CN117406244A - High-precision satellite positioning quality checking method and system for large-area engineering measurement and electronic equipment - Google Patents

High-precision satellite positioning quality checking method and system for large-area engineering measurement and electronic equipment Download PDF

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Publication number
CN117406244A
CN117406244A CN202311396359.0A CN202311396359A CN117406244A CN 117406244 A CN117406244 A CN 117406244A CN 202311396359 A CN202311396359 A CN 202311396359A CN 117406244 A CN117406244 A CN 117406244A
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satellite
station
service
equation
difference
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林楠
钱元弟
苏蓓
刘玲
陶爱林
陶久敏
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China MCC17 Group Co Ltd
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China MCC17 Group Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/14—Receivers specially adapted for specific applications
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
    • G01S19/27—Acquisition or tracking or demodulation of signals transmitted by the system creating, predicting or correcting ephemeris or almanac data within the receiver
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/35—Constructional details or hardware or software details of the signal processing chain
    • G01S19/37—Hardware or software details of the signal processing chain
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/40—Correcting position, velocity or attitude
    • G01S19/41—Differential correction, e.g. DGPS [differential GPS]

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Signal Processing (AREA)
  • Power Engineering (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Radio Relay Systems (AREA)

Abstract

The invention discloses a high-precision satellite positioning quality checking method and system for large-area engineering measurement and electronic equipment, and belongs to the technical field of satellite global positioning. The invention relates to a high-precision satellite positioning quality checking method for large-area engineering measurement, which comprises the following steps: the subscriber station acquires the service correction of NRTK/PPPRTK; when checking the NRTK single-star service quality, performing station star double-difference operation of the user station and the virtual reference station; when checking PPP-RTK single star service quality, carrying out inter-star single difference operation; according to the known coordinates of the subscriber station, performing redundancy operation of double-difference ambiguity/single-difference ambiguity on the equation; and comparing the remainder of the remainder taking operation with a set threshold value to judge whether the satellite service quality is normal or not. The technical scheme of the invention can check and determine the correctness of the single satellite correction in the satellite enhanced service, thereby being beneficial to ensuring the satellite service quality and the service stability thereof.

Description

High-precision satellite positioning quality checking method and system for large-area engineering measurement and electronic equipment
Technical Field
The invention belongs to the technical field of satellite global positioning, and particularly relates to a high-precision satellite positioning quality checking method and system for large-area engineering measurement and electronic equipment.
Background
With the development of satellite navigation enhancement services, related location services have been widely used in various industries. Currently, satellite navigation augmentation services are largely divided into NRTK services typified by observation space domain (Observation Space Representation, OSR) augmentation and PPP-RTK technologies typified by state space domain (State Space Representation, SSR) augmentation services. The common differential system, the local area enhancement system and the foundation enhancement system all belong to the observation domain enhancement service, and the wide area enhancement system and the star base enhancement system belong to the state space domain enhancement service.
Because the satellite high-precision positioning service in remote areas is unstable, deviation easily occurs in the engineering measurement (GNSS measurement) process, the static observation and coordinate lofting errors of control points in the construction process are large, and the engineering progress and the engineering quality are seriously hindered. Therefore, the satellite with problems in high-precision positioning service (NRTK/PPPRTK) needs to be screened and screened in time, so that the accuracy and the credibility of the high-precision positioning result of the satellite are ensured.
The NRTK technology is to estimate a GNSS error model of a region by using a reference station network formed by a plurality of reference stations, provide correction data for GNSS users in the network coverage, and provide correction data of a certain reference grid close to the user by using data of a virtual reference station. The PPP-RTK technique is to comprehensively estimate and model the observation data of a plurality of reference stations to generate state corrections including satellite clock error, orbit error, troposphere error, ionosphere error, etc., describe state model parameters corresponding to time, and then send the state model parameters to an rover for position calculation. The method provides services by broadcasting.
The general NRTK/PPP-RTK server side broadcasts the enhanced information of the satellite to the user through calculation, and the user completes high-precision position service based on the enhanced information broadcasted by the server side and the observation value of the user. However, the service end inevitably has service fluctuation in long-term operation, so that the service quality of a single satellite is positioned timely and accurately, the service stability is greatly improved, the service precision is guaranteed, and the user end is convenient to check related problems.
Disclosure of Invention
1. Problems to be solved
The invention aims to provide a high-precision satellite positioning quality checking method, a system and electronic equipment for large-area engineering measurement, which can be used for checking and determining the accuracy of single satellite correction in satellite enhanced service, thereby being beneficial to ensuring the satellite service quality and the stability of the satellite service.
2. Technical proposal
In order to solve the problems, the technical scheme adopted by the invention is as follows:
the invention provides a high-precision satellite positioning quality checking method for large-area engineering measurement, which comprises the following steps:
the subscriber station obtains the service correction number of NRTK/PPP-RTK;
when checking the NRTK single-star service quality, performing station star double-difference operation of the user station and the virtual reference station; when checking PPP-RTK single star service quality, carrying out inter-star single difference operation;
according to the known coordinates of the subscriber station, performing redundancy operation of double-difference ambiguity/single-difference ambiguity on the equation;
and comparing the remainder of the remainder taking operation with a set threshold value to judge whether the satellite service quality is normal or not.
Further, when the NRTK mode is adopted, the service correction is virtual observation value information of the user outline position or the nearest lattice point position broadcasted by the server; when PPP-RTK mode is adopted, the service corrections comprise an orbit correction, a satellite clock correction, a satellite hardware delay correction, an ionosphere correction and a troposphere correction which are broadcast by the service end.
Furthermore, when checking the NRTK single-star service quality, the station star double difference operation between the user station and the virtual reference station specifically comprises the following steps:
ignoring the reference station end hardware delay error, the satellite end hardware delay error, the modeling error and the noise, and expressing an observation value equation of the user u on the satellite i as follows:
wherein lambda represents the wavelength,representing carrier phase observations,/>Representing the spatial distance between user u and satellite i, c being the speed of light, δt u And δt i Respectively represent the clock error of the receiver of the user side and the clock error of the satellite, < ->Representing ionospheric delay, +.>Indicating tropospheric delay,/->Representing the integer ambiguity for satellite i;
similarly, the observation equation for satellite j for user u is expressed as:
according to the NRTK network principle, the observation value equation of the virtual point v to satellites i and j is as follows:
making an inter-satellite single difference between satellites i and j of the subscriber station, equation (1) minus equation (2), yields:
represents a single difference distance value, δt ij Representing inter-satellite single difference clock difference +.>Representing single difference ionospheric delay,/->Representing single difference tropospheric delay, +.>Representing single difference integer ambiguity;
making an inter-satellite single difference between the virtual station satellites i and j, equation (3) minus equation (4), yields:
and then, on the basis of making inter-satellite single difference between the satellite i and the reference satellite j, carrying out inter-station single difference between the user station u and the virtual station v, namely subtracting the equation (6) from the equation (5), so as to form a station-satellite double-difference equation:
since the subscriber station u and the virtual station V are close in distance, it is generally considered that
And then can obtain:
when the terminal is a monitoring station or a mobile station which uses a truth value device to acquire a truth value position, the position u is known at the moment, and the first terms on the left side and the right side of the equation can be known by constructing a double difference equation, so that the following can be obtained:
furthermore, when checking the PPP-RTK single star service quality, the single difference operation between the planets specifically comprises the following steps:
the observation equation for satellite i for user u is expressed as:
after correction of SSR correction, the method can obtain:
is the observed value after SSR correction;
similarly, the observation value equation of the satellite j by the user u can be obtained after SSR correction:
making an inter-satellite single difference between the satellite i and the satellite j, i.e. subtracting equation (12) from equation (11), to obtain
When the terminal is a monitoring station or a mobile station using the truth apparatus to obtain the true value position, the position u is known at the moment, the first terms on the left and right sides of the equation (13) can be known, and then the following can be obtained:
further, if the remainder exceeds the set threshold, it is determined that there is a problem with the quality of service of the serving satellite i, and if the remainder does not exceed the threshold, it is determined that the quality of service of the satellite is normal.
The invention also provides a satellite positioning quality checking system, which comprises:
the service correction acquisition module is used for acquiring the service correction of NRTK/PPPRTK by the subscriber station;
the station star double difference operation/inter-star single difference operation module is used for carrying out station star double difference operation of the user station and the virtual reference station when checking the NRTK single star service quality; when checking the PPP-RTK single star service quality, the method is used for single difference operation among the planets;
the redundancy taking operation module is used for taking redundancy of double-difference ambiguity/single-difference ambiguity according to the known coordinates of the subscriber station;
and the satellite service quality judging module is used for judging whether the service quality of the satellite i in service is normal according to whether the remainder of the remainder operation exceeds a set threshold value.
The invention also provides an electronic device, which comprises a processor and a storage medium, wherein the storage medium stores a computer program, and the processor can run the satellite positioning quality checking method when the computer program is called.
The invention also provides a storage medium, wherein the storage medium stores a computer program, and the computer program can run the satellite positioning quality, namely the checking method of the service quality when being called by a processor.
3. Advantageous effects
Compared with the prior art, the invention has the beneficial effects that:
the invention carries out station star double difference operation on NRTK based on virtual observation value based on sketch position and user station observation value broadcast by the service end, carries out single difference operation on PPP-RTK based on SSR correction value broadcast by the service end, then carries out residual operation of double difference ambiguity/single difference ambiguity, and can check and determine the accuracy of single satellite correction value in satellite enhancement service by comparing the remainder with a set threshold value, thereby being beneficial to ensuring the satellite service quality and the stability of the satellite service, and further reducing the errors of control point static observation and coordinate lofting in the construction process, thereby ensuring the accuracy of engineering measurement.
Detailed Description
The invention provides a high-precision satellite positioning quality checking method for large-area engineering measurement, which comprises the following steps:
the subscriber station obtains the service correction of NRTK/PPP-RTK through Internet/satellite communication and other modes based on the Ntrip protocol;
when using NRTK service, the user obtains virtual observation value based on the sketch position broadcast by the server after passing identity authentication and uploading the sketch position, and when using PPP-RTK service, the user obtains SSR correction value broadcast by the server after passing identity authentication;
based on the subscriber station with the known position, when checking the NRTK single-star service quality, carrying out station star double-difference operation on the observed value of the subscriber station and the observed value of the virtual reference station broadcasted by the server; when checking PPP-RTK single star service quality, correcting SSR correction to the observed quantity of the user station, and then carrying out single difference operation between planets for the user station;
according to the known coordinates of the subscriber station, performing redundancy operation of double-difference ambiguity/single-difference ambiguity on the equation;
and comparing the remainder of the remainder taking operation with a set threshold value to judge whether the satellite service quality is normal or not.
The invention is further described below in connection with specific embodiments.
Example 1
The embodiment of the invention provides a high-precision satellite positioning quality checking method for large-area engineering measurement, which specifically uses NRTK service, and comprises the following steps:
after uploading the outline position, the user acquires a virtual observation value based on the outline position, which is broadcasted by the server, through identity authentication;
performing station star double difference operation on the observed value of the user station and the observed value of the virtual reference station broadcasted by the server;
according to the known coordinates of the subscriber station, performing redundancy operation of double-difference ambiguity on the equation;
and comparing the remainder of the remainder taking operation with a set threshold value to judge whether the satellite service quality is normal or not.
As a further improvement of the present embodiment, a VRS service is used in the NRTK service, and the VRS service mainly includes:
the NRTK data processing center utilizes the observed values of all CORS base stations to estimate residual systematic errors, a corresponding error model is generated, a user transmits outline position information to the data processing center, the data processing center uses the point as a virtual reference station to estimate corresponding residual systematic errors, a group of virtual carrier phase observed values are generated according to the coordinate value of the point, and are transmitted to the user, and the user receives data of the virtual observed station and then performs conventional RTK calculation by combining the observed values of the user to determine the final position of the user.
As a preferred scheme of this embodiment, the station star double difference operation procedure between the observed value of the subscriber station and the observed value of the virtual reference station broadcasted by the server is as follows:
according to the satellite observation principle, ignoring the hardware delay error of the reference station end, the hardware delay error of the satellite end, the modeling error and the noise, and expressing an observation value equation of the user u on the satellite i as follows:
wherein lambda represents the wavelength,representing carrier phase observations,/>Representing the spatial distance between user u and satellite i, c being the speed of light, δt u And δt i Respectively represent the clock error of the receiver of the user side and the clock error of the satellite, < ->Representing ionospheric delay, +.>Indicating tropospheric delay,/->Indicating the integer ambiguity to satellite i.
Similarly, the observation equation for satellite j for user u can be expressed as:
according to the NRTK network principle, the observation value equation of the virtual point v to the satellites i and j is the same as the above equation, namely:
making an inter-satellite single difference between satellites i and j of the subscriber station, equation (1) minus equation (2), yields:
represents a single difference distance value, δt ij Representing inter-satellite single difference clock difference +.>Representing single difference ionospheric delay,/->Representing single difference tropospheric delay, +.>Representing single difference integer ambiguity.
Making an inter-satellite single difference between the virtual station satellites i and j, equation (3) minus equation (4), yields:
and then, on the basis of making inter-satellite single difference between the satellite i and the reference satellite j, carrying out inter-station single difference between the user station u and the virtual station v, namely subtracting the equation (6) from the equation (5), so as to form a station-satellite double-difference equation:
since the subscriber station u and the virtual station V are close in distance, in the embodiment of the present application
And then can obtain:
when the terminal is a monitoring station or a mobile station which uses a truth value device to acquire a truth value position, the position u is known at the moment, and the first terms on the left side and the right side of the equation can be known by constructing a double difference equation, so that the following can be obtained:
theoreticallyShould be an integer value, however, due to the influence of the server-side correction and observed white noise, etc., in practice +.>Is not an integer. Thus by +.>Performing the remainder taking operation when->If the threshold value is exceeded, for example, 0.25, it can be determined that the satellite i service quality in the NRTK service is problematic, and if the threshold value is not exceeded, the satellite i service quality can be considered to be normal.
The embodiment also provides a satellite service quality checking system, which comprises:
the service correction acquisition module is used for acquiring the service correction of the NRTK by the subscriber station;
the station star double difference operation module is used for carrying out station star double difference operation of the user station and the virtual reference station;
the residual taking operation module is used for carrying out residual taking operation of double-difference ambiguity on the equation according to the known coordinates of the subscriber station;
and the satellite service quality judging module is used for judging whether the service quality of the satellite i in service is normal according to whether the remainder of the remainder operation exceeds a set threshold value.
The embodiment also provides an electronic device, which comprises a processor and a storable medium, wherein the storable medium stores a computer program, and the processor can run the service positioning quality checking method of the embodiment when the processor calls the computer program.
The present embodiment also provides a storable medium, in which a computer program is stored, which when called by a processor can run the single satellite positioning quality checking method of the present embodiment.
Example 2
The embodiment provides a high-precision satellite positioning quality checking method for large-area engineering measurement, which specifically uses PPP-RTK service, and comprises the following steps:
the user station obtains the service correction number of PPP-RTK;
performing single difference operation among planets;
according to the known coordinates of the subscriber station, performing redundancy taking operation of single-difference ambiguity on the equation;
and comparing the remainder of the remainder taking operation with a set threshold value to judge whether the satellite service quality is normal or not.
The PPP-RTK service main flow is:
the PPP-RTK data processing center utilizes the observed value of each base station to estimate the error of each module of the SSR, generates a corresponding error model, and then broadcasts the error model to users. After receiving the SSR correction, the user performs a solution by combining the observed value of the user to determine the final position of the user.
As a further improvement of this embodiment, the SSR corrections include orbit corrections, satellite clock correction, satellite side hardware delay corrections (pseudo-range, phase), ionosphere corrections, troposphere corrections.
As a preferred scheme of this embodiment, the process of inter-star single difference operation is as follows:
the observation equation for satellite i for user u can be expressed as:
the letters have the same meaning as in example 1.
After correction of SSR correction, the method can obtain:
is the observed value after SSR correction.
Similarly, the observation value equation of the satellite j by the user u can be obtained after SSR correction:
then, the single inter-satellite difference between the satellite i and the satellite j is obtained by subtracting the equation (12) from the equation (11)
When the terminal is a monitoring station or a mobile station using the truth apparatus to obtain the true value position, the position u is known at the moment, the first terms on the left and right sides of the equation (13) can be known, and then the following can be obtained:
theoreticallyShould be an integer value, however, due to the influence of the server-side correction and observed white noise, etc., in practice +.>Not be ofAn integer. By means of->Performing the remainder taking operation when->If the quality of service of the satellite i in the PPPRTK service exceeds a certain threshold value, for example, 0.25, the problem of the quality of service of the satellite i in the PPPRTK service can be judged, and if the quality of service of the satellite i does not exceed the threshold value, the quality of service of the satellite i can be considered to be normal.
The embodiment also provides a PPP-RTK single satellite positioning quality checking system, which comprises:
the service correction acquisition module is used for acquiring the service correction of the PPPRTK by the subscriber station;
the inter-satellite single difference operation module is used for performing inter-satellite single difference operation;
the remainder taking operation module is used for taking the remainder of the single-difference ambiguity for the equation according to the known coordinates of the subscriber station;
and the satellite service quality judging module is used for judging whether the service quality of the satellite i in service is normal according to whether the remainder of the remainder operation exceeds a set threshold value.
The embodiment also provides an electronic device, which comprises a processor and a storage medium, wherein the storage medium stores a computer program, and the processor can run the satellite positioning quality checking method of the embodiment when the computer program is called.
The present embodiment also provides a storable medium storing a computer program that when called by a processor can run the satellite positioning quality checking method of the present embodiment.

Claims (8)

1. The high-precision satellite positioning quality checking method for large-area engineering measurement is characterized by comprising the following steps of:
the subscriber station acquires the service correction of NRTK/PPPRTK;
when checking the NRTK single-star service quality, performing station star double-difference operation of the user station and the virtual reference station; when checking PPP-RTK single star service quality, carrying out inter-star single difference operation;
according to the known coordinates of the subscriber station, performing redundancy operation of double-difference ambiguity/single-difference ambiguity on the equation;
and comparing the remainder of the remainder taking operation with a set threshold value to judge whether the satellite service quality is normal or not.
2. The method for checking the positioning quality of a high-precision satellite for large-area engineering measurement according to claim 1, wherein when an NRTK mode is adopted, the service correction is virtual observation value information of a user outline position or a nearest lattice point position broadcasted by a server; when PPP-RTK mode is adopted, the service corrections comprise an orbit correction, a satellite clock correction, a satellite hardware delay correction, an ionosphere correction and a troposphere correction which are broadcast by the service end.
3. The method for checking the quality of positioning of a high-precision satellite for large-area engineering measurement according to claim 2, wherein when checking the quality of service of NRTK single star, performing a station star double difference operation between a subscriber station and a virtual reference station specifically comprises:
ignoring the reference station end hardware delay error, the satellite end hardware delay error, the modeling error and the noise, and expressing an observation value equation of the user u on the satellite i as follows:
wherein lambda represents the wavelength,representing carrier phase observations,/>Representing the spatial distance between user u and satellite i, c being the speed of light, δt u And δt i Respectively represent the clock error of the receiver of the user and the satelliteClock error (I)>Representing ionospheric delay, +.>Indicating tropospheric delay,/->Representing the integer ambiguity for satellite i;
similarly, the observation equation for satellite j for user u is expressed as:
according to the NRTK network principle, the observation value equation of the virtual point v to satellites i and j is as follows:
making an inter-satellite single difference between satellites i and j of the subscriber station, equation (1) minus equation (2), yields:
represents a single difference distance value, δt ij Representing inter-satellite single difference clock difference +.>Representing single difference ionospheric delay,/->Representing single difference tropospheric delay, +.>Representing single difference integer ambiguity;
making an inter-satellite single difference between the virtual station satellites i and j, equation (3) minus equation (4), yields:
and then, on the basis of making inter-satellite single difference between the satellite i and the reference satellite j, carrying out inter-station single difference between the user station u and the virtual station v, namely subtracting the equation (6) from the equation (5), so as to form a station-satellite double-difference equation:
since the subscriber station u and the virtual station V are close in distance, it is generally considered that
And then can obtain:
when the terminal is a monitoring station or a mobile station which uses a truth value device to acquire a truth value position, the position u is known at the moment, and the first terms on the left side and the right side of the equation can be known by constructing a double difference equation, so that the following can be obtained:
4. the method for checking the quality of positioning of a high-precision satellite for large-area engineering measurement according to claim 2, wherein when checking the quality of service of a PPP-RTK single satellite, performing inter-satellite single difference operation specifically comprises:
the observation equation for satellite i for user u is expressed as:
after correction of SSR correction, the method can obtain:
is the observed value after SSR correction;
similarly, the observation value equation of the satellite j by the user u can be obtained after SSR correction:
making an inter-satellite single difference between the satellite i and the satellite j, i.e. subtracting equation (12) from equation (11), to obtain
When the terminal is a monitoring station or a mobile station using the truth apparatus to obtain the true value position, the position u is known at the moment, the first terms on the left and right sides of the equation (13) can be known, and then the following can be obtained:
5. the method according to any one of claims 1 to 4, wherein if the remainder exceeds a set threshold, it is determined that there is a problem with the quality of service of the serving satellite i, and if the remainder does not exceed the threshold, it is determined that the quality of service of the satellite is normal.
6. The utility model provides a high accuracy satellite positioning quality's system of checking for large area engineering measurement which characterized in that includes:
the service correction acquisition module is used for acquiring the service correction of NRTK/PPPRTK by the subscriber station;
the station star double difference operation/inter-star single difference operation module is used for carrying out station star double difference operation of the user station and the virtual reference station when checking the NRTK single star service quality; when checking the PPP-RTK single star service quality, the method is used for single difference operation among the planets;
the redundancy taking operation module is used for taking redundancy of double-difference ambiguity/single-difference ambiguity according to the known coordinates of the subscriber station;
and the satellite service quality judging module is used for judging whether the service quality of the satellite i in service is normal according to whether the remainder of the remainder operation exceeds a set threshold value.
7. An electronic device comprising a processor and a storable medium, in which a computer program is stored, characterized in that the processor is capable of running a method for checking satellite positioning quality according to any one of claims 1-5 when the computer program is called.
8. A storable medium storing a computer program, characterized in that the computer program when called by a processor is operable to perform the method for checking satellite positioning quality according to any one of claims 1-5.
CN202311396359.0A 2023-10-26 2023-10-26 High-precision satellite positioning quality checking method and system for large-area engineering measurement and electronic equipment Pending CN117406244A (en)

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