CN117420571A - Far coast static and dynamic reference station networking positioning method and system based on floating platform - Google Patents

Abstract

The invention provides a far-coast static and dynamic reference station network positioning method and system based on a floating platform, which includes setting up a general maritime dynamic reference station on the basis of a buoy platform; obtaining the position coordinates of the maritime dynamic reference station and uploading them to a cloud server; Coastal static base station information is uploaded to the cloud server, and together with the maritime dynamic base station, a static and dynamic base station network database is constructed; for marine precision engineering users, the approximate coordinates of the corresponding user station are obtained and uploaded to the cloud server, and high-precision enhanced positioning services are requested. ; Combined with the rough coordinates of user stations, search for the static and dynamic base station network subsets that constitute the user positioning service for this marine precision engineering in the static and dynamic base station network database; carry out static and dynamic base station network joint precision positioning services based on the distribution of the subsets , where when the type of the base station is queried to be a maritime dynamic base station, the coordinate parameters and constraints of the dynamic base station are solved.

Description

Far coast static and dynamic base station networking positioning method and system based on floating platform

Technical field

The present invention relates to the field of high-precision data processing services based on GNSS (Global Navigation Satellite System), and in particular to a method of establishing a dynamic base station based on a floating platform on the sea surface such as a buoy to meet the centimeter-level positioning requirements for far-coast precision engineering measurements to realize a static and dynamic base station. Technical solutions for networked positioning services.

Background technique

At present, our country advocates the development of marine infrastructure such as marine pastures, marine wind farms, and cross-sea bridges and tunnels, and gradually develops from near coast to far coast, shallow water depth to large water depth, and people to few people and no people underwater. The new trend brings New challenges require an urgent breakthrough in high-precision positioning of far-coast satellites.

RTK (Real-time Kinematic) and PPP (Precise Point Positioning) are the current representative technologies of Beidou/GNSS high-precision satellite navigation. Based on PPP technology, there are currently commercial companies that have achieved centimeter-level positioning of users around the world by integrating Beidou, GPS, and Galileo multi-system data. However, in far-coast precision engineering measurements, its positioning performance has problems such as unreliable accuracy and frequent re-convergence in complex sea/steam environments. RTK technology benefits from its advantages such as excellent positioning accuracy, fast convergence speed, and strong reliability. It has been widely used in marine precision engineering surveying, etc. However, its service range generally does not exceed 20 kilometers. In far-coast engineering operations based on RTK technology, it is usually necessary to set up static base stations at sea through piling and other methods to meet the reference station distance requirements in RTK differential enhancement. With the development of marine engineering from offshore to far sea, shallow water to deep water, the construction difficulty of offshore static reference stations continues to increase, and the construction cost continues to increase. In addition, even offshore base stations established by high-cost pile driving will inevitably have obvious swing deformation under large water depth conditions on the far coast. Therefore, the "dynamics" of the far coast large water depth base station must be considered. This is Current technical issues that need to be resolved urgently.

Contents of the invention

In view of the problems that the differential enhanced service coverage of coastal reference stations is limited, the construction cost of static reference stations at sea is high, and swing deformation is inevitable, etc., making it difficult to apply to high-precision positioning services on far coasts. This invention combines existing buoy platforms at sea to construct Maritime dynamic base stations, and through networking with coastal static base stations, achieve high-precision positioning services on the far coast.

In order to achieve the above objectives, the present invention proposes a far-coast static and dynamic base station networking positioning method based on a floating platform, which includes the following processes:

Based on the buoy platform, set up a general maritime dynamic base station;

Obtain the position coordinates of the maritime dynamic base station and upload the coordinates and related equipment information to the cloud server;

Upload the location coordinates of coastal static base stations and related equipment information to the cloud server, and together with the maritime dynamic base stations, build a static and dynamic base station network database for marine engineering measurement and positioning services;

For marine precision engineering users, obtain the approximate coordinates of the corresponding user station And upload it to the cloud server and request high-precision enhanced positioning services;

The cloud server targets marine precision engineering users' high-precision enhanced positioning service requests, combined with the user's station rough coordinates , search for the corresponding sea area coastal static base stations and maritime dynamic base stations in the static and dynamic base station network database, forming a subset of the static and dynamic base station network serving the positioning of marine precision engineering users;

According to the distribution of the obtained static and dynamic base station network subsets, joint precision positioning services of static and dynamic base station networks are carried out based on non-difference PPP-RTK or non-difference network RTK. When the base station type is queried as a maritime dynamic base station, its coordinates are As a parameter, it is estimated uniformly with the regional error parameters to calculate and constrain the coordinate parameters of the dynamic base station.

Moreover, in the static and dynamic reference station network database, each record The base station is included in/> Serial number/> ;Base station type/> Is a static or dynamic site;/> are the coordinates of the base station. When it is a coastal static base station, this coordinate is an accurate coordinate. When it is a maritime dynamic reference station, this coordinate is the initial coordinate;/> Detailed information about the measuring station equipment;/> Access information for this base station.

Moreover, the position coordinates of the maritime dynamic base station are obtained through standard positioning SPP.

Moreover, for marine precision engineering users, the approximate coordinates of the corresponding user station can be obtained through standard positioning SPP .

Moreover, suppose we find tracking stations/> , constituting a subset of the static and dynamic base station network for positioning services for marine precision engineering users/> ;

When the static and dynamic base station network subsets are widely distributed, perform the following steps:

A: Based on a subset of static and dynamic base station networks Access information of each base station in China/> , receive real-time observation data from each station in real time, and obtain real-time orbit clock error products from the network or satellite/> , of which/> for satellite/> Orbital parameters,/> for satellite/> Clock error parameters;

B: Query subset Types of base stations in/> , when it is a static station, the corresponding known coordinates are obtained directly/> ;When it is a dynamic station, use coordinates/> is the initial value, combined with the real-time orbit clock error product/> , use PPP method to obtain accurate coordinates and update/> ;

C: Combined with real-time orbit clock error products , constraint subset/> Coordinates of each base station in /> , use the network solution model to solve the regional error parameters/> , of which/> is the tropospheric delay correction value,/> is the ionospheric delay correction value in the line-of-sight direction,/> for satellite/> Frequency/> The phase deviation correction value on , thus forming a state domain enhancement product based on PPP-RTK/>

When using the network solution model to solve, when the base station type is queried When it is a dynamic station, its coordinates are used as parameters and are estimated uniformly with the regional error parameters; in addition, through the PPP method of the orbital clock error product, and the baseline solution continuation processing method with an additional double-difference ambiguity closure error test, an independent The coordinate parameters are brought into the network solution model;

D: This marine precision engineering user receives enhanced products in real time , and use the base station observation data carried on the project operation carrier/> Based on this, the PPP-RTK algorithm is used to achieve centimeter-level precise positioning of users;

When static and dynamic base station network subsets are distributed within a local area, perform the following steps:

A: Based on a subset of static and dynamic base station networks Access information of each base station in China/> , receiving real-time observation data from each station in real time;

B: Query subset Types of base stations in/> , when it is a static station, the corresponding known coordinates are obtained directly/> ;When it is a dynamic station, use coordinates/> is the initial value, combined with the real-time orbit clock error product/> , use PPP method to obtain its precise coordinates, and update/> ;

C: Constrained subset Coordinates of each base station in /> , using the non-differenced network RTK mode to solve the regional error, and generate the approximate coordinates of the user station of the marine precision engineering work vessel and other carriers/> Virtual observation value at/> ;

When solving in non-difference network RTK mode, when the base station type is queried When it is a dynamic station, its coordinates need to be used as parameters to be uniformly estimated with the regional error parameters; in addition, through the PPP method of the orbit clock error product, and the baseline solution continuation processing method with an additional double-difference ambiguity closure error test, the Independent coordinate parameters are brought into the non-difference network RTK model;

D: The marine precision engineering user receives virtual observation values in real time , and use the base station observation data carried on the project operation carrier/> Based on this, RTK algorithm is used to achieve centimeter-level precise positioning of users.

Moreover, when querying the base station type When it is a dynamic station, the coordinate parameter solution and constraint method for the dynamic base station are implemented as follows:

For static and dynamic base station network subset types As the base station of the dynamic station, the cloud server simultaneously receives the real-time orbital clock difference and the base station observation data stream, and uses the PPP method to calculate and obtain the precise coordinates of the dynamic base station/> ; Combined with the static known coordinates, the accurate coordinates of the base station in the static and dynamic base station network subset are marked as/> , this coordinate is called the first accurate coordinate of the base station subset;

A Deloni triangle network is formed according to the distribution of a subset of the static and dynamic base station network, and baseline processing is used to solve each observation value;

The first accurate coordinates of each base station are further brought in to constrain the coordinate parameters, and then the dual-mode ambiguity estimate is obtained through calculation, and the ambiguity fixing algorithm is adopted;

The reliability of the ambiguity fixed solution is tested. After passing the test, the ambiguity is reliably fixed, and the coordinate fixed solution of each base station with additional ambiguity double difference constraints is obtained. This coordinate is called the second accurate coordinate of the base station subset, and is known as The coordinates are constrained and fixed in the network solution, turning the static and dynamic base station network into a static base station network.

On the other hand, the present invention also provides a far-coast static and dynamic reference station networking positioning system based on a floating platform, which is used to implement the above-mentioned floating platform-based far-coast static and dynamic reference station networking positioning method.

Furthermore, it includes a processor and a memory, the memory is used to store program instructions, and the processor is used to call the stored instructions in the memory to execute the above-mentioned far-coast static and dynamic base station network positioning method based on a floating platform.

Or, it includes a readable storage medium, and a computer program is stored on the readable storage medium. When the computer program is executed, the above-mentioned floating platform-based far-coast static and dynamic base station networking positioning method is implemented.

Compared with the existing technology, the present invention has the following characteristics:

1) It is proposed to install Beidou/GNSS antennas and receiver equipment on existing buoy platforms to form a universal maritime dynamic base station, and combine it with the coastal static base station network to send base station information to the cloud server to build a marine engineering-oriented Static and dynamic base station network database for measurement and positioning services , responding to requests for high-precision positioning services in marine precision engineering positioning applications.

2) Compared with the existing non-differential PPP-RTK or network RTK solution services based on static base station networks, a static and dynamic base station networking method is proposed to avoid the use of sea surface piling in ordinary coastal high-precision positioning services. This method of constructing a static base station brings construction cost issues. In addition, in order to reduce the impact of dynamic base station position uncertainty on the error model solution under large water depth conditions on the far coast, a dynamic base station position constraint technology is proposed.

The solution of the present invention is simple and convenient to implement, has strong practicability, solves the problems of low practicability and inconvenient practical application in related technologies, can improve user experience, and has important market value.

Description of the drawings

Figure 1 is a schematic diagram of the overall implementation of an embodiment of the present invention;

Figure 2 is a diagram of a subset of marine precision engineering users and base stations according to the embodiment of the present invention;

Figure 3 is a timing chart of the real-time dynamic precise positioning error of the measuring station 50 kilometers away from the reference station according to the embodiment of the present invention.

Detailed ways

The technical solution of the present invention will be described in detail below with reference to the accompanying drawings and examples.

Referring to Figure 1, an embodiment of the present invention proposes a far-coast satellite high-precision positioning service technology based on a floating platform, including the following processing flow:

Step 1: Use maritime buoys as the basic platform, install Beidou/GNSS receivers, etc., and establish a maritime dynamic base station.

During specific implementation, Beidou/GNSS antennas and receiver equipment can be installed on existing buoy platforms to form a universal maritime dynamic reference station.

Step 2: Obtain the coordinates of the maritime dynamic base station through standard positioning SPP (Standard Point Positioning), and upload the coordinates, antenna, receiver and other information to a server in the cloud. This information includes but is not limited to equipment model, antenna phase Center corrects information, etc. It should be noted that during specific implementation, the server can be an intranet or private cloud server, and only provide access rights to the engineering project team.

Upload the coastal static base station location, antenna and receiver information to the above-mentioned cloud server, and together with the maritime dynamic base station build a static and dynamic base station network database for marine engineering measurement and positioning services. Each record The base station is included in/> Serial number/> ;Base station type/> Is it a static or dynamic station (that is, a coastal static base station or an upper dynamic reference station);/> are the coordinates of the base station. When it is a coastal static base station, this coordinate is an accurate coordinate. When it is a maritime dynamic reference station, this coordinate is the initial coordinate;/> Detailed information such as measuring station equipment;/> Access information for this base station, including but not limited to NTRIP, TCP/IP and other protocol formats commonly used for broadcasting and receiving GNSS real-time data streams.

In the embodiment, the static base station/dynamic base station Serial number/> , base station type/> , the coordinates of the base station/> , Measurement station equipment details/> , base station access information/> Upload to the cloud server to build a static and dynamic base station database . The static station coordinate information can be obtained through long-term continuous observation and calculation. For a dynamic station, let the user observation value be

In the formula, ,/> They are respectively the pseudorange and phase observation values from satellite s to receiver r at frequency f , taking into account errors such as antenna phase center, relativistic effect, earth rotation, tide, phase winding, etc.;/> is the geometric distance from satellite s to receiver r , which is a function of satellite position and receiver position;/> is the receiver clock error parameter of the GNSS system corresponding to the receiver r ;/> is the satellite receiver clock error parameter;/> is the station zenith tropospheric delay,/> is the projection function of the troposphere from the zenith to the oblique path;/> is the zenith ionospheric delay at the puncture point of the single-layer ionospheric model, /> is the projection function of the ionosphere from the zenith to the oblique path;/> is the satellite pseudorange bias;/> is the pseudorange deviation at the receiver;/> is an integer ambiguity parameter,/> is the satellite phase deviation;/> is the phase deviation at the receiver,/> is the frequency/> Corresponding carrier wavelength. Through equation (1), combined with the broadcast ephemeris, the approximate coordinates of the dynamic station can be obtained through the standard positioning SPP.

Step 3: In order to obtain high-precision positions, marine precision engineering users build Beidou/GNSS receivers on their work ships and other carriers, and obtain observation values in real time. ,Similarly, the approximate coordinates of the user station can be obtained through SPP/> . Marine precision engineering users send the coordinates and high-precision enhanced positioning requests to the cloud server.

During specific implementation, for a certain marine precision engineering positioning application, the approximate coordinates of the Beidou/GNSS user station built on the engineering work vessel and other carriers are (can be obtained by SPP calculation) is sent to the above cloud server and requests high-precision enhanced positioning services. It is worth noting that compared with the aforementioned dynamic base station, the Beidou/GNSS base station carried by this operation ship only works during its engineering operation period, so it generally does not have the conditions to participate in the calculation of service products. But one possible situation is that the project lasts long enough and the operating platform is stable enough. At this time, the Beidou/GNSS base station built on the operating ship and other carriers can be used as a rover to obtain positioning services, and can also be used as a dynamic base. Stations are provided for other marine precision engineering positioning applications.

Step 4: The cloud server requests high-precision enhanced positioning services for marine precision engineering, combined with the rough coordinates of the user station , search for the coastal static base station and maritime dynamic base station in the corresponding sea area in the static and dynamic base station network database, and form a subset of the static and dynamic base station network that serves the user positioning of marine precision engineering/> .

In the embodiment, the cloud server receives the high-precision positioning service request from the marine precision engineering user, and determines the user's station according to the rough coordinates , in the base station database/> Search if the distance to the user is less than a certain threshold/> base station, or select the one closest to the user from the database/> tracking stations

Without loss of generality, assume that in the set Find the subset that satisfies condition (2)/> , for example, 2 shore-based static stations and 3 offshore dynamic stations shown in Figure 2: respectively recorded as /> . The corresponding site position vector is recorded as/> .

In specific implementation, the threshold The recommended value range is/>

Step 5: Based on the above distribution of static and dynamic base station network subsets, determine whether to carry out joint precision positioning services based on non-differential PPP-RTK or network RTK.

In the embodiment, the implementation method is further provided as follows:

5.1) When a subset of the base station network is widely distributed, such as more than 100 square kilometers, carrying out static and dynamic base station network joint precision positioning services based on non-difference PPP-RTK includes the following steps:

A: Based on a subset of static and dynamic base station networks Access information of each base station in China/> , receive real-time observation data from each station in real time, and obtain real-time orbit clock error products from the network (including but not limited to the International GNSS Service Organization RTS service) or satellites (including but not limited to the Beidou-3 PPP-B2b service)/> , of which/> for satellite/> Orbital parameters, for satellite/> Clock parameter.

B: Query subset Types of base stations in/> , when it is a static station, directly obtain its known coordinates/> ;When it is a dynamic station, use coordinates/> is the initial value, combined with the real-time orbit clock error product/> , use PPP method to obtain its precise coordinates, and update/> .

C: Combined with real-time orbit clock error products , constraint subset/> Coordinates of each base station in /> , use the network solution model to solve the regional error parameters/> , of which/> is the tropospheric delay correction value,/> is the ionospheric delay correction value in the line-of-sight direction,/> for satellite/> Frequency/> The phase deviation correction value on. This forms a state domain enhancement product based on PPP-RTK/> . The basic implementation of this network solution algorithm can be found in the document "Improving carrier-phase ambiguity resolution in global GPS network solutions", but the difference is that the base station in the traditional network solution algorithm is a static base station, but this patented base station network includes Dynamic base station for offshore buoy platforms. Therefore, during the calculation of this patent, when the base station type is queried/> When it is a dynamic station, its coordinates need to be used as parameters and estimated uniformly with the regional error parameters. In addition, in order to reduce the uncertainty of the dynamic station position and solve the regional error model parameters, the PPP method is used for the orbit clock error product, and the baseline solution continuation processing method with an additional double-difference ambiguity closure error test is used to obtain independent coordinate parameters. Bring in the network solution model; for the dynamic base station, its coordinate parameter solution and constraint methods will be introduced in the specific implementation method in step 5.

D: This marine precision engineering user receives enhanced products in real time , and use the base station observation data carried on the project operation carrier/> Based on this, the PPP-RTK algorithm is used to achieve centimeter-level precise positioning of users. During specific implementation, the user-side algorithm in this step can adopt existing technology. The specific implementation of the PPP-RTK positioning algorithm preferably used in the embodiment can be found in the document "Simulation research on PPP-RTK performance based on BDS GEO satellite", which will not be described in detail in the present invention.

5.2) When a subset of the base station network is distributed in a local area, such as no more than 100 square kilometers, carry out the joint precision positioning service of static and dynamic base station networks based on the non-difference network RTK, and perform the following steps:

A: Based on a subset of static and dynamic base station networks Access information of each base station in China/> , receiving real-time observation data from each station in real time.

B: Query subset Types of base stations in/> , when it is a static station, directly obtain its known coordinates/> ;When it is a dynamic station, use coordinates/> is the initial value, combined with the real-time orbit clock error product/> , use PPP method to obtain its precise coordinates, and update/> .

C: Constrained subset Coordinates of each base station in /> , using the non-differenced network RTK mode to solve the regional error, and generate the approximate coordinates of the user station of the marine precision engineering work vessel and other carriers/> Virtual observation value at/> . The basic implementation of this non-differenced network RTK algorithm can be found in the document "PPP-RTK: Precise Point Positioning using state-space representation in RTK networks", but the difference is that the base station in the traditional non-differenced network RTK algorithm is a static base station. However, this patented base station network includes dynamic base stations based on offshore buoy platforms. Therefore, during the calculation of this patent, when the base station type is queried/> When it is a dynamic station, its coordinates need to be used as parameters and estimated uniformly with the regional error parameters. In addition, by using the PPP method for the orbital clock error product and the baseline solution continuation processing method with the addition of double-difference ambiguity closure difference test, independent coordinate parameters are obtained and brought into the non-difference network RTK model. For the dynamic base station, the implementation method of step C in 5.1) is similar. Its coordinate parameter solution and constraint method will be introduced in the specific implementation method of subsequent step 5.

D: The marine precision engineering user receives virtual observation values in real time , and use the base station observation data carried on the project operation carrier/> Based on this, the traditional RTK algorithm is used to achieve centimeter-level precise positioning of users. During specific implementation, the user-side algorithm in this step can adopt existing technology. The RTK algorithm implementation process preferably adopted in the embodiment is an existing technology and will not be described in detail in the present invention.

In the embodiment, the specific implementation of step 5 for the coordinate parameter calculation and constraint method of the dynamic base station is as follows:

For subset types As the base station of the dynamic station, the cloud server simultaneously receives the real-time orbit clock difference and the base station observation data stream. Based on equation (1), the PPP method is used to solve to obtain the precise coordinates of the dynamic base station/> . Combined with the static known coordinates, the accurate coordinates of the five base stations in this subset are/> , this coordinate is called the first accurate coordinate of the base station subset below.

As shown in Figure 2, the embodiment forms a Delaoni triangle network containing 6 baselines based on the distribution of a subset of base stations, and uses the baseline processing method to solve each observation value. Taking baseline 12 as an example, the double-difference observation method equation can be expressed as

in is the normal equation matrix; according to the baseline 12 parameters to be estimated, the base station 1 coordinate vector/> , base station 2 coordinate vector , and double-difference ambiguity vector/> Respective dimensions; the normal equation matrix can be decomposed into 9 sub-matrices based on parameters such as the coordinates of station 1, the coordinates of station 2, and ambiguity./> ,/> ,/> ,/> ,/> ,/> ,/> ,/> ,/> ,/> To correspond/> The normal equation matrix of /> It’s the correspondence/> ,/> Normal equation matrix of parametric cross terms, /> is the normal equation matrix corresponding to the double-difference ambiguity, and so on;/> is the observation vector of the corresponding normal equation.

Further consideration can be given to the first accurate coordinate pair coordinate parameters of each base station. ,/> To constrain, equation (3) can be written as

in ,/> is the normal equation matrix obtained from the prior coordinates of the base station;/> is the observation vector of the corresponding normal equation, in equation (3)/> On the basis of , the prior coordinate observation vector of the base station should also be added; the other symbols are the same as equation (3).

Solve equation (4) to obtain the dual-mode ambiguity estimate, and further use ambiguity fixed algorithms: such as LAMBDA, Integer Bootstrapping, Integer Rounding, etc. to obtain its integer solution. Assume that the integer solution of each baseline has been obtained, and the criterion that the closing difference of the double-difference ambiguity of the triangular network is 0 is adopted, such as

,/> ,/> They are baseline 12, baseline 23, and baseline 31 double-difference ambiguity vectors respectively.

The reliability of the ambiguity fixed solution is tested. After passing the test shown in equation (5), the ambiguity can be reliably fixed. By back-substituting the ambiguity into equation (4), we can obtain the coordinate fixed solution of each base station with additional ambiguity double-difference constraints. , hereafter, this coordinate is called the second accurate coordinate of the base station subset, and the accuracy of this coordinate can generally reach millimeter level. Therefore, it can be constrained and fixed in the network solution as a known coordinate, turning the static and dynamic base station network into a static base station. net. It is possible to use the PPP method to calculate an independent coordinate parameter through the orbital clock error product to constrain the position of the dynamic base station.

Based on the distribution of the base station network in the subset and user needs, the non-differential PPP-RTK solution or the network RTK solution is selected. Non-difference PPP-RTK solution for static base station network, or RTK solution algorithm is well known to professionals in this field, so we will not go into details here. For non-differential PPP-RTK, its service products include , namely satellite coordinates, satellite clock error, satellite phase deviation, tropospheric delay model, and ionospheric delay model; for network RTK, its service product is the approximate location of marine precision engineering user stations/> Virtual observation value at/> .

Ultimately, marine precision engineering users receive non-difference PPP-RTK enhanced products or network RTK virtual observation value products, respectively using terminal PPP-RTK or RTK algorithms to achieve centimeter-level positioning for marine precision engineering users.

In order to facilitate understanding of the technical effects of the present invention, as a comparison, Figure 3 shows the real-time dynamic precise positioning results of GNSS at a measuring station 50 kilometers away from the reference station, in which the abscissa is the number of tests, and the ordinate is the error value of each positioning result. . It can be clearly seen that when the traditional RTK algorithm is used, it is difficult to effectively eliminate errors such as ionospheric and tropospheric delays due to the distance from the reference station, so the positioning noise is large. When this patented static and dynamic base station is used for network positioning, the positioning accuracy of far-coast users can be significantly improved.

During specific implementation, the method proposed by the technical solution of the present invention can be realized by those skilled in the art using computer software technology to realize the automatic operation process. The system device for implementing the method is, for example, a computer-readable storage medium that stores the computer program corresponding to the technical solution of the present invention and a computer that runs the corresponding Program computer equipment should also be within the protection scope of the present invention.

In some possible embodiments, a far-coast static and dynamic base station networking positioning system based on a floating platform is provided, including a processor and a memory. The memory is used to store program instructions, and the processor is used to call the stored instructions in the memory to execute the above. A far-coast static and dynamic base station networking positioning method based on a floating platform is described.

In some possible embodiments, a far-coast static and dynamic base station networking positioning system based on a floating platform is provided, including a readable storage medium, and a computer program is stored on the readable storage medium. When the computer program is executed, Implement a makeup style migration method based on regional style consistency as described above.

The specific embodiments described herein are merely illustrative of the spirit of the invention. Those skilled in the art to which the present invention belongs can make various modifications or additions to the described specific embodiments or substitute them in similar ways, but this will not deviate from the spirit of the present invention or exceed the definition of the appended claims. range.

Claims (9)

1. A floating platform-based networking positioning method for a static and dynamic reference station of a Shanghai shore is characterized by comprising the following steps of: comprises the following procedures of the method,

on the basis of a buoy platform, a general marine dynamic reference station is arranged;

acquiring the position coordinates of the offshore dynamic reference station, and uploading the coordinates and related equipment information to a cloud server;

uploading the coastal static reference station position coordinates and related equipment information to a cloud server, and constructing a static and dynamic reference station network database facing the ocean engineering measurement positioning service together with an offshore dynamic reference station;

for ocean precision engineering users, obtaining the outline coordinates of corresponding user stationsUploading the information to a cloud server, and requesting high-precision enhanced positioning service;

the cloud server is aimed at a high-precision enhanced positioning service request of a marine precision engineering user, and combines the outline coordinates of a user stationSearching a corresponding coastal static reference station and an offshore dynamic reference station in a static and dynamic reference station network database to form a static and dynamic reference station network subset serving the ocean precision engineering user positioning service;

and developing the static and dynamic base station network combined precision positioning service based on the non-differential PPP-RTK or the non-differential network RTK according to the distribution condition of the obtained static and dynamic base station network subsets, wherein when the type of the reference station is inquired to be an offshore dynamic reference station, the coordinates of the reference station are taken as parameters, the parameters are uniformly estimated with the regional error parameters, and the coordinate parameter calculation and constraint for the dynamic reference station are carried out.

2. The method for networking positioning of the far coast static and dynamic reference station based on the floating platform according to claim 1, wherein the method comprises the following steps: each record in the static and dynamic reference station network databaseComprises the reference station->Sequence number->The method comprises the steps of carrying out a first treatment on the surface of the Reference station type->Is a static or dynamic station; />The reference station coordinate is an accurate coordinate when the reference station is an coastal static reference station, and is an initial coordinate when the reference station is an offshore dynamic reference station; />The method comprises the steps of (1) obtaining station measurement equipment detail information; />Information is accessed for the reference station.

3. The method for networking positioning of the far coast static and dynamic reference station based on the floating platform according to claim 1, wherein the method comprises the following steps: and acquiring the position coordinates of the offshore dynamic reference station through standard positioning SPP.

4. The method for networking positioning of the far coast static and dynamic reference station based on the floating platform according to claim 1, wherein the method comprises the following steps: for ocean precision engineering users, the rough coordinates of the corresponding user stations are obtained through standard positioning SPP。

5. The method for networking positioning of the far coast static and dynamic reference station based on the floating platform according to claim 2, wherein the method comprises the following steps: find outTracking station->The static and dynamic reference station network subset of the ocean precision engineering user positioning service is formed>；

When the static and dynamic base station network subset is widely distributed, the following steps are carried out,

a: based on static-dynamic reference station network subsetsAccess information of each reference station>Receiving real-time observation data of each station in real time, and simultaneously acquiring real-time orbit clock difference product from a network or a satellite>Wherein->For satellite->Track parameters (I)>For satellite->A clock difference parameter;

b: query subsetReference station type->In the case of a static station, the corresponding known coordinates are obtained directly +.>The method comprises the steps of carrying out a first treatment on the surface of the In the case of a dynamic station, in coordinates +.>For initial value, combine real-time track clock error product +.>Obtaining accurate coordinates by PPP mode and updating +.>；

C: product combining real-time track clock errorConstraint subset->Reference station coordinates->Solving the regional error parameter by adopting a network solution model>Wherein->For tropospheric delay correction value, +.>For ionospheric delay correction in the line of sight direction, < >>For satellite->Frequency->Phase deviation correction value on the phase, thereby forming a PPP-RTK-based state domain enhancement product +.>

When the network solution model is adopted for resolving, the reference station type is inquiredWhen the station is a dynamic station, the coordinates are taken as parameters, and the parameters are uniformly estimated with the regional error parameters; in addition, a PPP mode and a baseline resolving continuous processing mode of an additional double-difference ambiguity closed difference test are adopted by the track clock difference product, so that independent coordinate parameters are obtained and brought into a network solution model;

d: the real-time receiving enhancement product of the ocean precision engineering userAnd observe data by a reference station mounted on the engineering work carrier>Based on the method, the PPP-RTK algorithm is adopted to realize the centimeter-level precise positioning of the user;

when the static and dynamic base station network subsets are distributed over a local area, the following steps are performed,

a: based on static-dynamic reference station network subsetsAccess information of each reference station>Receiving real-time observation data of each station in real time;

b: query subsetReference station type->In the case of a static station, the corresponding known coordinates are obtained directly +.>The method comprises the steps of carrying out a first treatment on the surface of the In the case of a dynamic station, in coordinates +.>For initial value, combine real-time track clock error product +.>Obtaining its precise coordinates by PPP mode and updating +.>；

C: constraint subsetReference station coordinates->Resolving regional errors by adopting a non-differential network RTK mode, and generating user station approximate coordinates of carriers such as the ocean precise engineering workboat and the like>Virtual observations at +.>；

When the non-difference network RTK mode is adopted for resolving, when the reference station type is inquiredWhen the station is a dynamic station, the coordinates of the station are required to be used as parameters and are uniformly estimated with the regional error parameters; in addition, a PPP mode is adopted for the track clock error product, and a baseline solution continuous processing mode for the additional double-difference ambiguity closed difference test is adopted, so that independent coordinate parameters are obtained and brought into a non-difference network RTK model;

d: the ocean precision engineering user receives the virtual observation value in real timeAnd observe data by a reference station mounted on the engineering work carrier>Based on the method, the RTK algorithm is adopted to realize the centimeter of the userAnd (5) stage precision positioning.

6. The floating platform-based remote coast static and dynamic reference station networking positioning method of claim 5, wherein: when the reference station type is queriedWhen the method is a dynamic station, the coordinate parameter calculation and constraint method for the dynamic reference station is realized as follows,

for types in static and dynamic reference station network subsetsFor a reference station of the dynamic station, the cloud server receives real-time track clock errors and a reference station observation data stream simultaneously, and obtains accurate coordinates of the dynamic reference station by resolving in a PPP mode>The method comprises the steps of carrying out a first treatment on the surface of the The accurate sitting mark of the reference station in the static and dynamic reference station net subset is +.>The coordinates are called first accurate coordinates of the reference station subset;

forming a Dirony triangle network according to the distribution of the static and dynamic reference station network subsets, and resolving each observation value by adopting a baseline processing mode;

further carrying out constraint on coordinate parameters by taking the first accurate coordinates of each reference station, then resolving to obtain a dual-mode ambiguity estimation value, and adopting an ambiguity fixing algorithm;

and checking the reliability of the ambiguity fixed solution, reliably fixing the ambiguity after checking, obtaining the coordinate fixed solution of each reference station with the additional ambiguity double-difference constraint, namely the coordinate is called as a second accurate coordinate of the reference station subset, and performing constraint fixation in the network solution as a known coordinate to change the static and dynamic reference station network into a static reference station network.

7. A floating platform-based open sea shore static and dynamic reference station networking positioning system is characterized in that: a method for implementing a floating platform based on the networked positioning of a offshore static and dynamic reference station as claimed in any one of claims 1-6.

8. The floating platform based remote coast static and dynamic reference station networked location system of claim 6 wherein: comprising a processor and a memory for storing program instructions, the processor being adapted to invoke the stored instructions in the memory to perform a floating platform based method of networked positioning of open sea shore static and dynamic reference stations according to any of claims 1-6.

9. The floating platform based remote coast static and dynamic reference station networked location system of claim 6 wherein: comprising a readable storage medium having stored thereon a computer program which, when executed, implements a floating platform based method for networked positioning of a offshore static and dynamic reference station according to any of claims 1-6.