CN117233814A - Real-time high-precision positioning method and system based on single-frequency receiving equipment - Google Patents

Abstract

The invention discloses a real-time high-precision positioning method and system based on a single-frequency receiving device, and relates to the technical field of satellite positioning and navigation. The method includes: acquiring real-time single-frequency satellite observation data, precision ephemeris data, and precision clock error data. Ionospheric data and temperature and atmospheric pressure data; obtain satellite pseudorange observations and satellite carrier phase observations based on single-frequency satellite observation data; perform star selection operations on single-frequency satellite observation data to generate target satellite observation data; based on target satellite observation data and Calculate the three-dimensional coordinates of the satellite based on precise ephemeris data, calculate the clock error of the observation satellite based on the precise clock error data, calculate the ionospheric delay error based on the ionospheric data, and calculate the tropospheric delay error based on the temperature and atmospheric pressure data; based on the above calculation values, observation equations and positioning coordinate equations , determine the precise coordinates of the target device. This positioning system reduces the cost of equipment while avoiding errors and interference between multiple frequency signals.

Description

A real-time high-precision positioning method and system based on single-frequency receiving equipment

Technical field

The invention relates to the technical field of satellite positioning and navigation, and in particular to a real-time high-precision positioning method and system based on a single-frequency receiving device.

Background technique

Global Navigation Satellite System (GNSS) is a technology based on satellite positioning and navigation, which is widely used in transportation, agriculture, surveying, aerospace and other fields. Traditional GNSS positioning methods have some limitations in high-precision positioning, such as expensive equipment costs, complex infrastructure requirements, and being affected by factors such as multipath effects, signal obstruction, and atmospheric delays. Especially in low-cost equipment and no infrastructure environments, it becomes more difficult to obtain high-precision positioning results.

Existing technologies generally use dual-frequency precision point positioning (PPP) and differential positioning methods. Among them, multi-frequency receiving equipment is usually more expensive than single-frequency receiver equipment, and multi-frequency receiving equipment requires more complex hardware and Algorithms are used to process signals at multiple frequencies, which increases manufacturing costs and equipment prices. In addition, the design and operation of multi-frequency receiving equipment is relatively more complex. It needs to process and coordinate signals at multiple frequencies, and perform complex algorithm processing such as multi-frequency differential positioning or phase smoothing. Since it processes signals at multiple frequencies, it has The influence of environmental factors such as signal attenuation and multipath reflection is more sensitive, which may lead to an increase in positioning errors.

Contents of the invention

The purpose of the present invention is to provide a real-time high-precision positioning method and system based on a single-frequency receiving device, which reduces the cost of the equipment and avoids errors and interference between multiple frequency signals.

In order to achieve the above objects, 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:

Obtain the single-frequency satellite observation data collected in real time by the GNSS single-frequency receiver module, the precise ephemeris data, precision clock error data and ionospheric data collected in real time by the network server module, and the temperature and atmospheric pressure data collected in real time by the integrated sensor module;

According to the single-frequency satellite observation data, obtain satellite pseudorange observation values and satellite carrier phase observation values;

Perform star selection operations on the single-frequency satellite observation data to generate target satellite observation data;

Calculate satellite three-dimensional coordinates based on the target satellite observation data and the precision ephemeris data, calculate the observation satellite clock offset based on the precision clock offset data, calculate the ionospheric delay error based on the ionospheric data, and calculate the ionospheric delay error based on the temperature and atmospheric pressure data Calculate tropospheric delay error;

According to the observation satellite clock error, the ionospheric delay error, the tropospheric delay error, the satellite pseudorange observation value, the satellite carrier phase observation value and the observation equation, calculate the distance between the satellite and the single-frequency receiver antenna the geometric distance;

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 precise coordinates of the target device are determined; the target device is the GNSS single-frequency receiver module installed. The network server module and the device integrating the sensor module.

Optionally, perform a star selection operation on the single-frequency satellite observation data to generate target satellite observation data, specifically including:

Delete satellite observation data with an elevation angle less than 20 degrees in the single-frequency satellite observation data, and determine the remaining single-frequency satellite observation data as target satellite observation data.

Optionally, calculate satellite three-dimensional coordinates based on the target satellite observation data and the precise ephemeris data, specifically including:

The precision ephemeris data is interpolated based on the target satellite observation data to generate real-time satellite three-dimensional coordinates.

Optionally, calculate the ionospheric delay error based on the ionospheric data, specifically including:

According to the ionospheric data and formula Calculate the seasonal variation coefficient; where A is the seasonal variation coefficient, α _n is the seasonal variation value of the nth parameter,/> is the geomagnetic latitude of the intersection between the signal propagation path and the central ionosphere, and m is the number of parameters;

According to the ionospheric data and formula Calculate the average radiation flow coefficient; where, P is the average radiation flow coefficient, β _n is the average radiation flow of the nth parameter;

According to the seasonal variation coefficient, the average radiation flux coefficient and the formula Calculate the ionospheric delay error; where I is the ionospheric delay error, DC is the first time constant, t is the time angle of the intersection of the signal propagation path and the central ionosphere, and T _p is the second time constant.

Optionally, calculate the tropospheric delay error based on the temperature and atmospheric pressure data, specifically including:

Based on the temperature and atmospheric pressure data and formulas Calculate the tropospheric delayed dry component and tropospheric delayed wet component in the zenith direction; where d _dry is the tropospheric delayed dry component, P ₀ is the air pressure at the station, g′ is the calculation coefficient, d _wet is the tropospheric delayed wet component, and t′ is The temperature at the measuring station, e ₀ is the water vapor pressure at the measuring station,/> is the latitude of the measuring station, h ₀ is the altitude of the measuring station;

The tropospheric delay error is calculated according to the tropospheric delay dry component, the tropospheric delay wet component and the formula T=M _d ·d _dry +M _w ·d _wet ; where T is the tropospheric delay error and M _d is the tropospheric delay dry component The corresponding mapping function, M _w is the mapping function corresponding to the tropospheric delayed wet component.

Optionally, the observation equation is:

In the formula, P ^j is the pseudo-range observation value of the jth satellite, is the jth satellite carrier phase observation value, λ is the carrier wavelength, ρ ^j is the geometric distance between the jth satellite and the single-frequency receiver antenna, c is the speed of light, dt is the single-frequency receiver clock error, dt ^j is The clock error of the jth observation satellite, T ^j is the tropospheric delay error of the jth satellite,/> is the multipath error of the jth satellite,/> is the relative effect error of the jth satellite, N ^j is the integer ambiguity of the jth satellite, ε ₁ is the first pseudorange observation noise and unmodeled error influence, ε ₂ is the second pseudorange observation noise and Unmodeled error effects.

Optionally, the positioning coordinate equation is:

In the formula, ρ ^j is the geometric distance between the j-th satellite and the single-frequency receiver antenna, (x, y, z) is the precise coordinates of the target device, (X ^j , Y ^j , Z ^j ) is the j-th Satellite three-dimensional coordinates.

In a second aspect, the present invention provides a real-time high-precision positioning system based on a single-frequency receiving device, including:

GNSS single-frequency receiver module, used to collect single-frequency satellite observation data;

Network server module, used to collect precise ephemeris data, precise clock error data and ionospheric data;

Integrated sensor module for collecting temperature and atmospheric pressure data;

A data processing module, respectively connected to the GNSS single-frequency receiver module, the network server module, and the integrated sensor module, for executing the real-time high-precision positioning method based on the single-frequency receiving device described in the first aspect .

Optionally, the system also includes: a power management module, solar photovoltaic panels and 18650 battery pack;

The power management module is connected to the solar photovoltaic panel and the 18650 battery pack respectively, and is used to control the solar photovoltaic panel to charge the 18650 battery pack;

The 18650 battery pack is respectively connected to the GNSS single-frequency receiver module, the network server module, the integrated sensor module and the data processing module, and is used to provide the GNSS single-frequency receiver module, the The network server module, the integrated sensor module and the data processing module provide power.

Optionally, the data processing module is a development board platform based on Raspberry Pi 4B.

According to the specific embodiments provided by the present invention, the present invention discloses the following technical effects:

The invention provides a real-time high-precision positioning method and system based on single-frequency receiving equipment. The method utilizes single-frequency satellite observation data, precision ephemeris data, precision clock error data, ionospheric data, temperature and atmospheric pressure data and Observation equation, calculates the geometric distance between the satellite and the single-frequency receiver antenna, determines the precise coordinates of the target device through the geometric distance between the satellite and the single-frequency receiver antenna and the positioning coordinate equation, and finally transmits the calculated precise coordinates in real time Return to the server to complete the precise positioning of the target device. By using the single-frequency satellite observation data collected by the GNSS single-frequency receiver module to determine the location information of the target device, compared with multi-frequency receiving equipment, the cost of the overall equipment is reduced, and at the same time, it also avoids the need for multiple data collected by the multi-frequency receiving equipment. Errors and interference between frequency signals, as well as the high sensitivity of multi-frequency receiving equipment to environmental changes and multi-path interference.

Description of drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the drawings needed to be used in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some of the drawings of the present invention. Embodiments, for those of ordinary skill in the art, other drawings can also be obtained based on these drawings without exerting creative efforts.

Figure 1 is a flow chart of a real-time high-precision positioning method based on a single-frequency receiving device provided by an embodiment of the present invention;

Figure 2 is a schematic module structure 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:

GNSS single frequency receiver module-1, network server module-2, integrated sensor module-3, data processing module-4, power management module-5, solar photovoltaic panel-6, 18650 battery pack-7.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention.

The purpose of the present invention is to provide a real-time high-precision positioning method and system based on a single-frequency receiving device, which reduces the cost of the equipment and avoids errors and interference between multiple frequency signals.

In order to make the above objects, features and advantages of the present invention more obvious and understandable, the present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments.

Embodiment 1

This embodiment provides a real-time high-precision positioning method based on a single-frequency receiving device, as shown in Figure 1. Each step of the positioning method is introduced in detail below:

Step 101: Obtain the single-frequency satellite observation data collected in real time by the GNSS single-frequency receiver module, the precise ephemeris data, precision clock error data and ionospheric data collected in real time by the network server module, and the temperature and atmospheric pressure data collected in real time by the integrated sensor module.

Step 102: Obtain the satellite pseudorange observation value and the satellite carrier phase observation value based on the single-frequency satellite observation data.

Step 103: Perform star selection operation on single-frequency satellite observation data to generate target satellite observation data.

In one example, the star selection operation is to filter out the target satellite observation data that meets a specific angle according to actual needs. For example: delete the satellite observation data with an elevation angle less than 20 degrees in the single-frequency satellite observation data, and delete the remaining single-frequency satellite observation data. determined as target satellite observation data.

Step 104: Calculate the three-dimensional satellite coordinates based on the target satellite observation data and precise ephemeris data, calculate the observation satellite clock offset based on the precise clock offset data, calculate the ionospheric delay error based on the ionospheric data, and calculate the tropospheric delay error based on the temperature and atmospheric pressure data.

In one example, the calculation of satellite three-dimensional coordinates can obtain accurate calculation results through matrix equation calculation, and can also interpolate precise ephemeris data based on target satellite observation data to generate real-time satellite three-dimensional coordinates.

Step 104 specifically includes:

Step 1041: Based on ionospheric data and formulas Calculate the seasonal variation coefficient; where A is the seasonal variation coefficient, α _n is the seasonal variation value of the nth parameter,/> is the geomagnetic latitude of the intersection of the signal propagation path and the central ionosphere, and m is the number of parameters.

Step 1042: Based on ionospheric data and formulas Calculate the average radiation flux coefficient; where, P is the average radiation flux coefficient, and β _n is the average radiation flux of the nth parameter.

Step 1043: According to the seasonal variation coefficient, average radiation flux coefficient and formula Calculate the ionospheric delay error; where I is the ionospheric delay error, DC is the first time constant, t is the time angle of the intersection of the signal propagation path and the central ionosphere, and T _p is the second time constant.

In one example, DC=5ns, _Tp =14h.

Step 1044: Based on temperature and atmospheric pressure data and formula:

Calculate the tropospheric delayed dry component and tropospheric delayed wet component in the zenith direction; where d _dry is the tropospheric delayed dry component, P ₀ is the air pressure at the station, g′ is the calculation coefficient, d _wet is the tropospheric delayed wet component, and t′ is The temperature at the measuring station, e ₀ is the water vapor pressure at the measuring station,/> is the latitude of the measuring station, h ₀ is the altitude of the measuring station.

Step 1045: Calculate the tropospheric delay error according to the tropospheric delay dry component, the tropospheric delay wet component and the formula T=M _d ·d _dry +M _w ·d _wet ; where T is the tropospheric delay error, and M _d is the corresponding tropospheric delay dry component. The mapping function of , M _w is the mapping function corresponding to the tropospheric delayed wet component.

As a preferred implementation, before introducing step 105, first introduce the observation equation used to calculate the geometric distance between the satellite and the single-frequency receiver antenna:

By combining the satellite pseudorange observation equation and the satellite carrier phase equation, the positioning coordinate equation used to calculate the precise coordinates of the target device can be derived. Among them, the satellite pseudorange observation equation is:

In the formula, P ^j is the pseudo-range observation value of the j-th satellite, ρ ^j is the geometric distance between the j-th satellite and the single-frequency receiver antenna, c is the speed of light, dt is the single-frequency receiver clock error, and dt ^j is The jth observation satellite clock error, I ^j is the ionospheric delay error of the jth satellite, T ^j is the tropospheric delay error of the jth satellite, is the multipath error of the jth satellite,/> is the relative effect error of the jth satellite, ε ₁ is the first pseudo-range observation noise and the unmodeled error impact.

The satellite carrier phase equation is:

In the formula, is the carrier phase observation value of the jth satellite, λ is the carrier wavelength, N ^j is the integer ambiguity of the jth satellite, and ε ₂ is the second pseudorange observation noise and unmodeled error effects.

The positioning coordinate equation obtained by combining the satellite pseudorange observation equation and the satellite carrier phase equation is:

In addition, the coordinates of the target device can be obtained by using the satellite pseudorange observation equation or the satellite carrier phase equation, but the accuracy of the calculation results is not as high as that of the positioning coordinate equation calculation.

Step 105: Calculate the geometric distance between the satellite and the single-frequency receiver antenna based on the observation satellite clock error, ionospheric delay error, tropospheric delay error, satellite pseudorange observation value, satellite carrier phase observation value and observation equation.

Step 106: Determine the precise coordinates of the target device based on the geometric distance between the satellite and the single-frequency receiver antenna, the three-dimensional coordinates of the satellite and the positioning coordinate equation; where the target device is a GNSS single-frequency receiver module, a network server module and a Device with integrated sensor module. Among them, the positioning coordinate equation is:

In the formula, (x, y, z) are the precise coordinates of the target device, and (X ^j , Y ^j , Z ^j ) are the three-dimensional coordinates of the j-th satellite.

In one example, since the coordinates of the target device are calculated from satellite coordinates at different locations, the final calculation result of the coordinates of the target device is also multiple values. Using matrix equations to perform matrix calculations on multiple values, we will finally get The coordinates of a precise target device.

Embodiment 2

This embodiment provides a real-time high-precision positioning system based on single-frequency receiving equipment, as shown in Figure 2. The system includes: GNSS single-frequency receiver module 1, network server module 2, integrated sensor module 3 and data processing module 4.

Specifically, the GNSS single-frequency receiver module 1 is used to collect single-frequency satellite observation data; the network server module 2 is used to collect precision ephemeris data, precision clock error data and ionospheric data; the integrated sensor module 3 is used to collect temperature and atmospheric pressure data ; The data processing module 4 is connected to the GNSS single-frequency receiver module 1, the network server module 2, and the integrated sensor module 3 respectively, and is used to perform a real-time high-precision positioning method based on a single-frequency receiving device described in Embodiment 1.

In one example, the data processing module 4 is a development board platform based on Raspberry Pi 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 an Internet of Things card loaded with 4G and 5G. composition.

Further, the system also includes: power management module 5, solar photovoltaic panel 6 and 18650 battery pack 7.

Among them, the power management module 5 is connected to the solar photovoltaic panel 6 and the 18650 battery pack 7 respectively, and is used to control the solar photovoltaic panel 6 to charge the 18650 battery pack 7; the 18650 battery pack 7 is connected to the GNSS single frequency receiver module 1 and 18650 battery pack 7 respectively. The network server module 2, the integrated sensor module 3 and the data processing module 4 are connected to provide 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 antenna to form a GNSS single-frequency receiver module 1 to receive single-frequency satellite observation data, and transmits the data in real time through the serial port to the data processing module 4 composed of Raspberry Pi 4B. The data processing module 4 decodes the single-frequency satellite observation data and performs star selection operations, retains the satellite data with good signal, and obtains the real-time precise ephemeris data and precise ephemeris data of the server through the network server module 2 loaded with the 4G/5G Internet of Things card. The clock error data and ionospheric data are transmitted to the data processing module 4 in real time through the USB interface. The optimized positioning algorithm is used to perform PPP to calculate the precise coordinates of the current target device, and the precise coordinates are transmitted back in real time through the network server module 2. Service-Terminal. In addition, the system uses the power management module 5 to control the 18650 battery pack 7 to supply power to other modules, and the power management module 5 controls the solar photovoltaic panels 6 to charge the 18650 battery pack 7.

The system has a modular design and is mainly composed of 7 modules. Each module has the following main advantages over existing equipment modules:

Advantages of 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 of a single frequency. Single-frequency receivers are relatively simple to design and operate and do not require additional hardware and algorithms to process signals at multiple frequencies.

Advantages of the network server module 2: By adding a 4G/5G IoT card, the positioning system can achieve real-time communication functions and can perform instant data transmission and communication with remote servers or other devices. This allows real-time monitoring of system status, transmitting positioning data or receiving instructions, etc. Through the network server module 2, remote management and control of the positioning system can also be realized. Using remote management platforms or applications, users can remotely monitor system status, adjust system parameters, issue instructions, etc., to improve system management efficiency and flexibility.

Advantages of solar photovoltaic panels 6: The working principle of solar photovoltaic panels 6 is to convert solar energy into electrical energy without producing any pollutants and greenhouse gas emissions. Compared with power generation using fossil fuels, solar power has a smaller impact on the environment, helping to reduce carbon emissions and air pollution. Solar photovoltaic panels 6 can be installed in various locations without the need for traditional grid connections. This makes solar power supply suitable for remote areas, wild and off-grid environments, and can provide independent and remote power support for the system. Once installed, solar photovoltaic panels 6 operate with few moving parts, so maintenance costs are relatively low. Usually it is only necessary to clean the surface of the photovoltaic panels regularly to ensure that they are working properly.

In summary, modular equipment allows users to freely combine and configure different modules according to their own needs to achieve the required functions. This provides flexibility and customizability of the positioning system, allowing users to build their own according to specific needs. system equipment. The modular positioning system makes maintenance and upgrades simpler. When a module fails, only the module needs to be replaced instead of the entire system. Similarly, when a certain function needs to be upgraded, only the corresponding module needs to be upgraded without replacing the entire system, which reduces the cost and workload of maintenance and upgrades. The modular positioning system can adapt and expand according to needs. When the needs change, modules can be added or deleted to meet new needs. This adaptability and scalability enable the positioning system to adapt to different application scenarios and needs. .

Each embodiment in this specification is described in a progressive manner. Each embodiment focuses on its differences from other embodiments. The same and similar parts between the various embodiments can be referred to each other. As for the system disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple. For relevant details, please refer to the description in the method section.

This article uses specific examples to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method and the core idea of the present invention; at the same time, for those of ordinary skill in the art, according to the present invention There will be changes in the specific implementation methods and application scope of the ideas. In summary, the contents of this description should not be construed as limitations of the present invention.

Claims (10)

1. A real-time high-precision positioning method based on single-frequency receiving equipment, characterized in that the method includes: Obtain the single-frequency satellite observation data collected in real time by the GNSS single-frequency receiver module, the precise ephemeris data, precision clock error data and ionospheric data collected in real time by the network server module, and the temperature and atmospheric pressure data collected in real time by the integrated sensor module; According to the single-frequency satellite observation data, obtain satellite pseudorange observation values and satellite carrier phase observation values; Perform star selection operations on the single-frequency satellite observation data to generate target satellite observation data; Calculate satellite three-dimensional coordinates based on the target satellite observation data and the precision ephemeris data, calculate the observation satellite clock offset based on the precision clock offset data, calculate the ionospheric delay error based on the ionospheric data, and calculate the ionospheric delay error based on the temperature and atmospheric pressure data Calculate tropospheric delay error; According to the observation satellite clock error, the ionospheric delay error, the tropospheric delay error, the satellite pseudorange observation value, the satellite carrier phase observation value and the observation equation, calculate the distance between the satellite and the single-frequency receiver antenna the geometric distance; 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 precise coordinates of the target device are determined; the target device is the GNSS single-frequency receiver module installed. The network server module and the device integrating the sensor module. 2. A real-time high-precision positioning method based on single-frequency receiving equipment according to claim 1, characterized in that star selection operations are performed on the single-frequency satellite observation data to generate target satellite observation data, which specifically includes: Delete satellite observation data with an elevation angle less than 20 degrees in the single-frequency satellite observation data, and determine the remaining single-frequency satellite observation data as target satellite observation data. 3. A real-time high-precision positioning method based on single-frequency receiving equipment according to claim 1, characterized in that calculating satellite three-dimensional coordinates based on the target satellite observation data and the precise ephemeris data specifically includes: The precision ephemeris data is interpolated based on the target satellite observation data to generate real-time satellite three-dimensional coordinates. 4. A real-time high-precision positioning method based on single-frequency receiving equipment according to claim 1, characterized in that the ionospheric delay error is calculated according to the ionospheric data, specifically including: According to the ionospheric data and formula Calculate the seasonal variation coefficient; where A is the seasonal variation coefficient, α _n is the seasonal variation value of the nth parameter,/> is the geomagnetic latitude of the intersection between the signal propagation path and the central ionosphere, and m is the number of parameters; According to the ionospheric data and formula Calculate the average radiation flow coefficient; where, P is the average radiation flow coefficient, β _n is the average radiation flow of the nth parameter; According to the seasonal variation coefficient, the average radiation flux coefficient and the formula Calculate the ionospheric delay error; where I is the ionospheric delay error, DC is the first time constant, t is the time angle of the intersection of the signal propagation path and the central ionosphere, and T _p is the second time constant. 5. A real-time high-precision positioning method based on single-frequency receiving equipment according to claim 1, characterized in that the tropospheric delay error is calculated according to the temperature and atmospheric pressure data, specifically including: Based on the temperature and atmospheric pressure data and formulas Calculate the tropospheric delayed dry component and tropospheric delayed wet component in the zenith direction; where d _dry is the tropospheric delayed dry component, P ₀ is the air pressure at the station, g′ is the calculation coefficient, d _wet is the tropospheric delayed wet component, and t′ is The temperature at the measuring station, e ₀ is the water vapor pressure at the measuring station,/> is the latitude of the measuring station, h ₀ is the altitude of the measuring station; The tropospheric delay error is calculated according to the tropospheric delay dry component, the tropospheric delay wet component and the formula T=M _d ·d _dry +M _w ·d _wet ; where T is the tropospheric delay error and M _d is the tropospheric delay dry component The corresponding mapping function, M _w is the mapping function corresponding to the tropospheric delayed wet component. 6. A real-time high-precision positioning method based on single-frequency receiving equipment according to claim 1, characterized in that the observation equation is: In the formula, P ^j is the pseudo-range observation value of the jth satellite, is the jth satellite carrier phase observation value, λ is the carrier wavelength, ρ ^j is the geometric distance between the jth satellite and the single-frequency receiver antenna, c is the speed of light, dt is the single-frequency receiver clock error, dt ^j is The clock error of the jth observation satellite, T ^j is the tropospheric delay error of the jth satellite,/> is the multipath error of the jth satellite,/> is the relative effect error of the jth satellite, N ^j is the integer ambiguity of the jth satellite, ε ₁ is the first pseudorange observation noise and unmodeled error influence, ε ₂ is the second pseudorange observation noise and Unmodeled error effects. 7. A real-time high-precision positioning method based on single-frequency receiving equipment according to claim 1, characterized in that the positioning coordinate equation is: In the formula, ρ ^j is the geometric distance between the j-th satellite and the single-frequency receiver antenna, (x, y, z) is the precise coordinates of the target device, (X ^j , Y ^j , Z ^j ) is the j-th Satellite three-dimensional coordinates. 8. A real-time high-precision positioning system based on single-frequency receiving equipment, characterized in that the system includes: GNSS single-frequency receiver module, used to collect single-frequency satellite observation data; Network server module, used to collect precise ephemeris data, precise clock error data and ionospheric data; Integrated sensor module for collecting temperature and atmospheric pressure data; A data processing module, respectively connected to the GNSS single-frequency receiver module, the network server module, and the integrated sensor module, for performing the real-time high-speed data processing based on the single-frequency receiving equipment described in any one of claims 1-7. Precision positioning method. 9. A real-time high-precision positioning system based on single-frequency receiving equipment according to claim 8, characterized in that the system also includes: a power management module, a solar photovoltaic panel and an 18650 battery pack; The power management module is connected to the solar photovoltaic panel and the 18650 battery pack respectively, and is used to control the solar photovoltaic panel to charge the 18650 battery pack; The 18650 battery pack is respectively connected to the GNSS single-frequency receiver module, the network server module, the integrated sensor module and the data processing module, and is used to provide the GNSS single-frequency receiver module, the The network server module, the integrated sensor module and the data processing module provide power. 10. A real-time high-precision positioning system based on a single-frequency receiving device according to claim 8, characterized in that the data processing module is a development board platform based on Raspberry Pi 4B.