CN117741718A - High-precision positioning method and positioning system - Google Patents
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Abstract
The invention discloses a high-precision positioning method and a positioning system, which comprise the following steps that firstly, a GNSS-supported electronic device is provided, the electronic device comprises a GNSS module and a device processor, the GNSS module comprises a GNSS chip and a GNSS antenna, and a position modification interface is preset on the device processor; acquiring GNSS data by using a GNSS module, wherein the GNSS data indicates pseudo-range observations, carrier phase observations and satellite ephemeris; acquiring a rough position at the current moment by adopting a pseudo-range single-point positioning method, wherein rough position information at the current moment is acquired based on GNSS data; obtaining a positioning result by the equipment processor according to the outline position calculation at the current moment; and replacing the bottom layer position information of the equipment processor with the positioning result through a position modification interface provided on the equipment processor, and replacing the bottom layer position data of the application equipment by acquiring high-precision positioning data so as to realize high-precision positioning application.
Description
Technical Field
The invention relates to the field of satellite navigation positioning, in particular to a high-precision positioning method and a positioning system.
Background
In the current stage, most users of the GDCORS system are mapping units and engineering construction units, and professional measurement RTK equipment terminals are adopted to acquire centimeter-level navigation positioning results in daily use, however, the professional RTK equipment terminals are high in price and inconvenient to carry, and are complex in data transmission with professional application data such as daily homeland law enforcement inspection, natural resource investigation and the like.
In the existing application, if positioning data acquisition is directly carried out through the existing mobile equipment such as mobile phones and flat plates, only single-point or A-GPS positioning can be used to achieve positioning accuracy of about 5 meters, the existing universal terminals are mostly data acquisition terminals, and a complete high-accuracy positioning solution is not effectively realized.
Disclosure of Invention
The invention aims to provide a high-precision positioning method and a positioning system, which adopt a high-precision positioning result to replace and modify bottom layer position information of mobile equipment, thereby realizing a high-precision positioning scheme of the mobile equipment.
In order to achieve the above purpose, the technical scheme of the invention is as follows:
as an aspect of the present application, a high-precision positioning method includes the steps of:
providing a GNSS-enabled electronic device, wherein the electronic device comprises a GNSS module and a device processor, the GNSS module comprises a GNSS chip and a GNSS antenna, and a position modification interface is preset on the device processor;
acquiring GNSS data by using a GNSS module, wherein the GNSS data indicates pseudo-range observations, carrier phase observations and satellite ephemeris;
acquiring a rough position at the current moment by adopting a pseudo-range single-point positioning method, wherein rough position information at the current moment is acquired based on GNSS data;
obtaining a positioning result by the equipment processor according to the outline position calculation at the current moment;
and replacing the positioning result with the bottom layer position information of the device processor through a position modification interface provided on the device processor.
Further, the acquiring GNSS data by using the GNSS module, where the GNSS data indicates that there are a pseudo-range observation value, a carrier phase observation value, and a satellite ephemeris, further includes the following steps;
and preprocessing the acquired GNSS data, wherein the preprocessing mode indicates cycle slip detection and data restoration.
Further, the preprocessing of the acquired GNSS data indicates cycle slip detection and data repair, and specifically includes:
acquiring satellite ephemeris data in GNSS data;
judging whether the current satellite signal has cycle slip or not;
if the cycle slip occurs, continuously judging the satellite with the cycle slip, and reconfirming the cycle slip judgment result of the satellite with the cycle slip;
if yes, carrying out data restoration on the current GNSS data.
Further, the acquiring the approximate position of the current time by using the pseudo-range single-point positioning method, the approximate position information of the current time is acquired based on GNSS data, specifically includes:
obtaining the three-dimensional position of each satellite according to satellite ephemeris calculation;
and according to a pseudo-range observation equation, and by utilizing a fixed-height fixed-angle model, calculating and obtaining pseudo-range single-point positioning coordinates corresponding to the probability position at the current moment by combining the three-dimensional position of each satellite.
Further, the device processor calculates and obtains a positioning result according to the outline position at the current moment, which specifically includes:
providing a CORS system preset in a device processor;
encoding and transmitting pseudo-range single-point positioning coordinates corresponding to the outline position to a CORS system;
and outputting a positioning result corresponding to the outline position according to the CORS system.
As two aspects of the present application, a positioning system includes:
the system comprises a first data acquisition unit, a second data acquisition unit and a first data processing unit, wherein the data acquisition unit is used for acquiring GNSS data by using a GNSS module, and the GNSS data indicates pseudo-range observation values, carrier phase observation values and satellite ephemeris;
the second data acquisition unit is used for acquiring the outline position of the current moment by adopting a pseudo-range single-point positioning method, and the outline position information of the current moment is acquired based on GNSS data;
the first result obtaining unit obtains a positioning result according to the rough position calculation of the current moment by the equipment processor;
and the position information replacing unit is used for replacing the bottom layer position information of the device processor with the positioning result through a position modification interface provided on the device processor.
Further, the method further comprises the following steps:
the data preprocessing unit is used for preprocessing acquired GNSS data, and the preprocessing mode indicates cycle slip detection and data restoration.
Further, the data preprocessing unit includes:
the first judging subunit is used for judging whether the current satellite signal has cycle slip or not;
and the second judging subunit is used for continuously judging the satellite with the cycle slip if the cycle slip occurs, reconfirm the cycle slip judging result of the satellite with the cycle slip again, and if yes, carrying out data restoration on the current GNSS data.
Further, the second data acquisition unit includes:
the first calculation subunit is used for obtaining the three-dimensional position of each satellite according to satellite ephemeris calculation;
the second calculation subunit is used for calculating and obtaining pseudo-range single-point positioning coordinates corresponding to the probability position at the current moment by combining the three-dimensional position of each satellite according to a pseudo-range observation equation and by utilizing a fixed-height fixed-angle model.
Further, the positioning result calculation unit includes:
the coordinate coding and conveying module is used for coding and transmitting pseudo-range single-point positioning coordinates corresponding to the outline position to the CORS system when the CORS system preset in the equipment processor is provided; and the positioning result output module is used for outputting a positioning result corresponding to the outline position according to the CORS system.
For a better understanding and implementation, the present invention is described in detail below with reference to the drawings.
Drawings
FIG. 1 is a flow chart of a high precision positioning method in an embodiment of the present application;
FIG. 2 is a flow chart indicating in step S3 in a high accuracy positioning method in an embodiment of the present application;
FIG. 3 is a flow chart indicating in step S4 in a high accuracy positioning method in an embodiment of the present application;
fig. 4 is a system block diagram of a positioning system in an embodiment of the present application.
Detailed Description
In order to better illustrate the present invention, the present invention will be described in further detail below with reference to the accompanying drawings.
It should be understood that the described embodiments are merely some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the embodiments of the present application, are within the scope of the embodiments of the present application.
The terminology used in the embodiments of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the embodiments of the application. As used in this application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any or all possible combinations of one or more of the associated listed items.
When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present application as detailed in the accompanying claims. In the description of this application, it should be understood that the terms "first," "second," "third," and the like are used merely to distinguish between similar objects and are not necessarily used to describe a particular order or sequence, nor should they be construed to indicate or imply relative importance. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.
Furthermore, in the description of the present application, unless otherwise indicated, "a plurality" means two or more. "and/or", describes an association relationship of an association object, and indicates that there may be three relationships, for example, a and/or B, and may indicate: a exists alone, A and B exist together, and B exists alone. The character "/" generally indicates that the context-dependent object is an "or" relationship.
In the current stage, most users of the GDCORS system are mapping units and engineering construction units, and professional measurement RTK equipment terminals are adopted to obtain centimeter-level navigation positioning results in daily use, however, the professional RTK equipment terminals are expensive and inconvenient to carry.
In the existing application, if positioning data acquisition is directly carried out through the existing mobile equipment such as mobile phones and flat plates, only single-point or A-GPS positioning can be used to achieve positioning accuracy of about 5 meters, the existing universal terminals are mostly data acquisition terminals, and a complete high-accuracy positioning solution is not effectively realized.
Based on the above, the pain points in the prior art are the existing mobile phone, tablet and navigation positioning universal terminal, and it is difficult to achieve the application requirements on positioning data, such as centimeter-level and decimeter-level requirements.
Therefore, the technical problem that the present application actually solves is how to improve the positioning accuracy used on a pervasive terminal or a mobile phone boarding mobile device by processing positioning data.
As an aspect of the present application, as shown in fig. 1, a high-precision positioning method includes the following steps:
step S1, providing a GNSS-enabled electronic device, wherein the electronic device comprises a GNSS module and a device processor, the GNSS module comprises a GNSS chip and a GNSS antenna, and a position modification interface is preset on the device processor;
specifically, the electronic device supporting GNSS may be understood as a hardware architecture capable of supporting GNSS in the embodiments of the present application, where the electronic device referred to in the present application may be a mobile phone (integrated with a GNSS function module), a tablet computer (integrated with a GNSS function module), or a navigation positioning pervasive terminal configured on the mobile phone or a navigation positioning pervasive terminal configured on the tablet computer, and in application, the GNSS module may be directly integrated inside the mobile phone or the tablet computer or disposed on the pervasive terminal.
If the terminal is a peripheral pervasive terminal, the GNSS module is integrated on the pervasive terminal, and communication connection is established between the GNSS module and the mobile phone or the tablet computer through the Bluetooth module for transmitting GNSS data;
if the GNSS module is integrated on the mobile phone or the tablet personal computer, the GNSS module is directly and electrically connected with the data receiving module in the mobile phone to transmit GNSS data.
The device processor included in the electronic device may be understood as a carrier, such as a mobile phone body or a tablet computer body, for example, that processes GNSS data.
S2, acquiring GNSS data by using a GNSS module, wherein the GNSS data indicates pseudo-range observation values, carrier phase observation values and satellite ephemeris;
acquiring a data source of GNSS data according to the GNSS module setting object:
1. if the GNSS module is disposed on an electronic device such as a mobile phone or a tablet computer, the electronic device API interface is used to obtain Clock information (GNSS Clock), observation information (GNSS Measurements) of each satellite signal, and demodulated satellite ephemeris (GNSS Navigation Message), the smart electronic device such as the mobile phone or the tablet computer can obtain GPS satellite information (such as satellite number PRN, signal-to-noise ratio Signal to Noise Ratio, SNR, satellite Azimuth angle, altitude angle) and the like, and three interfaces are provided, which are used to obtain the above information respectively, and obtain GNSS data through the above information (Clock information (GNSS Clock), observation information (GNSS Measurements) of each satellite signal, and demodulated satellite ephemeris (GNSS Navigation Message)), for example, corresponding operations performed by GNSS Clock and GNSS Measurements can generate a pseudorange observation value of each satellite.
2. If the GNSS module is arranged on the external universal terminal, the data analysis is completed according to the code/decode document corresponding to the GNSS module, and the pseudo-range observation value, the carrier phase observation value and the satellite ephemeris are obtained.
Specifically, the GNSS satellite S is at satellite clock t s Transmitting signal, and the receiver side clocks t on itself R The satellite signal is received at the moment.
Thus, the pseudorange observations generated at its receiver end are shown in:
P s ＝(t R -t s )×C
wherein C represents the speed of light.
A Received SvTimeNaos parameter (unit nanosecond) is provided in the GNSS Measurement interface, and is the satellite transmission time t obtained by synchronizing signals by the receiver baseband processing unit s . Reception time t at receiver R Need GNThe parameters provided by the SSClock interface are calculated as follows:
t R ＝TimeNanos+TimeOffsetNaos-(FullBiasNaos+BiasNanos)
wherein TimeNanos, timeOffsetNaos takes the output value of the API interface under the current epoch. While FullBiasNaos, biasNaos uses the estimate obtained for the first epoch.
Carrier phase observations for carrier phase observations are a necessary condition for achieving high-precision positioning, and the values can be obtained by converting AccumulosidaRangeMeters parameters in a GNSS Measurement interface, and the conversion formula is as follows:
where λ is the phase wavelength at that frequency point.
And S3, preprocessing the acquired GNSS data, wherein the preprocessing mode indicates cycle slip detection and data restoration.
Cycle slip refers to a jump or interruption of the whole cycle count due to loss of lock of satellite signals in carrier phase measurements of Global Navigation Satellite System (GNSS) technology.
The new signal generated by cycle slip can generate signal lock loss, and no carrier phase observation value exists under the condition of satellite signal lock loss, and the step is to ensure that GNSS data truly and accurately plays a role in cycle slip detection and data repair.
The method comprises the following steps of:
step S31, acquiring satellite ephemeris data in GNSS data;
step S32, judging whether the current satellite signal has cycle slip or not;
step S33, if the cycle slip occurs, continuously judging the satellite with the cycle slip, and reconfirming the cycle slip judgment result of the satellite with the cycle slip; if yes, carrying out data restoration on the current GNSS data.
The received satellite carrier phase observation data often has the problem of cycle slip, the cycle slip-occurring epoch, namely satellite ephemeris data, is detected by using the epoch error, the cycle slip-occurring abnormal satellite is determined, and finally, a cycle slip value to be estimated parameter is added in an observation equation to repair the cycle slip, so that cycle slip detection is realized, and the cycle slip detection is based on corresponding data repair.
The cycle slip problem is detected twice, which is equivalent to twice confirmation of cycle slip judgment results, so that the cycle slip detection accuracy is realized.
Step S4, acquiring a rough position at the current moment by adopting a pseudo-range single-point positioning method, wherein the rough position information at the current moment is acquired based on GNSS data;
specifically, the step S4 includes:
step S41, calculating and obtaining the three-dimensional position of each satellite according to satellite ephemeris;
and S42, according to a pseudo-range observation equation, and by utilizing a fixed-height fixed-angle model, combining the three-dimensional position calculation of each satellite, obtaining pseudo-range single-point positioning coordinates corresponding to the probability position at the current moment.
The GNSS module may provide various observations such as pseudoranges, carrier phases, and Doppler. Taking into account the effects of various measurement errors in single-point positioning of the pseudoranges, the basic observation equation for epoch k can be expressed as:
where P represents the pseudorange and carrier phase range values, the superscript s represents the satellite, the subscript r represents the receiver, ρ represents the geometric range, δρ ion And δρ trop The ionosphere error and the troposphere delay error are respectively represented, the unit is meter, dm is multipath equivalent distance error, c is light speed, dt is clock error, and epsilon is measurement noise of pseudo range.
The observation accuracy of the pseudo-range measurement is usually one percent of the wavelength of the ranging code, in practice, the carrier phase observation accuracy is higher than the pseudo-range, and when the two kinds of observation are processed simultaneously, the two kinds of observation are generally endowed with a proper variance matrix/co-factor matrix according to indexes such as satellite altitude angle, signal to noise ratio and the like, taking a satellite fixed angle altitude method as an example, for example: let E denote the altitude at which the satellite is located, the measured noise σ can be expressed as:
σ 2 ＝a 2 /sin 2 (E)
where a is an error in the pseudo-range or carrier phase signal observation, and typically a corresponds to 0.3m or 0.003m.
In the pseudo-range basic observation equation, the functional relationship between the geometric distance ρ and the station position (X, Y, Z) is:
wherein the three-dimensional coordinates of the satellite are expressed as (X s ,Y s ,Z s ) Which is a known quantity that can be calculated from the ephemeris file. From the equation, the observation equation is a nonlinear equation, and it is inevitably necessary to linearize it. Let the approximate coordinates of the measuring station and their corrections be (x 0, y0, z 0) and (delta), respectively x ,δ y ,δ z ) The approximation of the corresponding geometric distance ρ is:
and further obtaining pseudo-range single-point positioning coordinates corresponding to the probability position at the current moment.
S5, calculating and obtaining a positioning result by the equipment processor according to the outline position at the current moment;
providing a CORS system preset in a device processor;
encoding and transmitting pseudo-range single-point positioning coordinates corresponding to the sketch position to a CORS system, and requesting the CORS system to provide differential GPS service;
and outputting a positioning result corresponding to the outline position according to the provided differential GPS service by the equipment manager.
The CORS system is used for providing differential GPS service to users in the coverage area of the system.
Specifically, the rough position is used for sending differential product request information to a preconfigured CORS system, the CORS system performs pseudo-range differential positioning and carrier phase differential positioning according to the differential product request, and the equipment manager obtains positioning results of decimeter level and centimeter level respectively.
According to the source of the GNSS data;
and acquiring a positioning result of decimeter level based on the pseudo-range phase observation value based on the GNSS data in the GNSS module which is acquired from the mobile phone or the tablet computer.
And acquiring a centimeter-level positioning result based on the carrier phase observation value based on the GNSS data in the GNSS module and the universal terminal of the sub-peripheral.
S5, replacing the positioning result with the bottom layer position information of the equipment processor through a position modification interface provided on the equipment processor.
And modifying the bottom layer position information of the equipment processor by the positioning result data, which is equivalent to replacing the top layer position data of the equipment processor, wherein a positioning reference for navigation positioning on the equipment processor is derived from the bottom layer position information, and the obtained positioning result is used for replacing, so that the precision of the position information for realizing navigation positioning and calling in the equipment processor is improved, and further high-precision positioning is realized.
As two aspects of the present application, as shown in fig. 4, a positioning system includes:
a first data acquisition unit 1, configured to acquire GNSS data using a GNSS module, where the GNSS data indicates a pseudo-range observation value, a carrier phase observation value, and a satellite ephemeris;
a second data acquisition unit 2, configured to acquire a rough position at a current time by using a pseudo-range single-point positioning method, where rough position information at the current time is acquired based on GNSS data;
a positioning result calculation unit 3, wherein the first result acquisition unit obtains a positioning result according to the rough position calculation of the current moment by the equipment processor;
and a location information replacing unit 4 for replacing the positioning result with the underlying location information of the device processor through a location modification interface provided on the device processor.
Further, the method further comprises the following steps:
the data preprocessing unit is used for preprocessing acquired GNSS data, and the preprocessing mode indicates cycle slip detection and data restoration.
Further, the data preprocessing unit includes:
the first judging subunit is used for judging whether the current satellite signal has cycle slip or not;
and the second judging subunit is used for continuously judging the satellite with the cycle slip if the cycle slip occurs, reconfirm the cycle slip judging result of the satellite with the cycle slip again, and if yes, carrying out data restoration on the current GNSS data.
Further, the second data acquisition unit includes:
the first calculation subunit is used for obtaining the three-dimensional position of each satellite according to satellite ephemeris calculation;
the second calculation subunit is used for calculating and obtaining pseudo-range single-point positioning coordinates corresponding to the probability position at the current moment by combining the three-dimensional position of each satellite according to a pseudo-range observation equation and by utilizing a fixed-height fixed-angle model.
Further, the positioning result calculation unit includes:
the coordinate coding and conveying module is used for coding and transmitting pseudo-range single-point positioning coordinates corresponding to the outline position to the CORS system when the CORS system preset in the equipment processor is provided; and the positioning result output module is used for outputting a positioning result corresponding to the outline position according to the CORS system.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
Variations and modifications to the above would be obvious to persons skilled in the art to which the invention pertains from the foregoing description and teachings. Therefore, the invention is not limited to the specific embodiments disclosed and described above, but some modifications and changes of the invention should be also included in the scope of the claims of the invention. In addition, although specific terms are used in the present specification, these terms are for convenience of description only and do not limit the present invention in any way.
Claims (10)
1. The high-precision positioning method is characterized by comprising the following steps of:
providing a GNSS-enabled electronic device, wherein the electronic device comprises a GNSS module and a device processor, the GNSS module comprises a GNSS chip and a GNSS antenna, and a position modification interface is preset on the device processor;
acquiring GNSS data by using a GNSS module, wherein the GNSS data indicates pseudo-range observations, carrier phase observations and satellite ephemeris;
acquiring a rough position at the current moment by adopting a pseudo-range single-point positioning method, wherein rough position information at the current moment is acquired based on GNSS data;
obtaining a positioning result by the equipment processor according to the outline position calculation at the current moment;
and replacing the positioning result with the bottom layer position information of the device processor through a position modification interface provided on the device processor.
2. The method of claim 1, wherein the acquiring GNSS data using a GNSS module, the GNSS data indicating pseudorange observations, carrier phase observations, and satellite ephemeris, further comprises the steps of;
and preprocessing the acquired GNSS data, wherein the preprocessing mode indicates cycle slip detection and data restoration.
3. The method according to claim 2, wherein the preprocessing is performed on the acquired GNSS data, and the preprocessing indicates cycle slip detection and data repair, and the method specifically includes:
acquiring satellite ephemeris data in GNSS data;
judging whether the current satellite signal has cycle slip or not;
if the cycle slip occurs, continuously judging the satellite with the cycle slip, and reconfirming the cycle slip judgment result of the satellite with the cycle slip;
if yes, carrying out data restoration on the current GNSS data.
4. The high-precision positioning method according to claim 1, wherein the obtaining the approximate position of the current time by using the pseudo-range single-point positioning method, the approximate position information of the current time being obtained based on GNSS data, specifically comprises:
obtaining the three-dimensional position of each satellite according to satellite ephemeris calculation;
and according to a pseudo-range observation equation, and by utilizing a fixed-height fixed-angle model, calculating and obtaining pseudo-range single-point positioning coordinates corresponding to the probability position at the current moment by combining the three-dimensional position of each satellite.
5. The high-precision positioning method according to claim 4, wherein the device processor obtains the positioning result according to the approximate position calculation at the current moment, specifically comprising:
providing a CORS system preset in a device processor;
encoding and transmitting pseudo-range single-point positioning coordinates corresponding to the sketch position to a CORS system, and requesting the CORS system to provide differential GPS service;
and outputting a positioning result corresponding to the outline position according to the provided differential GPS service by the equipment manager.
6. A positioning system, comprising:
the system comprises a first data acquisition unit, a second data acquisition unit and a first data processing unit, wherein the data acquisition unit is used for acquiring GNSS data by using a GNSS module, and the GNSS data indicates pseudo-range observation values, carrier phase observation values and satellite ephemeris;
the second data acquisition unit is used for acquiring the outline position of the current moment by adopting a pseudo-range single-point positioning method, and the outline position information of the current moment is acquired based on GNSS data;
the first result obtaining unit obtains a positioning result according to the rough position calculation of the current moment by the equipment processor;
and the position information replacing unit is used for replacing the bottom layer position information of the device processor with the positioning result through a position modification interface provided on the device processor.
7. The positioning system of claim 6, further comprising:
the data preprocessing unit is used for preprocessing acquired GNSS data, and the preprocessing mode indicates cycle slip detection and data restoration.
8. The positioning system of claim 7, wherein the data preprocessing unit comprises: the first judging subunit is used for judging whether the current satellite signal has cycle slip or not; and the second judging subunit is used for continuously judging the satellite with the cycle slip if the cycle slip occurs, reconfirm the cycle slip judging result of the satellite with the cycle slip again, and if yes, carrying out data restoration on the current GNSS data.
9. The positioning system of claim 6, wherein the second data acquisition unit comprises:
the first calculation subunit is used for obtaining the three-dimensional position of each satellite according to satellite ephemeris calculation;
the second calculation subunit is used for calculating and obtaining pseudo-range single-point positioning coordinates corresponding to the probability position at the current moment by combining the three-dimensional position of each satellite according to a pseudo-range observation equation and by utilizing a fixed-height fixed-angle model.
10. The positioning system according to claim 6, wherein the positioning result calculation unit includes: the coordinate coding and conveying module is used for coding and transmitting pseudo-range single-point positioning coordinates corresponding to the outline position to the CORS system when the CORS system preset in the equipment processor is provided;
and the positioning result output module is used for outputting a positioning result corresponding to the outline position according to the CORS system.
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