency satellite observation data.
Step 103: and performing satellite selection operation on the single-frequency satellite observation data to generate target satellite observation data.
In one example, the satellite selection operation is to screen out target satellite observation data meeting a specific angle according to actual needs, for example: and deleting satellite observation data with the elevation angle smaller than 20 degrees in the single-frequency satellite observation data, and determining the rest single-frequency satellite observation data as target satellite observation data.
Step 104: calculating satellite three-dimensional coordinates according to the target satellite observation data and the precise ephemeris data, calculating the observation satellite clock difference according to the precise clock difference data, calculating the ionosphere delay error according to the ionosphere data, and calculating the troposphere delay error according to the temperature and atmospheric pressure data.
In one example, the calculation of the three-dimensional coordinates of the satellite may obtain an accurate calculation result by means of matrix equation calculation, and may also perform interpolation calculation on the precise ephemeris data according to the target satellite observation data to generate real-time three-dimensional coordinates of the satellite.
Step 104 specifically includes:
step 1041: based on ionosphere data and formulasCalculating a seasonal variation coefficient; wherein A is the seasonal variation coefficient, alpha n Seasonal variation value for the nth parameter, < ->The geomagnetic latitude is the intersection point of the signal propagation path and the central ionosphere, and m is the number of parameters.
Step 1042: based on ionosphere data and formulasCalculating an average radiation flow coefficient; wherein P is the average radiant flux coefficient, beta n Is the average radiant flux of the nth parameter.
Step 1043: according to the seasonal variation coefficient, the average radiation flow coefficient and the formulaCalculating an ionospheric delay error; wherein I is ionospheric delay error, DC is a first time constant, T is the time angle at which the signal propagation path intersects the central ionosphere, T p Is a second time constant.
In one example, dc=5ns, t p ＝14h。
Step 1044: according to the temperature and atmospheric pressure data and the formula:
calculating a tropospheric delay dry component and a tropospheric delay wet component in the zenith direction; wherein d dry To delay the dry component of the troposphere, P 0 For measuring the air pressure of the station, g' is the calculated coefficient, d wet For the tropospheric delay wet component, t' is the air temperature at the station, e 0 For measuring the water vapour pressure of the station +.>To measure the latitude of the station, h 0 Is the elevation of the survey station.
Step 1045: according to the tropospheric delay dry component, the tropospheric delay wet component and the formula t=m d ·d dry +M w ·d wet Calculating troposphere delay errors; wherein T is tropospheric delay error, M d M is a mapping function corresponding to the tropospheric delay dry component w The mapping function corresponding to the tropospheric delay wet component.
As a preferred embodiment, before the step 105 is introduced, an observation equation for calculating the geometrical distance between the satellite and the single frequency receiver antenna is first introduced:
and (3) combining a satellite pseudo-range observation equation and a satellite carrier phase equation, and deducing a positioning coordinate equation for calculating the accurate coordinates of the target device, wherein the satellite pseudo-range observation equation is as follows:
wherein P is j For the j-th satellite pseudo-range observation value, ρ j For the geometrical distance between the j-th satellite and the antenna of the single-frequency receiver, c is the speed of light, dt is the clock difference of the single-frequency receiver, dt j For j-th observed satellite clock difference, I j Ionospheric delay error, T, for the j-th satellite j For the j-th satellite pairThe delay error of the streaming layer is determined,multipath error for the j-th satellite, +.>For the j-th satellite relative effect error ε 1 Noise is observed for the first pseudorange and the error effects are not modeled.
The satellite carrier phase equation is:
in the method, in the process of the invention,is the j satellite carrier phase observation value, lambda is the carrier wavelength, N j For integer ambiguity, ε, for the j-th satellite 2 Noise is observed for the second pseudorange and the error effects are not modeled.
The positioning coordinate equation obtained by combining the satellite pseudo-range observation equation and the satellite carrier phase equation is as follows:
in addition, the coordinate value of the target device can be obtained by utilizing a satellite pseudo-range observation equation or a satellite carrier phase equation, but the precision of the calculation result is not higher than that of the positioning coordinate equation.
Step 105: and calculating the geometric distance between the satellite and the single-frequency receiver antenna according to the observed satellite clock error, the ionosphere delay error, the troposphere delay error, the satellite pseudo-range observed value, the satellite carrier phase observed value and the observation equation.
Step 106: determining the accurate coordinates of the target device according to the geometric distance between the satellite and the single-frequency receiver antenna, the three-dimensional coordinates of the satellite and the positioning coordinate equation; the target device is a device provided with a GNSS single-frequency receiver module, a network server module and an integrated sensor module. Wherein, the positioning coordinate equation is:
where (X, y, z) is the exact coordinates of the target device, (X) j ,Y j ,Z j ) Is the j-th satellite three-dimensional coordinate.
In one example, since the coordinates of the target device are calculated by satellite coordinates at different locations, the final result of calculating the coordinates of the target device is also a plurality of values, and the plurality of values are matrix calculated using a matrix equation, so that the coordinates of the target device can be obtained accurately.
Example two
The embodiment provides a real-time high-precision positioning system based on single-frequency receiving equipment, as shown in fig. 2, the system comprises: a GNSS single-frequency receiver module 1, a network server module 2, an integrated sensor module 3 and a data processing module 4.
Specifically, the GNSS single frequency receiver module 1 is configured to collect single frequency satellite observation data; the network server module 2 is used for collecting precise ephemeris data, precise clock error data and ionosphere data; the integrated sensor module 3 is used for collecting temperature and atmospheric pressure data; the data processing module 4 is respectively connected with the GNSS single frequency receiver module 1, the network server module 2 and the integrated sensor module 3, and is used for executing the real-time high-precision positioning method based on the single frequency receiving device according to the first embodiment.
In one example, the data processing module 4 is a development board platform based on raspberry group 4B, the GNSS single frequency receiver module 1 is composed of a single frequency positioning chip and an antenna, and the network server module 2 is composed of internet of things cards loaded with 4G and 5G.
Further, the system further comprises: power management module 5, solar panel 6 and 18650 battery 7.
The power management module 5 is respectively connected with the solar photovoltaic panel 6 and the 18650 battery pack 7 and is used for controlling the solar photovoltaic panel 6 to charge the 18650 battery pack 7; 18650 the battery pack 7 is respectively connected with the GNSS single frequency receiver module 1, the network server module 2, the integrated sensor module 3 and the data processing module 4, and is used for providing power for the GNSS single frequency receiver module 1, the network server module 2, the integrated sensor module 3 and the data processing module 4.
The system uses a single-frequency positioning chip board and an antenna to form a GNSS single-frequency receiver module 1 to receive single-frequency satellite observation data, and the data is transmitted to a data processing module 4 formed by a raspberry group 4B in real time through a serial port. The data processing module 4 decodes the single-frequency satellite observation data, performs satellite selection operation, retains satellite data with good signals, acquires real-time precise ephemeris data, precise clock difference data and ionosphere data of a server through the network server module 2 loaded with the 4G/5G internet of things card, transmits the real-time precise ephemeris data, the precise clock difference data and the ionosphere data to the data processing module 4 through a USB interface in real time, performs PPP (point-to-point protocol) calculation on the precise coordinates of the current target device by utilizing an optimized positioning algorithm, and transmits the precise coordinates back to a server through the network server module 2 in real time. In addition, the system controls 18650 the battery pack 7 to supply power to other modules by the power management module 5, and the power management module 5 controls the solar photovoltaic panel 6 to charge 18650 the battery pack 7.
The system is of a modular design and mainly consists of 7 modules, wherein each module has the following advantages relative to the existing equipment module:
advantages of the GNSS single frequency receiver module 1: single frequency receivers are simpler and more economical than multi-frequency receivers because single frequency receivers only need to process signals at a single frequency. The design and operation of a single frequency receiver is relatively simple and requires no additional hardware or algorithms to process signals at multiple frequencies.
Advantages of the network server module 2: by adding the 4G/5G Internet of things card, the positioning system can realize a real-time communication function and can perform instant data transmission and communication with a remote server or other equipment. Thus, the system state can be monitored in real time, positioning data can be transmitted or instructions can be received, and the like. Remote management and control of the positioning system can also be achieved through the network server module 2. By using the remote management platform or the application program, a user can remotely monitor the system state, adjust the system parameters, issue instructions and the like, and the management efficiency and flexibility of the system are improved.
Advantages of solar photovoltaic panel 6: the solar photovoltaic panel 6 operates on the principle of converting solar energy into electrical energy without generating any pollutant and greenhouse gas emissions. Compared with a power generation mode using fossil fuel, the solar power supply has less influence on the environment, and is beneficial to reducing carbon emission and air pollution. The solar photovoltaic panel 6 can be installed in various places without the need for connection of a conventional power grid. This makes solar powered applications suitable for remote areas, field and off-grid environments, providing independent and remote power support for the system. Once installed, the solar photovoltaic panels 6 operate with few moving parts and therefore are relatively low maintenance costs. The surface of the photovoltaic panel is usually cleaned regularly to ensure the normal operation of the photovoltaic panel.
In summary, the modular device allows the user to freely combine and configure different modules according to his own needs to achieve the desired functionality, which provides flexibility and customizable positioning systems, enabling the user to build his own system device according to specific needs. The modular positioning system makes maintenance and upgrades simpler, and when one module fails, only the module needs to be replaced without replacing the entire system. Similarly, when a function needs to be upgraded, only the corresponding module needs to be upgraded without replacing the whole system, which reduces maintenance and upgrade costs and workload. The modular positioning system can adapt and expand according to the requirements, and when the requirements change, modules can be added or deleted to meet new requirements, and the adaptability and the expandability enable the positioning system to adapt to different application scenes and requirements.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. For the system disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section.
The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to assist in understanding the methods of the present invention and the core ideas thereof; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.
Claims (10)
1. A real-time high-precision positioning method based on single-frequency receiving equipment, which is characterized by comprising the following steps:
acquiring single-frequency satellite observation data acquired by a GNSS single-frequency receiver module in real time, precise ephemeris data, precise clock error data and ionosphere data acquired by a network server module in real time, and temperature and atmospheric pressure data acquired by an integrated sensor module in real time;
acquiring satellite pseudo-range observation values and satellite carrier phase observation values according to the single-frequency satellite observation data;
performing satellite selection operation on the single-frequency satellite observation data to generate target satellite observation data;
calculating satellite three-dimensional coordinates according to the target satellite observation data and the precise ephemeris data, calculating an observation satellite clock difference according to the precise clock difference data, calculating an ionosphere delay error according to the ionosphere data, and calculating a troposphere delay error according to the temperature and atmospheric pressure data;
calculating the geometric distance between a satellite and a single-frequency receiver antenna according to the observed satellite clock error, the ionosphere delay error, the troposphere delay error, the satellite pseudo-range observed value, the satellite carrier phase observed value and an observation equation;
determining the accurate coordinates of a target device according to the geometric distance between the satellite and the single-frequency receiver antenna, the three-dimensional coordinates of the satellite and a positioning coordinate equation; the target device is a device provided with the GNSS single-frequency receiver module, the network server module and the integrated sensor module.
2. The real-time high-precision positioning method based on single-frequency receiving equipment according to claim 1, wherein the single-frequency satellite observation data is subjected to satellite selection operation to generate target satellite observation data, and the method specifically comprises the following steps:
and deleting satellite observation data with the elevation angle smaller than 20 degrees in the single-frequency satellite observation data, and determining the rest single-frequency satellite observation data as target satellite observation data.
3. The method for real-time high-precision positioning based on single-frequency receiving equipment according to claim 1, wherein the method for calculating satellite three-dimensional coordinates according to the target satellite observation data and the precise ephemeris data specifically comprises the following steps:
and interpolating the precise ephemeris data according to the target satellite observation data to generate real-time satellite three-dimensional coordinates.
4. The method for real-time high-precision positioning based on single frequency receiving device according to claim 1, wherein the method for calculating ionospheric delay error based on the ionospheric data comprises:
according to the ionosphere data and formulaCalculating a seasonal variation coefficient; wherein A is the seasonal variation coefficient, alpha n Seasonal variation value for the nth parameter, < ->Geomagnetic latitude of the intersection point of the signal propagation path and the central ionosphere is defined, and m is the number of parameters;
according to the ionosphere data and formulaCalculating an average radiation flow coefficient; wherein P is the average radiant flux coefficient, beta n Average radiant flux for the nth parameter;
according to the seasonal variation coefficient, the average radiation flow coefficient and the formulaCalculating an ionospheric delay error; wherein I is ionospheric delay error, DC is a first time constant, T is the time angle at which the signal propagation path intersects the central ionosphere, T p Is a second time constant.
5. The real-time high-precision positioning method based on single-frequency receiving equipment according to claim 1, wherein the method is characterized by calculating tropospheric delay errors according to the temperature and atmospheric pressure data, and specifically comprises the following steps:
according to the temperature and atmospheric pressure data and formulaCalculating a tropospheric delay dry component and a tropospheric delay wet component in the zenith direction; wherein d dry To delay the dry component of the troposphere, P 0 For measuring the air pressure of the station, g' is the calculated coefficient, d wet For the tropospheric delay wet component, t' is the air temperature at the station, e 0 For measuring the water vapour pressure of the station +.>To measure the latitude of the station, h 0 The elevation of the measuring station;
according to the tropospheric delay dry component, the tropospheric delay wet component and the formula t=m d ·d dry +M w ·d wet Calculating troposphere delay errors; wherein T is tropospheric delay error, M d M is a mapping function corresponding to the tropospheric delay dry component w The mapping function corresponding to the tropospheric delay wet component.
6. The real-time high-precision positioning method based on single-frequency receiving equipment according to claim 1, wherein the observation equation is:
wherein P is j For the j-th satellite pseudorange observation,is the j satellite carrier phase observation value, lambda is the carrier wavelength, ρ j For the geometrical distance between the j-th satellite and the antenna of the single-frequency receiver, c is the speed of light, dt is the clock difference of the single-frequency receiver, dt j For the j-th observation satellite clock difference, T j Tropospheric delay error for the j-th satellite,>multipath error for the j-th satellite, +.>For the j-th satellite relative effect error, N j For integer ambiguity, ε, for the j-th satellite 1 Epsilon for first pseudorange observation noise and unmodeled error effects 2 Noise is observed for the second pseudorange and the error effects are not modeled.
7. The real-time high-precision positioning method based on single-frequency receiving equipment according to claim 1, wherein the positioning coordinate equation is:
wherein ρ is j For the geometrical distance between the j-th satellite and the antenna of the single-frequency receiver, (x, y, z) is the accurate coordinate of the target device, (-)X j ,Y j ,Z j ) Is the j-th satellite three-dimensional coordinate.
8. A real-time high-precision positioning system based on a single frequency receiving device, the system comprising:
the GNSS single-frequency receiver module is used for acquiring single-frequency satellite observation data;
the network server module is used for collecting precise ephemeris data, precise clock error data and ionosphere data;
the integrated sensor module is used for collecting temperature and atmospheric pressure data;
the data processing module is respectively connected with the GNSS single-frequency receiver module, the network server module and the integrated sensor module and is used for executing the real-time high-precision positioning method based on the single-frequency receiving device according to any one of claims 1 to 7.
9. The real-time high-precision positioning system based on a single frequency receiving device of claim 8, further comprising: a power management module, a solar photovoltaic panel, and a 18650 battery pack;
the power management module is respectively connected with the solar photovoltaic panel and the 18650 battery pack and is used for controlling the solar photovoltaic panel to charge the 18650 battery pack;
the 18650 battery pack is respectively connected with the GNSS single-frequency receiver module, the network server module, the integrated sensor module and the data processing module, and is used for providing power for the GNSS single-frequency receiver module, the network server module, the integrated sensor module and the data processing module.
10. The real-time high-precision positioning system based on single-frequency receiving equipment according to claim 8, wherein the data processing module is a development board platform based on raspberry group 4B.
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