CN118118858A - Network RTK positioning method, device and storage medium for virtual base station switching - Google Patents
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Abstract
A network RTK positioning method, device and storage medium for virtual base station switching, comprising: when the user station switches the virtual base stations in the moving process, the user station judges whether the physical base stations corresponding to the two virtual base stations are the same or not before and after the switching; the physical base stations corresponding to the two virtual base stations before and after the switching are the physical base stations based on which the observed values of the two virtual base stations before and after the switching are respectively generated; if the physical base stations corresponding to the two virtual base stations before and after the switching are the same, the user station does not search for the ambiguity, and the RTK integer ambiguity corresponding to the virtual base station before the switching is used as the RTK integer ambiguity corresponding to the virtual base station after the switching. The embodiment of the application avoids the problem that the centimeter-level high-precision positioning cannot be obtained for a short time due to the ambiguity re-search, thereby still enabling the user station to obtain the centimeter-level high-precision positioning when the virtual base station is switched.
Description
Technical Field
The present disclosure relates to Real-time differential positioning (Real-TIME KINEMATIC, RTK) positioning technologies, and more particularly, to a network RTK positioning method, device and storage medium for virtual base station switching.
Background
The network RTK can generate a virtual base station which is denser than a physical base station, so that the distance between the base station and a user station is greatly shortened, and the network RTK is a commonly adopted mode in the current RTK application. However, since the network RTK divides the service range into grids with smaller pitches, as the service object moves, virtual base station handover is likely to be required.
In the related art, when the virtual base station is switched, the subscriber station often adopts a method of searching for ambiguity again to obtain centimeter-level high-precision service.
However, the ambiguity fixing requires time, so that the subscriber station may have a short time to fail to obtain centimeter-level high-accuracy positioning at the time of virtual base station handover.
Disclosure of Invention
The application provides a network RTK positioning method, a device and a storage medium for virtual base station switching, which enable a user station to still obtain centimeter-level high-precision positioning during virtual base station switching.
In one aspect, the present application provides a network RTK positioning method for virtual base station handover, including:
When the user station switches the virtual base stations in the moving process, the user station judges whether the physical base stations corresponding to the two virtual base stations are the same or not before and after the switching; the physical base stations corresponding to the two virtual base stations before and after the switching are the physical base stations based on which the observed values of the two virtual base stations before and after the switching are respectively generated;
If the physical base stations corresponding to the two virtual base stations before and after the switching are the same, the user station does not search for the ambiguity, and the RTK integer ambiguity corresponding to the virtual base station before the switching is adopted as the RTK integer ambiguity corresponding to the virtual base station after the switching.
In another aspect, the present application provides a network RTK positioning apparatus for virtual base station handover, including: a memory and a processor, the memory for storing an executable program;
the processor is configured to read and execute the executable program to implement the network RTK positioning method for virtual base station handover as described above.
In yet another aspect, the present application provides a storage medium having stored thereon computer executable instructions for performing a network RTK positioning method for virtual base station handover as described above.
Compared with the related art, when the user station switches the virtual base stations in the moving process, the user station does not immediately perform ambiguity search, but judges whether the physical base stations corresponding to the two virtual base stations before and after the switching are the same, if the physical base stations corresponding to the two virtual base stations before and after the switching are the same, the ambiguity search is not performed, and the RTK integer ambiguity corresponding to the virtual base station before the switching is adopted as the RTK integer ambiguity corresponding to the virtual base station after the switching. Therefore, the user station does not need to perform ambiguity re-search when the virtual base station is switched, and the problem that centimeter-level high-precision positioning cannot be obtained for a short time due to ambiguity re-search is avoided, so that centimeter-level high-precision positioning can still be obtained when the virtual base station is switched.
Additional features and advantages of the application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the application. Other advantages of the application may be realized and attained by the structure particularly pointed out in the written description and drawings.
Additional features and advantages of the application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the application. Other advantages of the application may be realized and attained by the structure particularly pointed out in the written description and drawings.
Drawings
The accompanying drawings are included to provide an understanding of the principles of the application, and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain, without limitation, the principles of the application.
Fig. 1 is a flow chart of a network RTK positioning method for virtual base station handover according to an embodiment of the present application;
Fig. 2 is a schematic diagram of a relationship between a physical base station and a virtual base station according to an embodiment of the present application.
Detailed Description
The present application has been described in terms of several embodiments, but the description is illustrative and not restrictive, and it will be apparent to those of ordinary skill in the art that many more embodiments and implementations are possible within the scope of the described embodiments. Although many possible combinations of features are shown in the drawings and discussed in the detailed description, many other combinations of the disclosed features are possible. Any feature or element of any embodiment may be used in combination with or in place of any other feature or element of any other embodiment unless specifically limited.
The present application includes and contemplates combinations of features and elements known to those of ordinary skill in the art. The disclosed embodiments, features and elements of the present application may also be combined with any conventional features or elements to form a unique inventive arrangement as defined by the claims. Any feature or element of any embodiment may also be combined with features or elements from other inventive arrangements to form another unique inventive arrangement as defined in the claims. It is therefore to be understood that any of the features shown and/or discussed in the present application may be implemented alone or in any suitable combination. Accordingly, the embodiments are not to be restricted except in light of the attached claims and their equivalents. Further, various modifications and changes may be made within the scope of the appended claims.
Furthermore, in describing representative embodiments, the specification may have presented the method and/or process as a particular sequence of steps. However, to the extent that the method or process does not rely on the particular order of steps set forth herein, the method or process should not be limited to the particular sequence of steps described. Other sequences of steps are possible as will be appreciated by those of ordinary skill in the art. Accordingly, the particular order of the steps set forth in the specification should not be construed as limitations on the claims. Furthermore, the claims directed to the method and/or process should not be limited to the performance of their steps in the order written, and one skilled in the art can readily appreciate that the sequences may be varied and still remain within the spirit and scope of the embodiments of the present application.
Currently, there are five widely used global satellite navigation positioning systems (GNSS), which are global positioning system (Global Positioning System, GPS), gnomonas satellite navigation system (GLONASS), beidou satellite navigation system (Beidou Navigation SATELLITE SYSTEM, BDS) GALILEO satellite navigation system (GALILEO) and Quasi-Zenith satellite system (Quasi-Zenith SATELLITE SYSTEM, QZSS), respectively. The satellite positioning system has high precision and covers the whole world, and is widely applied to a plurality of fields such as navigation, measurement and mapping, fine agriculture, intelligent robots, unmanned aerial vehicles and the like. The main factors affecting the satellite positioning accuracy are satellite orbit, clock error and atmospheric propagation error. The errors of satellite orbit and clock error calculated through real-time broadcast ephemeris are generally in the order of meters, for example, the accuracy of the broadcast ephemeris of GPS is 1-2 meters, and the accuracy of the GLONASS broadcast ephemeris is several meters. Atmospheric propagation errors are mainly ionosphere and troposphere errors. The ionosphere error can reach tens of meters for low elevation satellites in noon, and the double-frequency receiver can eliminate the ionosphere error through double-frequency observation values. Tropospheric delay can reach 10 meters for low elevation satellites, and 90% of tropospheric errors can be eliminated by means of a tropospheric model. Without correction, the high-performance dual-frequency receiver can only achieve the meter-level positioning accuracy.
The Real-time dynamic carrier phase difference technology (Real-TIME KINEMATIC, RTK) utilizes the error correlation between the observed values of adjacent receivers, establishes a base station at a place with a known position, completely eliminates satellite clock error, satellite orbit error, ionosphere error and troposphere error through single difference between the base station and a user station, can greatly weaken the satellite clock error, and can be widely applied to industries requiring centimeter-level positioning accuracy such as survey mapping, fine agriculture, intelligent robots, unmanned aerial vehicles and the like, if the distance between two measuring stations is shorter and less than 10 km, the residual error after single difference is only in centimeter-level, so long as double-difference ambiguity can be fixed, the RTK can provide centimeter-level relative positioning accuracy.
However, RTKs use the correlation of errors between the base station and the subscriber station to eliminate positioning errors, which diminish as the distance between the base station and the subscriber station becomes longer. The closer the distance between base station subscriber stations, the stronger the error correlation, and the farther the distance, the weaker the correlation. After the distance between the base station and the subscriber station exceeds a certain distance, for example, 30 km, the atmosphere residual error can reach the decimeter level, and double-difference ambiguity is difficult to fix, so that centimeter-level positioning cannot be realized. In order to meet the requirements of large-scale high-precision applications such as fine agriculture, intelligent driving, unmanned aerial vehicles and the like, a plurality of physical base stations are generally required to be established to form a base station network. Network RTK techniques, such as virtual base station techniques (Virtual Reference Station) that utilize multiple physical base station observations to divide the physical base station coverage area into more grids, and generate virtual base station data at the center point of each grid to provide the virtual base station data of the grid where the user is located to the client, may also be employed. The network RTK can generate a virtual base station which is denser than a physical base station, so that the distance between the base station and a user station is greatly shortened, and the network RTK is a commonly adopted mode in the current RTK application. The network RTK service uses a plurality of physical base station data (the physical base station interval is generally 50 km) which are far away from each other to divide the coverage area into more grids, the size of each grid is generally 5 km x 5 km, and each grid center coordinate is used to generate virtual base station data. The server sends virtual base station data of the corresponding grids to the client according to the grids where the user station is located, so that the requirements of large-scale high-precision application such as intelligent driving, fine agriculture, unmanned aerial vehicles and the like can be met. In a virtual reference station technology (Virtual Reference Station, VRS) network RTK system, a server sends virtual base station data closest to a subscriber station to the subscriber station according to the position of the subscriber station, so that the subscriber station can form a shorter base line.
Network RTK service in wide area range brings great convenience to application needing large-scale high-precision positioning. Base station data can be received to achieve high accuracy positioning regardless of where the user moves. But the coverage area of each virtual base station is small and the virtual base stations are typically divided in 5 km x 5 km grids. Therefore, for wide-range dynamic application of unmanned plane, intelligent driving, fine agriculture and the like, the situation that the virtual base station is switched across the grid, which means that the virtual base station is switched, can necessarily occur even multiple times during driving or flying.
When the virtual base station is switched, the user station generally adopts a method for searching the ambiguity again to obtain centimeter-level high-precision service, and the RTK fixed solution can be obtained again after a period of time for searching the ambiguity again. The related art proposes some methods for accelerating the ambiguity fixing in the virtual base station handover. Although these methods can shorten the time for fixing the ambiguity in the base station switching, in most cases, the ambiguity cannot be fixed by one epoch, so that the subscriber station may not obtain centimeter-level high-precision positioning for a short time in the virtual base station switching process. However, in most smart agriculture applications, the RTK fixed solution, i.e. obtaining the position with centimeter level accuracy, is a necessary condition for the operation, otherwise, the agricultural machine or the unmanned aerial vehicle can only stop in place to wait for the satellite positioning receiver to output the RTK fixed solution, which brings great trouble to the operation requiring high-accuracy position service.
To this end, an embodiment of the present application provides a network RTK positioning method for virtual base station handover, as shown in fig. 1, including:
step 101, when a user station switches virtual base stations in a moving process, the user station judges whether physical base stations corresponding to two virtual base stations before and after switching are the same; the physical base stations corresponding to the two virtual base stations before and after the switching are the physical base stations based on which the observed values of the two virtual base stations before and after the switching are respectively generated;
Step 102, if the physical base stations corresponding to the two virtual base stations before and after the switching are the same, the user station does not perform ambiguity searching, and the RTK integer ambiguity corresponding to the virtual base station before the switching is used as the RTK integer ambiguity corresponding to the virtual base station after the switching.
If the ambiguity is searched again every time the virtual base station is switched, the operation efficiency is greatly reduced. In practice, when most of the virtual base stations are switched, the double-difference ambiguity does not change, if the ambiguity does not change when the virtual base stations are switched, the ambiguity does not need to be searched again, so that the whole-cycle ambiguity of the RTK and the centimeter-level high-precision positioning are maintained, and the operation efficiency can be improved. The following describes in detail how to identify whether the ambiguity changes at the time of the virtual base station handover.
Fig. 2 is a schematic diagram of a relationship between a physical base station and a virtual base station according to an embodiment of the present application, where, in fig. 2, P 1、P2、P3 respectively represents three physical base stations, and a network RTK service may generate a plurality of virtual base stations V 1、V2、V3 … … through three physical base stations P 1、P2、P3. The virtual base stations such as the virtual base station V 1、V2、V3 and the physical base station P 1 are closest in distance, and their observed values are generated by the observed value of the physical base station P 1, adding the offset of the geometric distance between the virtual base station and the physical base station to the satellite, and compensating the ionosphere variation, troposphere and orbit error variation between the virtual base station and the physical base station. The process of generating the virtual base station observations is described below using the virtual base station V 1、V2 as an example.
Taking frequency point L 1 as an example, the pseudo-range and carrier observations of physical base station P 1 may be expressed as:
wherein, Pseudo-range observation value of physical base station P 1 on satellite i frequency point L 1,/>Representing carrier observation value of physical base station P 1 to satellite i frequency point L 1,/>Representing the geometrical distance between the physical base station P 1 and the satellite i, c representing the speed of light in vacuum,Representing receiver clock error of physical base station P 1, dt i represents clock error of satellite i,/>Representing tropospheric and satellite orbit errors contained by physical base station P 1 on satellite i observations,/>Represents ionospheric error contained in satellite i observations by physical base station P 1, lambda represents carrier wavelength,/>Representing the integer ambiguity involved in the carrier observations of satellite i by physical base station P 1,/>Pseudo-range observation noise representing physical base station P 1 for satellite i,/>Representing carrier observation noise for satellite i by physical base station P 1.
The observations of the virtual base station V 1 that are closer to the physical base station P 1 may be generated as follows:
wherein, The difference value representing the geometric distance between the virtual base station V 1 and the physical base station P 1 and the satellite i can be calculated according to the satellite coordinates and the physical base station and the virtual base station coordinates; /(I)Representing a difference between tropospheric error and satellite orbit error between the virtual base station and the physical base station; /(I)Representing the difference in ionospheric error between the virtual base station and the physical base station. /(I)AndAnd in the network RTK resolving process, interpolation calculation is carried out through ionosphere difference values among different resolved physical base stations.
Substituting the formulas (1) and (2) into the formulas (3) and (4) respectively to obtain a complete observation equation of the virtual base station V 1:
similarly, if the virtual base station V 2 adjacent to the virtual base station V 1 is also generated based on the observed value of the physical base station P 1, the pseudo-range and the observed value of the carrier can be expressed as follows:
As can be seen from formulas (6) and (8), the carrier ambiguities of two virtual base station observations generated based on the same physical base station observation are the same, and their carrier ambiguities are the carrier ambiguities of the physical base station
When the subscriber station R receives the differential data of the virtual base station V 1, the double-difference observation equation of the RTK is:
wherein, Representing double difference operator symbols, and the superscripts represent double difference objects, e.g./>, respectivelyThe carrier observations of the user station satellites i and j are single-difference with the carrier observations of the satellite i of the virtual base station V 1, and then single-difference with the carrier observations of the satellite i of the virtual base station V 1.
When the subscriber station R switches from the service area of the virtual base station V 1 to the service area of the virtual base station V 2, the RTK solution is performed by using the observed value of V 2, and the double difference observation equation of the RTK at this time is:
As can be seen from the observation equations (10) and (12), when the subscriber station is in motion and a virtual base station switch occurs, if two virtual base stations before and after the switch are both based on the generated observation values of the same physical base station, the carrier ambiguity of double difference is the ambiguity of double difference between the subscriber station and the physical base station Therefore, when the user station performs virtual base station switching, if the two virtual base station observation values before and after switching are known to be the same or not, whether the ambiguity search needs to be performed again after the base station switching is judged. If the physical base stations adopted by the two virtual base stations are the same, the ambiguity is the same, and the ambiguity does not need to be searched again, so that the RTK integer ambiguity can be maintained; if the physical base stations employed by the two virtual base stations are different, then the ambiguity needs to be re-searched. The above derivation process takes the first frequency point L 1 as an example, and the method is also applicable to other frequency points of each satellite.
From the above derivation, in network RTK applications, the network RTK server generates dense virtual base station data within the service area, and the virtual base station coordinates are generally divided by the grid. The virtual base station observation value adds the offset of the geometric distance between the virtual base station and the physical base station and the satellite according to the nearest physical base station observation value, and compensates the ionosphere variation, troposphere and orbit error variation between the virtual base station and the physical base station. Thus, many virtual base station observations that are located adjacent to each other are obtained by performing various error compensation by the same physical base station observations.
In practice, the spacing between physical base stations is typically over 50 km, while the virtual base station spacing is typically 5 km. Virtual base station observations generation typically employs the most recent physical base station observations. That is, when 90% of the virtual base stations are switched, the virtual base station observations before and after the switching are generated by using the same physical base station. The ambiguity does not change as long as the physical base station remains unchanged, and the RTK integer ambiguity can be maintained. Therefore, the number of times of ambiguity initialization in dynamic application can be greatly reduced, the usability of RTK is improved, and the working efficiency of a user is improved.
In network RTK applications, the service area of each virtual base station is small, and in dynamic RTK applications, virtual base station handover often occurs. When the conventional RTK is switched to the base station, the ambiguity is determined to be changed, the ambiguity is initialized and the ambiguity is searched again, and high-precision RTK positioning cannot be maintained before the ambiguity is fixed. When the virtual base station is switched, firstly checking whether the physical base stations used for generating the observation values of the two virtual base stations are the same or not, if so, not initializing the ambiguity, and maintaining the whole cycle ambiguity of the RTK; and if the physical base stations corresponding to the two virtual base stations are different, carrying out ambiguity initialization. By the method, the ambiguity initialization times during virtual base station switching can be greatly reduced, and the availability of RTK is improved.
According to the network RTK positioning method for switching the virtual base stations, when the user station is switched with the virtual base stations in the moving process, the user station does not immediately perform ambiguity search, but judges whether physical base stations corresponding to the two virtual base stations before and after switching are identical, if the physical base stations corresponding to the two virtual base stations before and after switching are identical, the ambiguity search is not performed, and RTK integer ambiguity corresponding to the virtual base station before switching is adopted as RTK integer ambiguity corresponding to the virtual base station after switching. Therefore, the user station does not need to perform ambiguity re-search when the virtual base station is switched, and the problem that centimeter-level high-precision positioning cannot be obtained for a short time due to ambiguity re-search is avoided, so that centimeter-level high-precision positioning can still be obtained when the virtual base station is switched.
In an exemplary embodiment, the method further comprises:
And if the physical base stations corresponding to the two virtual base stations before and after switching are different, the user station performs ambiguity search to obtain updated RTK integer ambiguity, and performs positioning calculation by adopting the updated RTK integer ambiguity.
In an exemplary embodiment, the ue performs multiple virtual base station handovers during the moving process, and physical base stations corresponding to the two virtual base stations before and after the handovers include: and when the virtual base station switching occurs each time, the physical base stations corresponding to the two virtual base stations before and after the switching.
In an exemplary embodiment, the subscriber station determining whether the physical base stations corresponding to the two virtual base stations before and after the handover are the same includes:
firstly, the user station respectively acquires base station information of physical base stations corresponding to two virtual base stations before and after switching;
and secondly, the user station judges whether the physical base stations corresponding to the two virtual base stations before and after the switching are the same by comparing whether the base station information of the physical base stations corresponding to the two virtual base stations before and after the switching are the same.
In an exemplary embodiment, the subscriber station obtains base station information of physical base stations corresponding to two virtual base stations before and after handover, respectively, including:
Firstly, the user station respectively receives differential positioning data sent by two virtual base stations before and after switching by a preset data transmission protocol; wherein, the preset data transmission protocol at least comprises: a target field, where the target field is used to represent base station information of a physical base station corresponding to a virtual base station that sends the differential positioning data;
and secondly, the user respectively acquires field information corresponding to the target field from the differential positioning data of the two virtual base stations before and after switching.
In an exemplary embodiment, the preset data transmission protocol includes: RTCM data transfer protocol with message type 1032.
In one illustrative example, the base station information of the physical base station includes at least one of: the identification information of the physical base station and the space coordinate information of the physical base station.
In an exemplary embodiment, when the base station information of the physical base station includes: when the space coordinate information of the physical base station is obtained, the target field includes: a first sub-target field, a second sub-target field, and a third sub-target field;
The first sub-target field is used for representing the X-axis coordinate of a physical base station corresponding to a virtual base station transmitting the differential positioning data, the second sub-target field is used for representing the Y-axis coordinate of the physical base station corresponding to the virtual base station transmitting the differential positioning data, and the third sub-target field is used for representing the Z-axis coordinate of the physical base station corresponding to the virtual base station transmitting the differential positioning data.
The RTK transmits differential data through a standard RTCM protocol in which (RTCM SPECIAL COMMITTEE No.104,2020), a protocol 1032 is used to transmit a physical base station ID corresponding to the virtual base station ID and coordinates of the physical base station. In network RTK applications, 1032 and 1005 (or 1006) are used in combination, so that the subscriber station can obtain the actual physical base station coordinates for estimating the atmospheric residual error, or the subscriber station can know whether the physical base station is also switched when the virtual base station is switched.
Table 1 is the content contained in a standard RTCM1032 message. 1032 contains both the virtual base station ID and the physical base station, the virtual base station IDs in RTCM 1005 and RTCM1032 must change when a virtual base station handoff occurs, but the physical base stations in RTCM1032 may remain unchanged. In this case, the subscriber station RTK double-difference ambiguity remains unchanged, and the RTK integer ambiguity can be maintained without re-searching for the ambiguity. If a virtual base station handoff occurs, the physical base station ID in RTCM1032 also changes and the subscriber station needs to re-search for ambiguity.
TABLE 1
The embodiment of the application also provides a network RTK positioning device for virtual base station switching, which comprises: a memory and a processor, the memory for storing an executable program;
The processor is configured to read and execute the executable program to implement the network RTK positioning method for virtual base station handover according to any one of the embodiments.
According to the network RTK positioning device for switching the virtual base stations, when the user station is switched with the virtual base stations in the moving process, the user station does not immediately perform ambiguity search, but judges whether physical base stations corresponding to the two virtual base stations before and after the switching are identical, if the physical base stations corresponding to the two virtual base stations before and after the switching are identical, the ambiguity search is not performed, and RTK integer ambiguity corresponding to the virtual base station before the switching is used as RTK integer ambiguity corresponding to the virtual base station after the switching. Therefore, the user station does not need to perform ambiguity re-search when the virtual base station is switched, and the problem that centimeter-level high-precision positioning cannot be obtained for a short time due to ambiguity re-search is avoided, so that centimeter-level high-precision positioning can still be obtained when the virtual base station is switched.
The embodiment of the application also provides a storage medium, wherein the storage medium is stored with a computer executable command, and the computer executable command is used for executing the network RTK positioning method for switching the virtual base station according to any one embodiment.
Those of ordinary skill in the art will appreciate that all or some of the steps, systems, functional modules/units in the apparatus, and methods disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof. In a hardware implementation, the division between the functional modules/units mentioned in the above description does not necessarily correspond to the division of physical components; for example, one physical component may have multiple functions, or one function or step may be performed cooperatively by several physical components. Some or all of the components may be implemented as software executed by a processor, such as a digital signal processor or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on computer readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media). The term computer storage media includes both volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data, as known to those skilled in the art. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can be accessed by a computer. Furthermore, as is well known to those of ordinary skill in the art, communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media.
Claims (10)
1. The network RTK positioning method for virtual base station switching is characterized by comprising the following steps:
When the user station switches the virtual base stations in the moving process, the user station judges whether the physical base stations corresponding to the two virtual base stations are the same or not before and after the switching; the physical base stations corresponding to the two virtual base stations before and after the switching are the physical base stations based on which the observed values of the two virtual base stations before and after the switching are respectively generated;
If the physical base stations corresponding to the two virtual base stations before and after the switching are the same, the user station does not search for the ambiguity, and the RTK integer ambiguity corresponding to the virtual base station before the switching is used as the RTK integer ambiguity corresponding to the virtual base station after the switching.
2. The method according to claim 1, wherein the method further comprises:
And if the physical base stations corresponding to the two virtual base stations before and after switching are different, the user station performs ambiguity search to obtain updated RTK integer ambiguity, and performs positioning calculation by adopting the updated RTK integer ambiguity.
3. The method according to claim 1 or 2, wherein if the subscriber station performs multiple virtual base station handovers during the moving process, the physical base stations corresponding to the two virtual base stations before and after the handovers include: and when the virtual base station switching occurs each time, the physical base stations corresponding to the two virtual base stations before and after the switching.
4. The method according to claim 1, wherein the subscriber station determining whether the physical base stations corresponding to the two virtual base stations before and after the handover are the same comprises:
The user station respectively acquires the base station information of the physical base stations corresponding to the two virtual base stations before and after switching;
the user station judges whether the physical base stations corresponding to the two virtual base stations before and after the switching are the same by comparing whether the base station information of the physical base stations corresponding to the two virtual base stations before and after the switching are the same.
5. The method of claim 4, wherein the subscriber station obtains base station information of physical base stations corresponding to two virtual base stations before and after the handover, respectively, comprising:
the user station receives differential positioning data sent by two virtual base stations before and after switching by a preset data transmission protocol respectively; wherein, the preset data transmission protocol at least comprises: a target field, where the target field is used to represent base station information of a physical base station corresponding to a virtual base station that sends the differential positioning data;
And the subscriber station respectively acquires field information corresponding to the target field from the differential positioning data of the two virtual base stations before and after switching.
6. The method of claim 5, wherein the predetermined data transmission protocol comprises: RTCM data transfer protocol with message type 1032.
7. The method of claim 5, wherein the base station information of the physical base station comprises at least one of: the identification information of the physical base station and the space coordinate information of the physical base station.
8. The method of claim 7, wherein when the base station information of the physical base station comprises: when the space coordinate information of the physical base station is obtained, the target field includes: a first sub-target field, a second sub-target field, and a third sub-target field;
The first sub-target field is used for representing the X-axis coordinate of a physical base station corresponding to a virtual base station transmitting the differential positioning data, the second sub-target field is used for representing the Y-axis coordinate of the physical base station corresponding to the virtual base station transmitting the differential positioning data, and the third sub-target field is used for representing the Z-axis coordinate of the physical base station corresponding to the virtual base station transmitting the differential positioning data.
9. A network RTK positioning device for virtual base station handover, comprising: a memory and a processor, the memory for storing an executable program;
The processor is configured to read and execute the executable program to implement the network RTK positioning method for virtual base station handover according to any one of claims 1-8.
10. A storage medium having stored thereon computer executable instructions for performing the network RTK positioning method for virtual base station handoff according to any of claims 1-8.
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