WO2020107434A1 - Rtk基准站的坐标标定方法、设备及存储介质 - Google Patents

Rtk基准站的坐标标定方法、设备及存储介质 Download PDF

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Publication number
WO2020107434A1
WO2020107434A1 PCT/CN2018/118663 CN2018118663W WO2020107434A1 WO 2020107434 A1 WO2020107434 A1 WO 2020107434A1 CN 2018118663 W CN2018118663 W CN 2018118663W WO 2020107434 A1 WO2020107434 A1 WO 2020107434A1
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Prior art keywords
calibrated
reference station
rtk reference
rtk
observation data
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PCT/CN2018/118663
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English (en)
French (fr)
Inventor
胡孟
宋健宇
潘国秀
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深圳市大疆创新科技有限公司
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201880074062.3A priority Critical patent/CN111373285A/zh
Priority to PCT/CN2018/118663 priority patent/WO2020107434A1/zh
Publication of WO2020107434A1 publication Critical patent/WO2020107434A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
    • G01S19/235—Calibration of receiver components
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry

Definitions

  • the embodiments of the present invention relate to the field of satellite positioning, and in particular, to a coordinate calibration method, device, and storage medium of an RTK reference station.
  • Real-time dynamic carrier differential positioning is a global satellite navigation system (Global Navigation, Satellite, System, GNSS) high-precision positioning technology, its positioning accuracy can reach the centimeter level.
  • RTK positioning system includes: reference station and rover station. Among them, the rover needs to receive the satellite observation data transmitted by the reference station, and according to the satellite observation data transmitted by the reference station and the satellite signal received by the rover station, calculate the coordinate increment between the reference station and the rover, that is, the baseline vector. Further, based on the positioning information of the reference station and the baseline vector, the positioning information of the rover is determined.
  • the positioning accuracy of the reference station affects the positioning accuracy of the rover station.
  • Embodiments of the present invention provide a coordinate calibration method, device, and storage medium of an RTK reference station, so as to improve the positioning flexibility of the RTK reference station and reduce the positioning time.
  • the first aspect of the embodiments of the present invention is to provide a coordinate calibration method for an RTK reference station, which is applied to a calibration device and includes:
  • the first satellite observation data of the RTK reference station to be calibrated where the first satellite observation data includes at least the single-point positioning coordinates of the RTK reference station to be calibrated;
  • the target solution model According to the single-point positioning coordinates of the RTK reference station to be calibrated, determine the target solution model from various types of calculation models for calculating the precise coordinates of the RTK reference station to be calibrated;
  • the precise coordinates of the RTK reference station to be calibrated are calibrated according to the target solution model and the first satellite observation data.
  • a second aspect of the embodiments of the present invention is to provide a calibration device, including: a memory and a processor;
  • the memory is used to store program codes
  • the processor calls the program code, and when the program code is executed, it is used to perform the following operations:
  • the first satellite observation data of the RTK reference station to be calibrated where the first satellite observation data includes at least the single-point positioning coordinates of the RTK reference station to be calibrated;
  • the target solution model According to the single-point positioning coordinates of the RTK reference station to be calibrated, determine the target solution model from various types of calculation models for calculating the precise coordinates of the RTK reference station to be calibrated;
  • the precise coordinates of the RTK reference station to be calibrated are calibrated according to the target solution model and the first satellite observation data.
  • a third aspect of the embodiments of the present invention is to provide a computer-readable storage medium on which a computer program is stored, which is executed by a processor to implement the method of the first aspect.
  • the coordinate calibration method, equipment and storage medium of the RTK reference station provided in this embodiment, by acquiring the first satellite observation data of the RTK reference station to be calibrated, according to the first satellite observation data of the RTK reference station to be calibrated Single-point positioning coordinates, the target solution model is determined from various types of solution models used to calculate the precise coordinates of the RTK reference station to be calibrated, that is, when the position of the RTK reference station to be calibrated is different,
  • the selected target solution model may also be different, so that the target solution model is the solution model that is most suitable for calculating the precise coordinates of the RTK reference station to be calibrated among the various types of solution models, and further according to the target solution
  • the calculation model and the first satellite observation data calibrate the precise coordinates of the RTK reference station to be calibrated, which can shorten the calibration time and improve the positioning flexibility of the RTK reference station.
  • FIG. 1 is a flowchart of a method for coordinate calibration of an RTK reference station according to an embodiment of the present invention
  • FIG. 2 is a schematic diagram of an application scenario provided by an embodiment of the present invention.
  • FIG. 3 is a schematic diagram of another application scenario provided by an embodiment of the present invention.
  • FIG. 4 is a schematic diagram of another application scenario provided by an embodiment of the present invention.
  • FIG. 5 is a schematic diagram of another application scenario provided by an embodiment of the present invention.
  • FIG. 6 is a schematic diagram of another application scenario provided by an embodiment of the present invention.
  • FIG. 7 is a schematic diagram of another application scenario provided by an embodiment of the present invention.
  • FIG. 8 is a structural diagram of a calibration device provided by an embodiment of the present invention.
  • 60 dotted line; 70: unmanned aerial vehicle; 71: control equipment;
  • 81 memory; 82: processor; 83: communication interface.
  • a component when a component is said to be “fixed” to another component, it can be directly on another component or it can also exist in a centered component. When a component is considered to be “connected” to another component, it can be directly connected to another component or there can be centered components at the same time.
  • FIG. 1 is a flowchart of a method for coordinate calibration of an RTK reference station according to an embodiment of the present invention. As shown in FIG. 1, the method in this embodiment may include:
  • Step S101 Obtain first satellite observation data of an RTK reference station to be calibrated, where the first satellite observation data includes at least single-point positioning coordinates of the RTK reference station to be calibrated.
  • 21 represents the RTK reference station to be calibrated
  • 22 represents the satellite.
  • the RTK reference station 21 to be calibrated is provided with a positioning receiver, which can receive satellite signals from the satellite 22 and generate satellite observation data
  • the satellite observation data generated by the RTK reference station 21 to be calibrated is recorded as the first satellite observation data
  • the first satellite observation data includes at least the single-point positioning coordinates of the RTK reference station 21 to be calibrated, the single-point positioning coordinates It is the positioning coordinates of the RTK reference station 21 to be calibrated determined by the positioning receiver according to the satellite signals it receives.
  • the positioning receiver may be a Global Navigation System (GNSS) receiver.
  • GNSS Global Navigation System
  • the positioning receiver is a Global Positioning System (Global Positioning System, GPS for short) receiver, a Beidou receiver, a Galileo receiver,
  • the satellite 22 is specifically a satellite of a navigation system corresponding to the positioning receiver.
  • the calibration device may acquire the first satellite observation data of the RTK reference station to be calibrated.
  • the calibration device may be set in different devices.
  • the calibration device may obtain the first satellite observation data of the RTK reference station to be calibrated Different.
  • the calibration device is set on the server.
  • the acquiring the first satellite observation data of the RTK reference station to be calibrated includes receiving the first satellite observation data sent by the RTK reference station to be calibrated.
  • the calibration device may be set in the server 23, and when the RTK reference station 21 to be calibrated generates the first satellite observation data, the first satellite observation data is sent to the server 23, specifically, the The RTK reference station 21 may send the first satellite observation data to the server 23 through wired communication, or may send the first satellite observation data to the server 23 through wireless communication. That is to say, in this case, the first satellite observation data acquired by the calibration device is the first satellite observation data sent to the server 23 by the RTK reference station 21 to be calibrated.
  • the calibration device is provided at the RTK reference station to be calibrated.
  • the obtaining the first satellite observation data of the RTK reference station to be calibrated includes obtaining the first satellite observation data generated by the positioning receiver of the RTK reference station to be calibrated.
  • the calibration device may be installed in the RTK reference station 21 to be calibrated.
  • the calibration device may specifically be one or more processors in the RTK reference station 21 to be calibrated, the processor is in communication connection with the positioning receiver in the RTK reference station 21 to be calibrated, and the processor obtains the The first satellite observation data generated by the positioning receiver, for example, after the positioning receiver generates the first satellite observation data, the positioning receiver sends the first satellite observation data to the processor.
  • the first satellite observation data further includes at least one of the following: carrier phase, ephemeris, multipath information, and pseudorange.
  • the antenna of the RTK reference station to be calibrated is in a horizontal centering state.
  • the antenna plane of the positioning receiver of the RTK reference station 21 to be calibrated is parallel to the horizontal plane, and the antenna is in a horizontally centered state.
  • the antenna is in an open environment with no shielding around. In this way, the strength of the satellite signal received by the positioning receiver can be improved, and the accuracy of the first satellite observation data can be improved.
  • Step S102 According to the single-point positioning coordinates of the RTK reference station to be calibrated, determine a target solution model from various types of calculation models for calculating the precise coordinates of the RTK reference station to be calibrated.
  • the calibration device obtains the first satellite observation data of the RTK reference station to be calibrated, according to the single-point positioning coordinates of the RTK reference station to be calibrated in the first satellite observation data, various types of solution models are obtained.
  • the target solution model is determined in, and each type of solution model in the various types of solution models can be used to calculate the precise coordinates of the RTK reference station to be calibrated.
  • the accuracy of the precise coordinates is higher than that of the single-point positioning coordinates High precision.
  • At least one of the various types of solution models is an RTK solution model, a dynamic post-processing (PPK) solution model, a static positioning solution model, and a fast static positioning solution
  • the target solution model may be one of RTK solution model, PPK solution model, static positioning solution model, and fast static positioning solution model.
  • the calibration device can determine whether there is a reference RTK reference station that has been calibrated around the RTK reference station to be calibrated according to the single-point positioning coordinates of the RTK reference station to be calibrated, where it can be understood that the calibrated
  • the reference RTK reference station is an RTK reference station that has been calibrated with precise coordinates.
  • the calibrated reference RTK reference station may be a temporarily erected mobile base station or a continuous operation reference station (Continuous Operation Reference Station, CORS).
  • the calibration device If there is a calibrated reference RTK reference station around the RTK reference station to be calibrated, and the distance of the calibrated reference RTK reference station relative to the RTK reference station to be calibrated, the calibration device
  • the target solution model determined in the type of solution model may be an RTK solution model.
  • the target solution model determined in the type of solution model may be a PPK solution model.
  • the target solution model determined by the calibration device from the various types of solution models may be a static positioning solution model or a fast Static positioning solution model.
  • Step S103 Calibrate the precise coordinates of the RTK reference station to be calibrated according to the target solution model and the first satellite observation data.
  • the target satellite calibration data of the RTK reference station to be calibrated is calibrated according to the target solution model and the first satellite observation data of the RTK reference station to be calibrated. Precise coordinates.
  • the target solution model determined by the calibration device from the various types of solution models is an RTK solution model
  • the calibration device may calibrate the RTK benchmark to be calibrated according to the RTK solution model and the first satellite observation data The precise coordinates of the station.
  • the target solution model is determined in the solution model of the precise coordinates of the calibrated RTK reference station, that is, when the position of the RTK reference station to be calibrated is different, the selected target solution model may also be different, making the target solution
  • the model is the most suitable solution model for calculating the precise coordinates of the RTK reference station to be calibrated among the various types of solution models, and further calibrates the RTK to be calibrated according to the target solution model and the first satellite observation data
  • the precise coordinates of the reference station can shorten the calibration time and improve the positioning flexibility of the RTK reference station.
  • An embodiment of the present invention provides a method for coordinate calibration of an RTK reference station. Based on the embodiment shown in FIG. 1, the single-point positioning coordinates of the RTK reference station to be calibrated are calculated from various types of precise coordinates used to calculate the RTK reference station to be calibrated Determining the target solution model in the model includes: if, according to the single-point positioning coordinates of the RTK reference station to be calibrated, it is determined that there is a calibrated reference RTK reference within the first preset range around the RTK reference station to be calibrated Station, the RTK solution model is determined from various types of solution models used to calculate the precise coordinates of the RTK reference station to be calibrated.
  • the calibration device described in the above embodiment is provided in the server 23, and the server 23 stores the calibrated identification information and precise coordinates of the reference RTK reference station.
  • the reference RTK reference station that has been calibrated may be around the RTK reference station 21 to be calibrated, or may not be around the RTK reference station 21 to be calibrated.
  • the calibration device determines the to-be-calibrated based on the single-point positioning coordinates of the RTK reference station 21 to be calibrated in the first satellite observation data Whether there is a calibrated reference RTK reference station in the first preset range around the RTK reference station 21, optionally, the first preset range includes the distance from the RTK reference station to be calibrated less than or equal to the first The range of preset distances. As shown in FIG. 4, the range within the dotted line is a range that is less than or equal to the first preset distance from the RTK reference station 21 to be calibrated. Optionally, the first preset distance is 30 kilometers. That is to say, the first preset range includes a range that is less than or equal to 30 kilometers from the RTK reference station 21 to be calibrated.
  • the calibration device determines the location around the RTK reference station 21 to be calibrated based on the single-point positioning coordinates of the RTK reference station 21 to be calibrated and the identification information and precise coordinates of the reference RTK reference station calibrated stored in the server 23
  • the target solution model determined by the calibration device from multiple types of solution models may be an RTK solution model.
  • This embodiment does not limit the number of calibrated reference RTK reference stations existing in the first preset range. The number may be one or more, as shown in FIG. 4 is the calibrated reference RTK reference Station 41 and the reference RTK reference station 42 that have been calibrated.
  • the calibrating the precise coordinates of the RTK reference station to be calibrated according to the target solution model and the first satellite observation data includes: acquiring the second satellite observation data of the referenced RTK reference station that has been calibrated; The RTK solution model, the first satellite observation data and the second satellite observation data calibrate the precise coordinates of the RTK reference station to be calibrated.
  • the second satellite observation data of the reference RTK reference station that has been calibrated is acquired, and the RTK to be calibrated is calibrated according to the RTK solution model, the first satellite observation data, and the second satellite observation data
  • the precise coordinates of the reference station may include: acquiring the second satellite observation data and precise coordinates of the reference RTK reference station that have been calibrated; according to the RTK solution model, the first satellite observation data, and the second satellite observation data Calibrate the precise coordinates of the RTK reference station to be calibrated with the precise coordinates.
  • the second satellite observation data may include at least one of single-point positioning coordinates, carrier phase, ephemeris, multipath information, and pseudorange.
  • the RTK solution model is used to calibrate the precise coordinates of the RTK reference station to be calibrated. For the implementation process, reference may be made to the existing technology, which will not be repeated here.
  • the calibration device can further obtain the satellite observation data of the calibrated reference RTK reference station existing in the first preset range.
  • the satellite observation data of the calibrated reference RTK reference station is recorded as the first
  • the server 23 may receive the second satellite observation data sent by the calibrated reference RTK reference station 41 and the calibrated reference RTK reference station 42 respectively.
  • the calibration device calibrates the precise coordinates of the RTK reference station 21 to be calibrated according to the RTK calculation model, the first satellite observation data of the RTK reference station 21 to be calibrated, and the second satellite observation data of the referenced RTK reference station to be calibrated.
  • the second satellite observation data of the calibrated reference RTK reference station includes the second satellite observation data of the calibrated reference RTK reference station 41 and the second satellite observation data of the calibrated reference RTK reference station 42.
  • the calibration device may also be set in the RTK reference station 21 to be calibrated.
  • the RTK reference station 21 to be calibrated may send the first satellite observation data it generates to the server 23.
  • the server 23 determines whether there is a calibration in the first preset range around the RTK reference station 21 to be calibrated according to the single-point positioning coordinates of the RTK reference station 21 to be calibrated included in the first satellite observation data Reference RTK base station.
  • the server 23 obtains the second satellite observation data of the calibrated reference RTK reference station and sets the The identification information of a preset range and the second satellite observation data of the calibrated reference RTK reference station are sent to the RTK reference station 21 to be calibrated.
  • the calibration device may determine the RTK reference station 21 to be calibrated There is a calibrated reference RTK base station in the first preset range around.
  • the calibration device determines that the target solution model is an RTK solution model from various types of solution models, and according to the RTK solution model, the first satellite observation data of the RTK reference station 21 to be calibrated and the calibrated
  • the second satellite observation data of the reference RTK reference station is used to calibrate the precise coordinates of the RTK reference station 21 to be calibrated.
  • the RTK solution model is a real-time solution model
  • the calibration device can be based on the RTK solution model, the real-time first satellite observation data of the RTK reference station 21 to be calibrated and the reference RTK reference station
  • the second satellite observation data calibrates the precise coordinates of the RTK reference station 21 to be calibrated in real time.
  • This embodiment determines whether there is a reference RTK reference station that has been calibrated within the first preset range around the RTK reference station to be calibrated according to the single-point positioning coordinates of the RTK reference station to be calibrated
  • the RTK solution is determined from various types of calculation models for calculating the precise coordinates of the RTK reference station to be calibrated Model, and calibrate the precise coordinates of the RTK reference station to be calibrated according to the RTK calculation model, the first satellite observation data, and the second satellite observation data of the reference RTK reference station that have been calibrated, so that the RTK to be calibrated
  • the RTK solution model is the most suitable solution model for calculating the precise coordinates of the RTK reference station to be calibrated, shortening the calibration time, and Increased positioning flexibility for RTK reference stations.
  • An embodiment of the present invention provides a method for coordinate calibration of an RTK reference station. Based on the above embodiment, the acquiring the first satellite observation data of the RTK reference station to be calibrated includes: acquiring the first satellite observation data of the RTK reference station to be calibrated with a first preset duration.
  • the calibration device may also acquire the first satellite observation data of the RTK reference station to be calibrated with a first preset duration. If the calibration device is installed in the server, the server can receive the first satellite observation data continuously generated within the first preset duration of the RTK reference station to be calibrated, for example, 5 minutes. If the calibration device is installed at the RTK reference station to be calibrated, the calibration device can receive the first satellite observation data continuously generated by the positioning receiver of the RTK reference station to be calibrated within a first preset duration, for example, 5 minutes.
  • the target solution model is determined from various types of calculation models for calculating the precise coordinates of the RTK reference station to be calibrated, including: According to the single-point positioning coordinates of the RTK reference station to be calibrated, it is determined that there is a reference RTK reference station that has been calibrated within the second preset range around the RTK reference station to be calibrated.
  • the PPK solution model is determined from the solution model of the precise coordinates of the RTK reference station to be calibrated.
  • the calibration device described in the above embodiment is provided in the server 23, and the server 23 stores the calibrated identification information and precise coordinates of the reference RTK reference station.
  • the reference RTK reference station that has been calibrated may be around the RTK reference station 21 to be calibrated, or may not be around the RTK reference station 21 to be calibrated.
  • the calibration device determines the to-be-calibrated based on the single-point positioning coordinates of the RTK reference station 21 to be calibrated in the first satellite observation data Whether there is a reference RTK reference station that has been calibrated within the second preset range around the RTK reference station 21, where the second preset range is different from the first preset range in the foregoing embodiment, and the second preset range is The range of the RTK reference station 21 to be calibrated is further away from the first preset range.
  • the second preset range includes a range where the distance from the RTK reference station to be calibrated is greater than the first preset distance and less than or equal to the second preset distance, and the second preset distance is greater than The first preset distance.
  • the range within the dotted line 51 is a range that is less than or equal to the first preset distance from the RTK reference station 21 to be calibrated.
  • the first preset distance is 30 kilometers.
  • the range between the dashed line 51 and the dashed line 52 is a range that is greater than the first preset distance and less than or equal to the second preset distance from the RTK reference station 21 to be calibrated, optionally, the second preset distance is 50 kilometers, In other words, the second preset range includes a range that is greater than 30 kilometers and less than or equal to 50 kilometers from the RTK reference station 21 to be calibrated.
  • the calibration device determines the location around the RTK reference station 21 to be calibrated based on the single-point positioning coordinates of the RTK reference station 21 to be calibrated and the identification information and precise coordinates of the reference RTK reference station calibrated stored in the server 23
  • the target solution model determined by the calibration device from various types of solution models may be a PPK solution model.
  • This embodiment does not limit the number of calibrated reference RTK reference stations existing in the second preset range. The number may be one or more, as shown in FIG. 5 is the calibrated reference RTK reference Station 53 and calibrated reference RTK reference station 54.
  • the calibration of the precise coordinates of the RTK reference station to be calibrated according to the target solution model and the first satellite observation data includes: acquiring a second satellite of the reference RTK reference station that has been calibrated for a first preset duration Observation data; calibrate the precise coordinates of the RTK reference station to be calibrated according to the PPK calculation model, the first satellite observation data of the first preset duration and the second satellite observation data of the first preset duration .
  • the acquiring the second satellite observation data of the calibrated reference RTK reference station of the first preset duration, according to the PPK solution model, the first satellite observation data of the first preset duration and the The calibration of the precise coordinates of the RTK reference station to be calibrated by the second satellite observation data of the first preset duration includes: acquiring the second satellite observation data and precise coordinates of the reference RTK reference station that are calibrated for the first preset duration Calibrate the RTK reference station to be calibrated according to the PPK solution model, the first satellite observation data of the first preset duration, the second satellite observation data of the first preset duration, and the precise coordinates Precise coordinates.
  • the second satellite observation data may include at least one of single-point positioning coordinates, carrier phase, ephemeris, multipath information, and pseudorange.
  • the PPK solution model is used to calibrate the precise coordinates of the PPK reference station to be calibrated. For the implementation process, reference may be made to the existing technology, which will not be repeated here.
  • the calibration device can further obtain the satellite observation data of the calibrated reference RTK reference station existing in the second preset range.
  • the satellite observation data of the calibrated reference RTK reference station is recorded as the first Second satellite observation data.
  • the server 23 receives the second satellite observation data sent by the calibrated reference RTK reference station 53 and the calibrated reference RTK reference station 54 respectively.
  • the server 23 receives the calibrated reference RTK reference station 53 at the first A preset duration, for example, the second satellite observation data continuously generated within 5 minutes, and the server 23 receives the second satellite observation data continuously generated within the first preset duration, for example, 5 minutes, by the calibrated reference RTK reference station 54.
  • the calibration device calibrates the precise coordinates of the RTK reference station 21 to be calibrated according to the PPK calculation model, the first satellite observation data of the first preset duration and the second satellite observation data of the first preset duration.
  • the second satellite observation data of the first preset duration includes the calibrated reference RTK reference station 53 continuously generated within the first preset duration, for example, 5 minutes, and the calibrated reference RTK reference station 54 at The first preset duration, for example, the second satellite observation data continuously generated within 5 minutes.
  • the first preset duration is the duration of the same time period.
  • the first satellite observation data of the first preset duration received by the server 23 is the RTK reference station 21 to be calibrated at 10:00— The first satellite observation data continuously generated within 5 minutes between 10:05.
  • the second satellite observation data of the first preset duration received by the server 23 is the calibrated reference RTK reference station at 10:00 — Second satellite observation data continuously generated within 5 minutes between 10:05.
  • the calibration device may also be set in the RTK reference station 21 to be calibrated.
  • the RTK reference station 21 to be calibrated may send the first satellite observation data it generates to the server 23.
  • the server 23 determines whether there is a calibration within the second preset range around the RTK reference station 21 to be calibrated according to the single-point positioning coordinates of the RTK reference station 21 to be calibrated included in the first satellite observation data Reference RTK base station.
  • the server 23 acquires the second satellite observation of the calibrated reference RTK reference station for the first preset duration Data, and send the identification information of the second preset range and the second satellite observation data of the calibrated reference RTK reference station of the first preset duration to the RTK reference station 21 to be calibrated.
  • the calibration device may determine the There is a calibrated reference RTK reference station within the second preset range around the calibrated RTK reference station 21.
  • the calibration device determines that the target solution model is a PPK solution model from various types of solution models, and according to the PPK solution model, the first satellite observation data of the first preset duration and the first The second satellite observation data of the preset duration calibrates the precise coordinates of the RTK reference station 21 to be calibrated.
  • the PPK solution is determined from various types of solution models for calculating the precise coordinates of the RTK reference station to be calibrated Model, and calibrate the RTK to be calibrated according to the PPK calculation model, the first satellite observation data of the first preset duration and the second satellite observation data of the calibrated reference RTK reference station of the first preset duration.
  • the precise coordinates of the reference station make the reference RTK reference station within the second preset range around the RTK reference station to be calibrated
  • the PPK solution model is the most suitable for calculating the accuracy of the RTK reference station to be calibrated
  • the coordinate calculation model shortens the calibration time and improves the positioning flexibility of the RTK reference station.
  • An embodiment of the present invention provides a method for coordinate calibration of an RTK reference station. Based on the foregoing embodiment, the acquiring the first satellite observation data of the RTK reference station to be calibrated includes: acquiring the first satellite observation data of the RTK reference station to be calibrated with a second preset duration.
  • the calibration device may also acquire the first satellite observation data of the RTK reference station to be calibrated with a second preset duration. If the calibration device is installed on the server, the server may receive the first satellite observation data continuously generated within the second preset duration of the RTK reference station to be calibrated, for example, 5 minutes. If the calibration device is installed at the RTK reference station to be calibrated, the calibration device can receive the first satellite observation data continuously generated by the positioning receiver of the RTK reference station to be calibrated for a second preset duration, for example, 5 minutes.
  • the target solution model is determined from various types of calculation models for calculating the precise coordinates of the RTK reference station to be calibrated, including: According to the single-point positioning coordinates of the RTK reference station to be calibrated, it is determined that there is no reference RTK reference station that has been calibrated within the third preset range around the RTK reference station to be calibrated. A static positioning solution model or a fast static positioning solution model is determined from the solution model for calculating the precise coordinates of the RTK reference station to be calibrated.
  • the calibration device described in the above embodiment is provided in the server 23, and the server 23 stores the calibrated identification information and precise coordinates of the reference RTK reference station.
  • the reference RTK reference station that has been calibrated may be around the RTK reference station 21 to be calibrated, or may not be around the RTK reference station 21 to be calibrated.
  • the calibration device determines the to-be-calibrated based on the single-point positioning coordinates of the RTK reference station 21 to be calibrated in the first satellite observation data Whether there is a reference RTK reference station that has been calibrated within a third preset range around the RTK reference station 21, optionally, the third preset range includes a distance from the RTK reference station to be calibrated less than or equal to the second The range of preset distances. As shown in FIG. 6, the range within the dotted line 60 is a range that is less than or equal to the second preset distance from the RTK reference station 21 to be calibrated. Optionally, the second preset distance is 50 kilometers, that is, the The second preset range includes a range of less than or equal to 50 kilometers from the RTK reference station 21 to be calibrated.
  • the target solution model determined by the calibration device from various types of solution models may be a static positioning solution model or a fast static positioning solution model .
  • the calibration of the precise coordinates of the RTK reference station to be calibrated according to the target solution model and the first satellite observation data includes: according to a static positioning solution model or a fast static positioning solution model and the second The first satellite observation data of a preset duration calibrates the precise coordinates of the RTK reference station to be calibrated.
  • the calibration device in the server 23 calibrates the RTK reference station 21 to be calibrated according to the static positioning solution model or the fast static positioning solution model and the first satellite observation data of the second preset duration Precise coordinates.
  • the second preset duration may be slightly shorter Some, for example, the second preset duration is 5 minutes.
  • the second preset duration may be slightly longer, for example, the first The second preset duration is 20 minutes.
  • the positioning accuracy of the RTK reference station to be calibrated is at the centimeter level .
  • the positioning accuracy of the RTK reference station to be calibrated can be in Asia Centimeter level.
  • the calibration device may also be set in the RTK reference station 21 to be calibrated.
  • the RTK reference station 21 to be calibrated may send the first satellite observation data it generates to the server 23.
  • the server 23 determines whether there is a calibration in the third preset range around the RTK reference station 21 to be calibrated according to the single-point positioning coordinates of the RTK reference station 21 to be calibrated included in the first satellite observation data Reference RTK base station. If there is no reference RTK reference station calibrated within the third preset range around the RTK reference station 21 to be calibrated, the server 23 may send prompt information to the RTK reference station 21 to be calibrated.
  • the prompt information is used to It is reminded that there is no calibrated reference RTK reference station in the third preset range around the RTK reference station 21 to be calibrated.
  • the calibration device may determine that there is no reference RTK reference station that has been calibrated within the third preset range around the RTK reference station 21 to be calibrated. Further, from Among the various types of solution models, it is determined that the target solution model is a static positioning solution model or a fast static positioning solution model, and according to the static positioning solution model or the fast static positioning solution model and the second preset duration
  • the first satellite observation data calibrates the precise coordinates of the RTK reference station to be calibrated.
  • This embodiment determines whether there is a reference RTK reference station that has been calibrated within the third preset range around the RTK reference station to be calibrated according to the single-point positioning coordinates of the RTK reference station to be calibrated.
  • determine the static positioning from various types of calculation models used to calculate the precise coordinates of the RTK reference station to be calibrated Solve the model or fast static positioning solution model, and calibrate the precise coordinates of the RTK reference station to be calibrated according to the static positioning solution model or fast static positioning solution model, and the first satellite observation data of the second preset duration
  • the static positioning solution model or the fast static positioning solution model is the most suitable for calculating the RTK reference to be calibrated
  • the solution of the precise coordinates of the station shortens the calibration time and improves the positioning flexibility of the RTK reference station.
  • An embodiment of the present invention provides a method for coordinate calibration of an RTK reference station. Based on the above embodiment, if the calibration device is installed on the server, correspondingly, after the calibration of the precise coordinates of the RTK reference station to be calibrated according to the target solution model and the first satellite observation data The method further includes sending the precise coordinates of the RTK reference station to be calibrated to the RTK reference station to be calibrated. Or, after calibrating the precise coordinates of the RTK reference station to be calibrated according to the target solution model and the first satellite observation data, the method further includes: calibrating the accuracy of the RTK reference station to be calibrated The coordinates and the identification information of the target solution model are sent to the RTK reference station to be calibrated.
  • the server 23 can also send the precise coordinates of the RTK reference station 21 to be calibrated to the RTK reference station 21 to be calibrated, so that the RTK reference station 21 to be calibrated writes the precise coordinates Local fixed location.
  • the server 23 sends the precise coordinates of the RTK reference station 21 to be calibrated and the identification information of the target solution model selected when calibrating the precise coordinates to the RTK reference station 21 to be calibrated, so that the The RTK reference station 21 writes the precise coordinates and the identification information of the target solution model to a local fixed location. If the precise coordinates of the RTK base station 21 are found to be insufficient in the subsequent RTK positioning using the precise coordinates of the RTK base station 21, you can select a higher-precision solution model update based on the identification information of the target solution model The precise coordinates of the RTK base station 21.
  • the method further includes: sending the precise coordinates of the RTK reference station to be calibrated to the rover station.
  • the method further includes: calibrating the accuracy of the RTK reference station to be calibrated The coordinates and the identification information of the target solution model are sent to the rover.
  • the calibration device is installed in the RTK reference station 21 to be calibrated.
  • the calibration device calibrates the RTK reference to be calibrated according to the target solution model and the first satellite observation data determined by the above embodiment
  • the calibration device can also send the precise coordinates of the RTK reference station 21 to be calibrated to the rover, which can be a mobile platform, for example, unmanned aerial vehicle, car, ship, etc.
  • an unmanned aerial vehicle is used as a schematic illustration. As shown in FIG.
  • the UAV 70 includes a control device 71, a communication interface 72, and a positioning receiver 73; wherein, the communication interface 72 receives the precise coordinates of the RTK reference station 21, and the positioning receiver 73 receives satellite signals sent by the satellite 22,
  • the control device 71 can control the unmanned aerial vehicle 70 to perform the navigation task according to the precise coordinates of the RTK reference station 21 and the satellite signal.
  • the control device 71 may specifically be a flight controller of the unmanned aerial vehicle 70.
  • the calibration device can also send the precise coordinates of the RTK reference station 21 to be calibrated and the identification information of the target solution model selected when calibrating the precise coordinates to the rover.
  • the RTK reference by sending the precise coordinates of the RTK reference station to be calibrated and the identification information of the target solution model selected when calibrating the precise coordinates to the RTK reference station or rover to be calibrated, the RTK reference can be applied later
  • the precise coordinates of the station are used for RTK positioning, check whether the precise coordinate accuracy of the RTK base station meets the demand. If the precise coordinate accuracy of the RTK base station does not meet the demand, you can choose the more
  • the high-precision solution model updates the precise coordinates of the RTK base station, further improving the positioning flexibility of the RTK base station.
  • FIG. 8 is a structural diagram of a calibration device provided by an embodiment of the present invention.
  • the calibration device 80 includes: a memory 81, a processor 82, and a communication interface 83; the memory 81 is used to store program codes;
  • the program code when the program code is executed, is used to perform the following operations: obtain the first satellite observation data of the RTK reference station to be calibrated, and the first satellite observation data includes at least the order of the RTK reference station to be calibrated Point positioning coordinates; according to the single-point positioning coordinates of the RTK reference station to be calibrated, determine the target solution model from various types of calculation models for calculating the precise coordinates of the RTK reference station to be calibrated;
  • the target solution model and the first satellite observation data calibrate the precise coordinates of the RTK reference station to be calibrated.
  • At least one of the multiple types of solution models is one of an RTK solution model, a PPK solution model, a static positioning solution model, and a fast static positioning solution model.
  • the processor 82 determines the target solution from various types of calculation models for calculating the precise coordinates of the RTK reference station to be calibrated according to the single-point positioning coordinates of the RTK reference station to be calibrated
  • the model is specifically used to: if it is determined that there is a reference RTK reference station within the first preset range around the RTK reference station to be calibrated according to the single-point positioning coordinates of the RTK reference station to be calibrated, then Determine the RTK solution model from various types of solution models used to calculate the precise coordinates of the RTK reference station to be calibrated; the processor 82 calibrates the laboratory according to the target solution model and the first satellite observation data
  • it is specifically used to: obtain the second satellite observation data of the calibrated reference RTK reference station; according to the RTK solution model, the first satellite observation data and the first The two satellite observation data calibrate the precise coordinates of the RTK reference station to be calibrated.
  • the first preset range includes a range where the distance from the RTK reference station to be calibrated is less than or equal to the first preset distance.
  • the processor 82 acquires the first satellite observation data of the RTK reference station to be calibrated, it is specifically used to: acquire the first satellite observation data of the RTK reference station to be calibrated with a first preset duration;
  • the single-point positioning coordinates of the RTK reference station to be calibrated are specifically used when determining the target solution model from various types of calculation models for calculating the precise coordinates of the RTK reference station to be calibrated: According to the single-point positioning coordinates of the RTK reference station to be calibrated, it is determined that there is a reference RTK reference station that has been calibrated within the second preset range around the RTK reference station to be calibrated.
  • the PPK solution model is determined from the solution model of the precise coordinates of the RTK reference station to be calibrated; the processor 82 calibrates the RTK reference station to be calibrated according to the target solution model and the first satellite observation data
  • the precise coordinates are specifically used to: acquire the second satellite observation data of the calibrated reference RTK reference station of the first preset duration; according to the PPK solution model, the first satellite observation data of the first preset duration Calibrate the precise coordinates of the RTK reference station to be calibrated with the second satellite observation data of the first preset duration.
  • the second preset range includes a range where the distance from the RTK reference station to be calibrated is greater than the first preset distance and less than or equal to the second preset distance, and the second preset distance is greater than The first preset distance.
  • the processor 82 acquires the first satellite observation data of the RTK reference station to be calibrated, it is specifically used to: acquire the first satellite observation data of the RTK reference station to be calibrated with a second preset duration;
  • the single-point positioning coordinates of the RTK reference station to be calibrated are specifically used when determining the target solution model from various types of calculation models for calculating the precise coordinates of the RTK reference station to be calibrated: According to the single-point positioning coordinates of the RTK reference station to be calibrated, it is determined that there is no reference RTK reference station that has been calibrated within the third preset range around the RTK reference station to be calibrated.
  • the precise coordinates of the RTK reference station to be calibrated are specifically used to: calibrate the to-be-calibrated according to a static positioning solution model or a fast static positioning solution model and the first satellite observation data of the second preset duration The precise coordinates of the RTK base station.
  • the third preset range includes a range where the distance from the RTK reference station to be calibrated is less than or equal to the second preset distance.
  • the calibration device is set on the server.
  • the calibration device further includes: a communication interface 83; when the processor 82 acquires the first satellite observation data of the RTK reference station to be calibrated, it is specifically used to: receive the RTK reference station to be calibrated through the communication interface 83 The first satellite observation data sent.
  • a communication interface 83 when the processor 82 acquires the first satellite observation data of the RTK reference station to be calibrated, it is specifically used to: receive the RTK reference station to be calibrated through the communication interface 83 The first satellite observation data sent.
  • the processor 82 calibrates the precise coordinates of the RTK reference station to be calibrated according to the target solution model and the first satellite observation data, it is also used to: The precise coordinates of the RTK reference station are sent to the RTK reference station to be calibrated.
  • the processor 82 calibrates the precise coordinates of the RTK reference station to be calibrated according to the target solution model and the first satellite observation data, it is also used to: The precise coordinates of the RTK reference station and the identification information of the target solution model are sent to the RTK reference station to be calibrated.
  • the calibration device is provided at the RTK reference station to be calibrated.
  • the processor 82 acquires the first satellite observation data of the RTK reference station to be calibrated, it is specifically used to: acquire the first satellite observation data generated by the positioning receiver of the RTK reference station to be calibrated.
  • the calibration device further includes: a communication interface 83; after the processor 82 calibrates the precise coordinates of the RTK reference station to be calibrated according to the target solution model and the first satellite observation data, it is also used to : Send the precise coordinates of the RTK reference station to be calibrated to the rover station through the communication interface 83.
  • the calibration device further includes: a communication interface 83; after the processor 82 calibrates the precise coordinates of the RTK reference station to be calibrated according to the target solution model and the first satellite observation data, it is also used to : Send the precise coordinates of the RTK reference station to be calibrated and the identification information of the target solution model to the rover.
  • a communication interface 83 after the processor 82 calibrates the precise coordinates of the RTK reference station to be calibrated according to the target solution model and the first satellite observation data, it is also used to : Send the precise coordinates of the RTK reference station to be calibrated and the identification information of the target solution model to the rover.
  • the antenna of the RTK reference station to be calibrated is in a horizontal centering state.
  • the first satellite observation data further includes at least one of the following: carrier phase, ephemeris, multipath information, and pseudorange.
  • the target solution model is determined in the solution model of the precise coordinates of the calibrated RTK reference station, that is, when the position of the RTK reference station to be calibrated is different, the selected target solution model may also be different, making the target solution
  • the model is the most suitable solution model for calculating the precise coordinates of the RTK reference station to be calibrated among the various types of solution models, and further calibrates the RTK to be calibrated according to the target solution model and the first satellite observation data
  • the precise coordinates of the base station can shorten the calibration time and improve the positioning accuracy of the RTK base station.
  • this embodiment also provides a computer-readable storage medium on which a computer program is stored, which is executed by a processor to implement the coordinate calibration method of the RTK reference station described in the above embodiment.
  • the disclosed device and method may be implemented in other ways.
  • the device embodiments described above are only schematic.
  • the division of the units is only a division of logical functions.
  • there may be other divisions for example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored, or not implemented.
  • the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, and may be in electrical, mechanical or other forms.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
  • each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit.
  • the above integrated unit can be implemented in the form of hardware, or in the form of hardware plus software functional units.
  • the above integrated unit implemented in the form of a software functional unit may be stored in a computer-readable storage medium.
  • the above software functional units are stored in a storage medium, and include several instructions to enable a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute the method described in each embodiment of the present invention Partial steps.
  • the aforementioned storage media include: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk and other media that can store program code .

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Abstract

提供了一种RTK基准站的坐标标定方法、设备及存储介质，其中该方法包括：获取待标定的RTK基准站的第一卫星观测数据，该第一卫星观测数据至少包括该待标定的RTK基准站的单点定位坐标（S101）；根据该待标定的RTK基准站的单点定位坐标，从多种类型的用于计算该待标定的RTK基准站的精准坐标的解算模型中确定目标解算模型（S102）；也就是说，当待标定的RTK基准站的位置不同时，选择的目标解算模型可能也不同，使得该目标解算模型是该多种类型的解算模型中最适合于计算该待标定的RTK基准站的精准坐标的解算模型；进一步根据该目标解算模型和该第一卫星观测数据标定该待标定的RTK基准站的精准坐标（S103），可缩短标定时间，并提高对RTK基准站的定位精准度。

Description

RTK基准站的坐标标定方法、设备及存储介质 技术领域
本发明实施例涉及卫星定位领域，尤其涉及一种RTK基准站的坐标标定方法、设备及存储介质。
背景技术
实时动态载波差分定位(Real-time kinematic，RTK)是一种全球卫星导航系统(Global Navigation Satellite System，GNSS)高精度定位技术，其定位精度可以达到厘米级。RTK定位系统包括：基准站和流动站。其中，流动站需要接收基准站传输的卫星观测数据，并根据该基准站传输的卫星观测数据和该流动站接收到的卫星信号，计算该基准站和该流动站之间的坐标增量即基线向量。进一步，根据该基准站的定位信息和该基线向量，确定该流动站的定位信息。
由此可见，基准站的定位精准度影响着流动站的定位精准度，而现有技术中，对基准站位置标定所需时间较长，定位方式不够灵活。
发明内容
本发明实施例提供一种RTK基准站的坐标标定方法、设备及存储介质，以提高对RTK基准站的定位灵活性，减少定位时间。
本发明实施例的第一方面是提供一种RTK基准站的坐标标定方法，应用于标定设备，包括：
获取待标定的RTK基准站的第一卫星观测数据，所述第一卫星观测数据至少包括所述待标定的RTK基准站的单点定位坐标；
根据所述待标定的RTK基准站的单点定位坐标，从多种类型的用于计算所述待标定的RTK基准站的精准坐标的解算模型中确定目标解算模型；
根据所述目标解算模型和所述第一卫星观测数据标定所述待标定的RTK基准站的精准坐标。
本发明实施例的第二方面是提供一种标定设备，包括：存储器和处理器；
所述存储器用于存储程序代码；
所述处理器，调用所述程序代码，当程序代码被执行时，用于执行以下操作：
获取待标定的RTK基准站的第一卫星观测数据，所述第一卫星观测数据至少包括所述待标定的RTK基准站的单点定位坐标；
根据所述待标定的RTK基准站的单点定位坐标，从多种类型的用于计算所述待标定的RTK基准站的精准坐标的解算模型中确定目标解算模型；
根据所述目标解算模型和所述第一卫星观测数据标定所述待标定的RTK基准站的精准坐标。
本发明实施例的第三方面是提供一种计算机可读存储介质，其上存储有计算机程序，所述计算机程序被处理器执行以实现第一方面所述的方法。
本实施例提供的RTK基准站的坐标标定方法、设备及存储介质，通过获取待标定的RTK基准站的第一卫星观测数据，根据该第一卫星观测数据中的该待标定的RTK基准站的单点定位坐标，从多种类型的用于计算该待标定的RTK基准站的精准坐标的解算模型中确定目标解算模型，也就是说，当待标定的RTK基准站的位置不同时，选择的目标解算模型可能也不同，使得该目标解算模型是该多种类型的解算模型中最适合于计算该待标定的RTK基准站的精准坐标的解算模型，进一步根据该目标解算模型和该第一卫星观测数据标定该待标定的RTK基准站的精准坐标，可缩短标定时间，并提高对RTK基准站的定位灵活性。
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1为本发明实施例提供的RTK基准站的坐标标定方法的流程图；
图2为本发明实施例提供的一种应用场景的示意图；
图3为本发明实施例提供的另一种应用场景的示意图；
图4为本发明实施例提供的另一种应用场景的示意图；
图5为本发明实施例提供的另一种应用场景的示意图；
图6为本发明实施例提供的另一种应用场景的示意图；
图7为本发明实施例提供的另一种应用场景的示意图；
图8为本发明实施例提供的标定设备的结构图。
附图标记：
21：待标定的RTK基准站；    22：卫星；     23：服务器；
41：已标定的参考RTK基准站；    42：已标定的参考RTK基准站；
51：虚线；                     52：虚线；
53：已标定的参考RTK基准站；    54：已标定的参考RTK基准站；
60：虚线；        70：无人飞行器；    71：控制设备；
72：通讯接口；    73：定位接收机；    80：标定设备；
81：存储器；      82：处理器；        83：通讯接口。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
需要说明的是，当组件被称为“固定于”另一个组件，它可以直接在另一个组件上或者也可以存在居中的组件。当一个组件被认为是“连接”另一个组件，它可以是直接连接到另一个组件或者可能同时存在居中组件。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。
下面结合附图，对本发明的一些实施方式作详细说明。在不冲突的情 况下，下述的实施例及实施例中的特征可以相互组合。
本发明实施例提供一种RTK基准站的坐标标定方法。该方法应用于标定设备。图1为本发明实施例提供的RTK基准站的坐标标定方法的流程图。如图1所示，本实施例中的方法，可以包括：
步骤S101、获取待标定的RTK基准站的第一卫星观测数据，所述第一卫星观测数据至少包括所述待标定的RTK基准站的单点定位坐标。
如图2所示，21表示待标定的RTK基准站，22表示卫星，待标定的RTK基准站21上设置有定位接收机，该定位接收机可接收卫星22的卫星信号，并生成卫星观测数据，此处将待标定的RTK基准站21生成的卫星观测数据记为第一卫星观测数据，该第一卫星观测数据至少包括待标定的RTK基准站21的单点定位坐标，该单点定位坐标是该定位接收机根据其接收到的卫星信号确定的待标定的RTK基准站21的定位坐标。该定位接收机可以为全球卫星导航系统(Global Navigation Satellite System，GNSS)接收机，具体地，定位接收机为全球定位系统(Global Positioning System，简称GPS)接收机、北斗接收机、伽利略接收机、格洛纳斯接收机中的至少一种，卫星22具体为与该定位接收机对应的导航系统的卫星。
具体的，该标定设备可获取该待标定的RTK基准站的第一卫星观测数据。
在本实施例中，标定设备可设置在不同的设备中，当该标定设备设置在不同的设备中时，该标定设备获取该待标定的RTK基准站的第一卫星观测数据的方式可能会有所不同。
在一种可能的方式中，所述标定设备设置在服务器。所述获取待标定的RTK基准站的第一卫星观测数据，包括：接收所述待标定的RTK基准站发送的第一卫星观测数据。
如图3所示，该标定设备可设置在服务器23中，当待标定的RTK基准站21生成第一卫星观测数据后，将该第一卫星观测数据发送给服务器23，具体的，待标定的RTK基准站21可通过有线通信方式将第一卫星观测数据发送给服务器23，也可以通过无线通信方式将第一卫星观测数据发送给服务器23。也就是说，在这种情况下，该标定设备获取到的第一卫星观测数据是待标定的RTK基准站21发送给服务器23的第一卫星观测数 据。
在另一种可能的方式中，所述标定设备设置在所述待标定的RTK基准站。所述获取待标定的RTK基准站的第一卫星观测数据，包括：获取所述待标定的RTK基准站的定位接收机生成的第一卫星观测数据。
如图2所示，该标定设备可设置在待标定的RTK基准站21中。此时，该标定设备具体可以是该待标定的RTK基准站21中的一个或多个处理器，该处理器与待标定的RTK基准站21中的定位接收机通信连接，该处理器获取该定位接收机生成的第一卫星观测数据，例如，当该定位接收机生成第一卫星观测数据后，该定位接收机将该第一卫星观测数据发送给该处理器。
在一些实施例中，所述第一卫星观测数据还包括如下至少一种：载波相位、星历、多径信息、伪距。
在另外一些实施例中，所述待标定的RTK基准站的天线处于水平对中状态。例如，待标定的RTK基准站21的定位接收机的天线平面与水平面平行，该天线处于水平对中状态，可选的，该天线处于四周无遮挡、空旷的环境中。如此，可提高该定位接收机接收到的卫星信号的强度，并提高第一卫星观测数据的精准度。
步骤S102、根据所述待标定的RTK基准站的单点定位坐标，从多种类型的用于计算所述待标定的RTK基准站的精准坐标的解算模型中确定目标解算模型。
当该标定设备获取到该待标定的RTK基准站的第一卫星观测数据后，根据该第一卫星观测数据中的待标定的RTK基准站的单点定位坐标，从多种类型的解算模型中确定出目标解算模型，该多种类型的解算模型中每一种类型的解算模型可用于计算该待标定的RTK基准站的精准坐标，该精准坐标的精度比单点定位坐标的精度高。
可选的，所述多种类型的解算模型中的至少一种为RTK解算模型、动态后处理技术(post processed kinematic，PPK)解算模型、静态定位解算模型、快速静态定位解算模型中的一种。该目标解算模型可以是RTK解算模型、PPK解算模型、静态定位解算模型、快速静态定位解算模型中的一种。
具体的，该标定设备可根据该待标定的RTK基准站的单点定位坐标，确定该待标定的RTK基准站的周围是否存在已标定的参考RTK基准站，其中，可以理解的是，已标定的参考RTK基准站是已经被标定精准坐标的RTK基准站，该已标定的参考RTK基准站可以是临时架设的移动基站，或者是连续运行参考站(Continuous Operation Reference Station，CORS)。
如果该待标定的RTK基准站的周围存在已标定的参考RTK基准站，且该已标定的参考RTK基准站相对于该待标定的RTK基准站的距离较近，则该标定设备从该多种类型的解算模型中确定出的目标解算模型可以是RTK解算模型。
如果该待标定的RTK基准站的周围存在已标定的参考RTK基准站，且该已标定的参考RTK基准站相对于该待标定的RTK基准站的距离较远，则该标定设备从该多种类型的解算模型中确定出的目标解算模型可以是PPK解算模型。
如果该待标定的RTK基准站的周围没有已标定的参考RTK基准站，则则该标定设备从该多种类型的解算模型中确定出的目标解算模型可以是静态定位解算模型或快速静态定位解算模型。
可以理解，此处只是示意性说明，在其他实施例中，还可以包括其他类型的解算模型。
步骤S103、根据所述目标解算模型和所述第一卫星观测数据标定所述待标定的RTK基准站的精准坐标。
当标定设备从该多种类型的解算模型中确定出目标解算模型后，根据该目标解算模型和该待标定的RTK基准站的第一卫星观测数据标定该待标定的RTK基准站的精准坐标。
例如，标定设备从该多种类型的解算模型中确定出的目标解算模型是RTK解算模型，标定设备可根据该RTK解算模型和该第一卫星观测数据标定该待标定的RTK基准站的精准坐标。
本实施例通过获取待标定的RTK基准站的第一卫星观测数据，根据该第一卫星观测数据中的该待标定的RTK基准站的单点定位坐标，从多种类型的用于计算该待标定的RTK基准站的精准坐标的解算模型中确定目标解算模型，也就是说，当待标定的RTK基准站的位置不同时，选择 的目标解算模型可能也不同，使得该目标解算模型是该多种类型的解算模型中最适合于计算该待标定的RTK基准站的精准坐标的解算模型，进一步根据该目标解算模型和该第一卫星观测数据标定该待标定的RTK基准站的精准坐标，可缩短标定时间，并提高对RTK基准站的定位灵活性。
本发明实施例提供一种RTK基准站的坐标标定方法。在图1所示实施例的基础上，所述根据所述待标定的RTK基准站的单点定位坐标，从多种类型的用于计算所述待标定的RTK基准站的精准坐标的解算模型中确定目标解算模型，包括：若根据所述待标定的RTK基准站的单点定位坐标，确定所述待标定的RTK基准站周围的第一预设范围内存在已标定的参考RTK基准站，则从多种类型的用于计算所述待标定的RTK基准站的精准坐标的解算模型中确定RTK解算模型。
如图4所示，假设上述实施例所述的标定设备设置在服务器23中，该服务器23中存储已标定的参考RTK基准站的标识信息和精准坐标。该已标定的参考RTK基准站可能在该待标定的RTK基准站21的周围，也可能不在该待标定的RTK基准站21的周围。
当服务器23接收到待标定的RTK基准站21发送的第一卫星观测数据后，该标定设备根据该第一卫星观测数据中的待标定的RTK基准站21的单点定位坐标，确定待标定的RTK基准站21周围的第一预设范围内是否存在已标定的参考RTK基准站，可选的，所述第一预设范围包括与所述待标定的RTK基准站的距离小于或等于第一预设距离的范围。如图4所示，虚线以内的范围是距离待标定的RTK基准站21小于或等于第一预设距离的范围，可选的，该第一预设距离为30公里。可就是说，该第一预设范围包括与待标定的RTK基准站21的距离小于或等于30公里的范围。
若该标定设备根据待标定的RTK基准站21的单点定位坐标、以及该该服务器23中存储的已标定的参考RTK基准站的标识信息和精准坐标，确定待标定的RTK基准站21周围的第一预设范围内存在已标定的参考RTK基准站，则该标定设备从多种类型的解算模型中确定出的目标解算模型可以是RTK解算模型。本实施例不限定该第一预设范围内存在的已标 定的参考RTK基准站的个数，该个数可以是一个，也可以是多个，如图4所示的已标定的参考RTK基准站41和已标定的参考RTK基准站42。
所述根据所述目标解算模型和所述第一卫星观测数据标定所述待标定的RTK基准站的精准坐标，包括：获取已标定的参考RTK基准站的第二卫星观测数据；根据所述RTK解算模型、所述第一卫星观测数据和所述第二卫星观测数据标定所述待标定的RTK基准站的精准坐标。
进一步地，所述获取已标定的参考RTK基准站的第二卫星观测数据，根据所述RTK解算模型、所述第一卫星观测数据和所述第二卫星观测数据标定所述待标定的RTK基准站的精准坐标，可以包括：获取已标定的参考RTK基准站的第二卫星观测数据和精准坐标；根据所述RTK解算模型、所述第一卫星观测数据、所述第二卫星观测数据和所述精准坐标标定所述待标定的RTK基准站的精准坐标。其中，第二卫星观测数据可以包括单点定位坐标、载波相位、星历、多径信息、伪距中的至少一种，另外，运用RTK解算模型标定待标定的RTK基准站的精准坐标的实现过程可以参考现有技术，在此不再赘述。
如图4所示，该标定设备可进一步获取第一预设范围内存在的已标定的参考RTK基准站的卫星观测数据，此处，将已标定的参考RTK基准站的卫星观测数据记为第二卫星观测数据，具体的，该服务器23可分别接收已标定的参考RTK基准站41和已标定的参考RTK基准站42发送的第二卫星观测数据。该标定设备根据该RTK解算模型、待标定的RTK基准站21的第一卫星观测数据和已标定的参考RTK基准站的第二卫星观测数据标定待标定的RTK基准站21的精准坐标。该已标定的参考RTK基准站的第二卫星观测数据包括已标定的参考RTK基准站41的第二卫星观测数据和已标定的参考RTK基准站42的第二卫星观测数据。
在一些实施例中，该标定设备还可以设置在该待标定的RTK基准站21中，在这种情况下，该待标定的RTK基准站21可以将其生成的第一卫星观测数据发送给服务器23，该服务器23根据该第一卫星观测数据中包括的该待标定的RTK基准站21的单点定位坐标，确定该待标定的RTK基准站21周围的第一预设范围内是否存在已标定的参考RTK基准站。若该待标定的RTK基准站21周围的第一预设范围内存在已标定的参考RTK 基准站，则该服务器23获取该已标定的参考RTK基准站的第二卫星观测数据，并将该第一预设范围的标识信息以及该已标定的参考RTK基准站的第二卫星观测数据发送给该待标定的RTK基准站21。当该待标定的RTK基准站21接收到该第一预设范围的标识信息以及该已标定的参考RTK基准站的第二卫星观测数据时，该标定设备可确定该待标定的RTK基准站21周围的第一预设范围内存在已标定的参考RTK基准站。进一步，该标定设备从多种类型的解算模型中确定出目标解算模型是RTK解算模型，并根据该RTK解算模型、待标定的RTK基准站21的第一卫星观测数据和已标定的参考RTK基准站的第二卫星观测数据标定待标定的RTK基准站21的精准坐标。可以理解，RTK解算模型是一种实时解算模型，该标定设备可根据该RTK解算模型、待标定的RTK基准站21实时的第一卫星观测数据和已标定的参考RTK基准站实时的第二卫星观测数据，实时标定待标定的RTK基准站21的精准坐标。
本实施例通过根据所述待标定的RTK基准站的单点定位坐标，确定所述待标定的RTK基准站周围的第一预设范围内是否存在已标定的参考RTK基准站，当该待标定的RTK基准站周围的第一预设范围内存在已标定的参考RTK基准站时，从多种类型的用于计算所述待标定的RTK基准站的精准坐标的解算模型中确定RTK解算模型，并根据该RTK解算模型、所述第一卫星观测数据和已标定的参考RTK基准站的第二卫星观测数据标定所述待标定的RTK基准站的精准坐标，使得该待标定的RTK基准站周围的第一预设范围内存在已标定的参考RTK基准站时，RTK解算模型是最适合于计算该待标定的RTK基准站的精准坐标的解算模型，缩短了标定时间，且提高了对RTK基准站的定位灵活性。
本发明实施例提供一种RTK基准站的坐标标定方法。在上述实施例的基础上，所述获取待标定的RTK基准站的第一卫星观测数据，包括：获取第一预设时长的待标定的RTK基准站的第一卫星观测数据。
在本实施例中，该标定设备还可以获取第一预设时长的待标定的RTK基准站的第一卫星观测数据。若该标定设备设置在服务器，该服务器可接收该待标定的RTK基准站在第一预设时长，例如5分钟内持续生成的第 一卫星观测数据。若该标定设备设置在该待标定的RTK基准站，该标定设备可接收该待标定的RTK基准站的定位接收机在第一预设时长，例如5分钟内持续生成的第一卫星观测数据。
所述根据所述待标定的RTK基准站的单点定位坐标，从多种类型的用于计算所述待标定的RTK基准站的精准坐标的解算模型中确定目标解算模型，包括：若根据所述待标定的RTK基准站的单点定位坐标，确定所述待标定的RTK基准站周围的第二预设范围内存在已标定的参考RTK基准站，则从多种类型的用于计算所述待标定的RTK基准站的精准坐标的解算模型中确定PPK解算模型。
如图5所示，假设上述实施例所述的标定设备设置在服务器23中，该服务器23中存储有已标定的参考RTK基准站的标识信息和精准坐标。该已标定的参考RTK基准站可能在该待标定的RTK基准站21的周围，也可能不在该待标定的RTK基准站21的周围。
当服务器23接收到待标定的RTK基准站21发送的第一卫星观测数据后，该标定设备根据该第一卫星观测数据中的待标定的RTK基准站21的单点定位坐标，确定待标定的RTK基准站21周围的第二预设范围内是否存在已标定的参考RTK基准站，此处的第二预设范围不同于上述实施例中的第一预设范围，该第二预设范围是相对于该第一预设范围更加远离待标定的RTK基准站21的范围。可选的，所述第二预设范围包括与所述待标定的RTK基准站的距离大于第一预设距离且小于或等于第二预设距离的范围，所述第二预设距离大于所述第一预设距离。
如图5所示，虚线51以内的范围是距离待标定的RTK基准站21小于或等于第一预设距离的范围，可选的，该第一预设距离为30公里。虚线51和虚线52之间的范围是距离待标定的RTK基准站21大于第一预设距离且小于或等于第二预设距离的范围，可选的，该第二预设距离为50公里，也就是说，所述第二预设范围包括与待标定的RTK基准站21的距离大于30公里且小于或等于50公里的范围。
若该标定设备根据待标定的RTK基准站21的单点定位坐标、以及该该服务器23中存储的已标定的参考RTK基准站的标识信息和精准坐标，确定待标定的RTK基准站21周围的第二预设范围内存在已标定的参考 RTK基准站，则该标定设备从多种类型的解算模型中确定出的目标解算模型可以是PPK解算模型。本实施例不限定该第二预设范围内存在的已标定的参考RTK基准站的个数，该个数可以是一个，也可以是多个，如图5所示的已标定的参考RTK基准站53和已标定的参考RTK基准站54。
所述根据所述目标解算模型和所述第一卫星观测数据标定所述待标定的RTK基准站的精准坐标，包括：获取第一预设时长的已标定的参考RTK基准站的第二卫星观测数据；根据所述PPK解算模型、所述第一预设时长的第一卫星观测数据和所述第一预设时长的第二卫星观测数据标定所述待标定的RTK基准站的精准坐标。
进一步地，所述获取第一预设时长的已标定的参考RTK基准站的第二卫星观测数据，根据所述PPK解算模型、所述第一预设时长的第一卫星观测数据和所述第一预设时长的第二卫星观测数据标定所述待标定的RTK基准站的精准坐标，包括：获取第一预设时长的已标定的参考RTK基准站的第二卫星观测数据和精准坐标，根据所述PPK解算模型、所述第一预设时长的第一卫星观测数据、所述第一预设时长的第二卫星观测数据和所述精准坐标标定所述待标定的RTK基准站的精准坐标。其中，第二卫星观测数据可以包括单点定位坐标、载波相位、星历、多径信息、伪距中的至少一种，另外，运用PPK解算模型标定待标定的PPK基准站的精准坐标的实现过程可以参考现有技术，在此不再赘述。
如图5所示，该标定设备可进一步获取第二预设范围内存在的已标定的参考RTK基准站的卫星观测数据，此处，将已标定的参考RTK基准站的卫星观测数据记为第二卫星观测数据。具体的，该服务器23接收已标定的参考RTK基准站53和已标定的参考RTK基准站54分别发送的第二卫星观测数据，例如，该服务器23接收已标定的参考RTK基准站53在第一预设时长，例如5分钟内持续生成的第二卫星观测数据，以及该服务器23接收已标定的参考RTK基准站54在第一预设时长，例如5分钟内持续生成的第二卫星观测数据。进一步，该标定设备根据该PPK解算模型、该第一预设时长的第一卫星观测数据和该第一预设时长的第二卫星观测数据标定该待标定的RTK基准站21的精准坐标。该第一预设时长的第二卫星观测数据包括已标定的参考RTK基准站53在第一预设时长，例如5 分钟内持续生成的第二卫星观测数据和已标定的参考RTK基准站54在第一预设时长，例如5分钟内持续生成的第二卫星观测数据。
可选的，该第一预设时长是同一时间段的时长，例如，该服务器23接收到的第一预设时长的第一卫星观测数据是该待标定的RTK基准站21在10：00—10:05之间的5分钟内持续生成的第一卫星观测数据，同理，该服务器23接收到的第一预设时长的第二卫星观测数据是已标定的参考RTK基准站在10：00—10:05之间的5分钟内持续生成的第二卫星观测数据。
在一些实施例中，该标定设备还可以设置在该待标定的RTK基准站21中，在这种情况下，该待标定的RTK基准站21可以将其生成的第一卫星观测数据发送给服务器23，该服务器23根据该第一卫星观测数据中包括的该待标定的RTK基准站21的单点定位坐标，确定该待标定的RTK基准站21周围的第二预设范围内是否存在已标定的参考RTK基准站。若该待标定的RTK基准站21周围的第二预设范围内存在已标定的参考RTK基准站，则该服务器23获取第一预设时长的该已标定的参考RTK基准站的第二卫星观测数据，并将该第二预设范围的标识信息以及第一预设时长的该已标定的参考RTK基准站的第二卫星观测数据发送给该待标定的RTK基准站21。当该待标定的RTK基准站21接收到该第二预设范围的标识信息以及第一预设时长的该已标定的参考RTK基准站的第二卫星观测数据时，该标定设备可确定该待标定的RTK基准站21周围的第二预设范围内存在已标定的参考RTK基准站。进一步，该标定设备从多种类型的解算模型中确定出目标解算模型是PPK解算模型，并根据该PPK解算模型、该第一预设时长的第一卫星观测数据和该第一预设时长的第二卫星观测数据标定该待标定的RTK基准站21的精准坐标。
本实施例通过根据所述待标定的RTK基准站的单点定位坐标，确定所述待标定的RTK基准站周围的第二预设范围内是否存在已标定的参考RTK基准站，当该待标定的RTK基准站周围的第二预设范围内存在已标定的参考RTK基准站时，从多种类型的用于计算所述待标定的RTK基准站的精准坐标的解算模型中确定PPK解算模型，并根据该PPK解算模型、第一预设时长的所述第一卫星观测数据和第一预设时长的已标定的参考 RTK基准站的第二卫星观测数据标定所述待标定的RTK基准站的精准坐标，使得该待标定的RTK基准站周围的第二预设范围内存在已标定的参考RTK基准站时，PPK解算模型是最适合于计算该待标定的RTK基准站的精准坐标的解算模型，缩短了标定时间，且提高了对RTK基准站的定位灵活性。
本发明实施例提供一种RTK基准站的坐标标定方法。在上述实施例的基础上，所述获取待标定的RTK基准站的第一卫星观测数据，包括：获取第二预设时长的待标定的RTK基准站的第一卫星观测数据。
在本实施例中，该标定设备还可以获取第二预设时长的待标定的RTK基准站的第一卫星观测数据。若该标定设备设置在服务器，该服务器可接收该待标定的RTK基准站在第二预设时长，例如5分钟内持续生成的第一卫星观测数据。若该标定设备设置在该待标定的RTK基准站，该标定设备可接收该待标定的RTK基准站的定位接收机在第二预设时长，例如5分钟内持续生成的第一卫星观测数据。
所述根据所述待标定的RTK基准站的单点定位坐标，从多种类型的用于计算所述待标定的RTK基准站的精准坐标的解算模型中确定目标解算模型，包括：若根据所述待标定的RTK基准站的单点定位坐标，确定所述待标定的RTK基准站周围的第三预设范围内不存在已标定的参考RTK基准站，则从多种类型的用于计算所述待标定的RTK基准站的精准坐标的解算模型中确定静态定位解算模型或者快速静态定位解算模型。
如图6所示，假设上述实施例所述的标定设备设置在服务器23中，该服务器23中存储有已标定的参考RTK基准站的标识信息和精准坐标。该已标定的参考RTK基准站可能在该待标定的RTK基准站21的周围，也可能不在该待标定的RTK基准站21的周围。
当服务器23接收到待标定的RTK基准站21发送的第一卫星观测数据后，该标定设备根据该第一卫星观测数据中的待标定的RTK基准站21的单点定位坐标，确定待标定的RTK基准站21周围的第三预设范围内是否存在已标定的参考RTK基准站，可选的，所述第三预设范围包括与所述待标定的RTK基准站的距离小于或等于第二预设距离的范围。如图6 所示，虚线60以内的范围是距离待标定的RTK基准站21小于或等于第二预设距离的范围，可选的，该第二预设距离为50公里，也就是说，所述第二预设范围包括与待标定的RTK基准站21的距离小于或等于50公里的范围。
若该标定设备根据待标定的RTK基准站21的单点定位坐标、以及该该服务器23中存储的已标定的参考RTK基准站的标识信息和精准坐标，确定待标定的RTK基准站21周围的第三预设范围内不存在已标定的参考RTK基准站，则该标定设备从多种类型的解算模型中确定出的目标解算模型可以是静态定位解算模型或者快速静态定位解算模型。
所述根据所述目标解算模型和所述第一卫星观测数据标定所述待标定的RTK基准站的精准坐标，包括：根据静态定位解算模型或者快速静态定位解算模型和所述第二预设时长的第一卫星观测数据标定所述待标定的RTK基准站的精准坐标。
如图6所示，该服务器23中的该标定设备根据该静态定位解算模型或者快速静态定位解算模型和第二预设时长的第一卫星观测数据标定该待标定的RTK基准站21的精准坐标。可选的，当该标定设备根据快速静态定位解算模型和第二预设时长的第一卫星观测数据标定该待标定的RTK基准站21的精准坐标时，该第二预设时长可以稍微短一些，例如该第二预设时长为5分钟。当该标定设备根据静态定位解算模型和第二预设时长的第一卫星观测数据标定该待标定的RTK基准站21的精准坐标时，该第二预设时长可以稍微长一些，例如该第二预设时长为20分钟。可以理解，该第二预设时长越长，待标定的RTK基准站的定位精准度越高。当该标定设备根据静态定位解算模型和第二预设时长的第一卫星观测数据标定该待标定的RTK基准站21的精准坐标时，该待标定的RTK基准站的定位精准度在厘米级。当该标定设备根据静态定位解算模型和第二预设时长的第一卫星观测数据标定该待标定的RTK基准站21的精准坐标时，该待标定的RTK基准站的定位精准度可以在亚厘米级。
在一些实施例中，该标定设备还可以设置在该待标定的RTK基准站21中，在这种情况下，该待标定的RTK基准站21可以将其生成的第一卫星观测数据发送给服务器23，该服务器23根据该第一卫星观测数据中包 括的该待标定的RTK基准站21的单点定位坐标，确定该待标定的RTK基准站21周围的第三预设范围内是否存在已标定的参考RTK基准站。若该待标定的RTK基准站21周围的第三预设范围内不存在已标定的参考RTK基准站，则该服务器23可向该待标定的RTK基准站21发送提示信息，该提示信息用于提示该待标定的RTK基准站21周围的第三预设范围内不存在已标定的参考RTK基准站。当该待标定的RTK基准站21接收到该提示信息后，该标定设备可确定该待标定的RTK基准站21周围的第三预设范围内不存在已标定的参考RTK基准站，进一步，从多种类型的解算模型中确定出目标解算模型是静态定位解算模型或者快速静态定位解算模型，并根据该静态定位解算模型或者快速静态定位解算模型和第二预设时长的第一卫星观测数据标定所述待标定的RTK基准站的精准坐标。
本实施例通过根据所述待标定的RTK基准站的单点定位坐标，确定所述待标定的RTK基准站周围的第三预设范围内是否存在已标定的参考RTK基准站，当该待标定的RTK基准站周围的第三预设范围内不存在已标定的参考RTK基准站时，从多种类型的用于计算所述待标定的RTK基准站的精准坐标的解算模型中确定静态定位解算模型或者快速静态定位解算模型，并根据静态定位解算模型或者快速静态定位解算模型、第二预设时长的第一卫星观测数据标定所述待标定的RTK基准站的精准坐标，使得该待标定的RTK基准站周围的第三预设范围内不存在已标定的参考RTK基准站时，静态定位解算模型或者快速静态定位解算模型是最适合于计算该待标定的RTK基准站的精准坐标的解算模型，缩短了标定时间，且提高了对RTK基准站的定位灵活性。
本发明实施例提供一种RTK基准站的坐标标定方法。在上述实施例的基础上，如果所述标定设备设置在服务器，相应的，所述根据所述目标解算模型和所述第一卫星观测数据标定所述待标定的RTK基准站的精准坐标之后，所述方法还包括：将所述待标定的RTK基准站的精准坐标发送给所述待标定的RTK基准站。或者，所述根据所述目标解算模型和所述第一卫星观测数据标定所述待标定的RTK基准站的精准坐标之后，所述方法还包括：将所述待标定的RTK基准站的精准坐标和所述目标解算 模型的标识信息发送给所述待标定的RTK基准站。
如图3-图6所示，如果标定设备设置在服务器23中，当该标定设备根据上述实施例确定出的目标解算模型和所述第一卫星观测数据标定出待标定的RTK基准站21的精准坐标之后，服务器23还可以将其标定出的待标定的RTK基准站21的精准坐标发送给该待标定的RTK基准站21，以使待标定的RTK基准站21将该精准坐标写入本地固定位置。或者，服务器23将其标定出的待标定的RTK基准站21的精准坐标和标定该精准坐标时选择的该目标解算模型的标识信息发送给待标定的RTK基准站21，以使待标定的RTK基准站21将该精准坐标和该目标解算模型的标识信息写入本地固定位置。如果后续在应用RTK基准站21的精准坐标进行RTK定位时，发现该RTK基准站21的精准坐标精准度不够高，可根据该目标解算模型的标识信息，选择更高精度的解算模型更新该RTK基准站21的精准坐标。
在另外一些实施例中，如果所述标定设备设置在所述待标定的RTK基准站，相应的，所述根据所述目标解算模型和所述第一卫星观测数据标定所述待标定的RTK基准站的精准坐标之后，所述方法还包括：将所述待标定的RTK基准站的精准坐标发送给流动站。或者，所述根据所述目标解算模型和所述第一卫星观测数据标定所述待标定的RTK基准站的精准坐标之后，所述方法还包括：将所述待标定的RTK基准站的精准坐标和所述目标解算模型的标识信息发送给流动站。
如图7所示，假设标定设备设置在待标定的RTK基准站21中，当该标定设备根据上述实施例确定出的目标解算模型和所述第一卫星观测数据标定出待标定的RTK基准站21的精准坐标之后，该标定设备还可以将该待标定的RTK基准站21的精准坐标发送给流动站，该流动站具体可以是可移动平台，例如，无人飞行器、汽车、船舶等，本实施例以无人飞行器来作示意性说明。如图7所示，无人飞行器70包括控制设备71、通讯接口72和定位接收机73；其中，通讯接口72接收RTK基准站21的精准坐标，定位接收机73接收卫星22发送的卫星信号，控制设备71可根据RTK基准站21的精准坐标和该卫星信号控制无人飞行器70执行导航任务。控制设备71具体可以是无人飞行器70的飞行控制器。
在一些实施例中，该该标定设备还可以将该待标定的RTK基准站21的精准坐标和标定该精准坐标时选择的该目标解算模型的标识信息发送给流动站。
本实施例通过将待标定的RTK基准站的精准坐标和标定该精准坐标时选择的该目标解算模型的标识信息发送给该待标定的RTK基准站或流动站，可在后续应用该RTK基准站的精准坐标进行RTK定位时，检测该RTK基准站的精准坐标精准度是否满足需求，如果该RTK基准站的精准坐标精准度不能满足需求，可根据该目标解算模型的标识信息，选择更高精度的解算模型更新该RTK基准站的精准坐标，进一步提高了对RTK基准站的定位灵活性。
本发明实施例提供一种标定设备。图8为本发明实施例提供的标定设备的结构图，如图8所示，标定设备80包括：存储器81、处理器82和通讯接口83；存储器81用于存储程序代码；处理器82调用所述程序代码，当程序代码被执行时，用于执行以下操作：获取待标定的RTK基准站的第一卫星观测数据，所述第一卫星观测数据至少包括所述待标定的RTK基准站的单点定位坐标；根据所述待标定的RTK基准站的单点定位坐标，从多种类型的用于计算所述待标定的RTK基准站的精准坐标的解算模型中确定目标解算模型；根据所述目标解算模型和所述第一卫星观测数据标定所述待标定的RTK基准站的精准坐标。
可选的，所述多种类型的解算模型中的至少一种为RTK解算模型、PPK解算模型、静态定位解算模型、快速静态定位解算模型中的一种。
可选的，处理器82根据所述待标定的RTK基准站的单点定位坐标，从多种类型的用于计算所述待标定的RTK基准站的精准坐标的解算模型中确定目标解算模型时，具体用于：若根据所述待标定的RTK基准站的单点定位坐标，确定所述待标定的RTK基准站周围的第一预设范围内存在已标定的参考RTK基准站，则从多种类型的用于计算所述待标定的RTK基准站的精准坐标的解算模型中确定RTK解算模型；处理器82根据所述目标解算模型和所述第一卫星观测数据标定所述待标定的RTK基准站的精准坐标时，具体用于：获取已标定的参考RTK基准站的第二卫星观测 数据；根据所述RTK解算模型、所述第一卫星观测数据和所述第二卫星观测数据标定所述待标定的RTK基准站的精准坐标。
可选的，所述第一预设范围包括与所述待标定的RTK基准站的距离小于或等于第一预设距离的范围。
可选的，处理器82获取待标定的RTK基准站的第一卫星观测数据时，具体用于：获取第一预设时长的待标定的RTK基准站的第一卫星观测数据；处理器82根据所述待标定的RTK基准站的单点定位坐标，从多种类型的用于计算所述待标定的RTK基准站的精准坐标的解算模型中确定目标解算模型时，具体用于：若根据所述待标定的RTK基准站的单点定位坐标，确定所述待标定的RTK基准站周围的第二预设范围内存在已标定的参考RTK基准站，则从多种类型的用于计算所述待标定的RTK基准站的精准坐标的解算模型中确定PPK解算模型；处理器82根据所述目标解算模型和所述第一卫星观测数据标定所述待标定的RTK基准站的精准坐标时，具体用于：获取第一预设时长的已标定的参考RTK基准站的第二卫星观测数据；根据所述PPK解算模型、所述第一预设时长的第一卫星观测数据和所述第一预设时长的第二卫星观测数据标定所述待标定的RTK基准站的精准坐标。
可选的，所述第二预设范围包括与所述待标定的RTK基准站的距离大于第一预设距离且小于或等于第二预设距离的范围，所述第二预设距离大于所述第一预设距离。
可选的，处理器82获取待标定的RTK基准站的第一卫星观测数据时，具体用于：获取第二预设时长的待标定的RTK基准站的第一卫星观测数据；处理器82根据所述待标定的RTK基准站的单点定位坐标，从多种类型的用于计算所述待标定的RTK基准站的精准坐标的解算模型中确定目标解算模型时，具体用于：若根据所述待标定的RTK基准站的单点定位坐标，确定所述待标定的RTK基准站周围的第三预设范围内不存在已标定的参考RTK基准站，则从多种类型的用于计算所述待标定的RTK基准站的精准坐标的解算模型中确定静态定位解算模型或者快速静态定位解算模型；处理器82根据所述目标解算模型和所述第一卫星观测数据标定所述待标定的RTK基准站的精准坐标时，具体用于：根据静态定位解算 模型或者快速静态定位解算模型和所述第二预设时长的第一卫星观测数据标定所述待标定的RTK基准站的精准坐标。
可选的，所述第三预设范围包括与所述待标定的RTK基准站的距离小于或等于第二预设距离的范围。
可选的，所述标定设备设置在服务器。
可选的，所述标定设备还包括：通讯接口83；处理器82获取待标定的RTK基准站的第一卫星观测数据时，具体用于：通过通讯接口83接收所述待标定的RTK基准站发送的第一卫星观测数据。
可选的，处理器82根据所述目标解算模型和所述第一卫星观测数据标定所述待标定的RTK基准站的精准坐标之后，还用于：通过通讯接口83将所述待标定的RTK基准站的精准坐标发送给所述待标定的RTK基准站。
可选的，处理器82根据所述目标解算模型和所述第一卫星观测数据标定所述待标定的RTK基准站的精准坐标之后，还用于：通过通讯接口83将所述待标定的RTK基准站的精准坐标和所述目标解算模型的标识信息发送给所述待标定的RTK基准站。
可选的，所述标定设备设置在所述待标定的RTK基准站。
可选的，处理器82获取待标定的RTK基准站的第一卫星观测数据时，具体用于：获取所述待标定的RTK基准站的定位接收机生成的第一卫星观测数据。
可选的，所述标定设备还包括：通讯接口83；处理器82根据所述目标解算模型和所述第一卫星观测数据标定所述待标定的RTK基准站的精准坐标之后，还用于：通过通讯接口83将所述待标定的RTK基准站的精准坐标发送给流动站。
可选的，所述标定设备还包括：通讯接口83；处理器82根据所述目标解算模型和所述第一卫星观测数据标定所述待标定的RTK基准站的精准坐标之后，还用于：将所述待标定的RTK基准站的精准坐标和所述目标解算模型的标识信息发送给流动站。
可选的，所述待标定的RTK基准站的天线处于水平对中状态。
可选的，所述第一卫星观测数据还包括如下至少一种：载波相位、星 历、多径信息、伪距。
本发明实施例提供的标定设备的具体原理和实现方式均与上述实施例类似，此处不再赘述。
本实施例通过获取待标定的RTK基准站的第一卫星观测数据，根据该第一卫星观测数据中的该待标定的RTK基准站的单点定位坐标，从多种类型的用于计算该待标定的RTK基准站的精准坐标的解算模型中确定目标解算模型，也就是说，当待标定的RTK基准站的位置不同时，选择的目标解算模型可能也不同，使得该目标解算模型是该多种类型的解算模型中最适合于计算该待标定的RTK基准站的精准坐标的解算模型，进一步根据该目标解算模型和该第一卫星观测数据标定该待标定的RTK基准站的精准坐标，可缩短标定时间，并提高对RTK基准站的定位精准度。
另外，本实施例还提供一种计算机可读存储介质，其上存储有计算机程序，所述计算机程序被处理器执行以实现上述实施例所述的RTK基准站的坐标标定方法。
在本发明所提供的几个实施例中，应该理解到，所揭露的装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本发明各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用硬 件加软件功能单元的形式实现。
上述以软件功能单元的形式实现的集成的单元，可以存储在一个计算机可读取存储介质中。上述软件功能单元存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)或处理器(processor)执行本发明各个实施例所述方法的部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(Read-Only Memory，ROM)、随机存取存储器(Random Access Memory，RAM)、磁碟或者光盘等各种可以存储程序代码的介质。
本领域技术人员可以清楚地了解到，为描述的方便和简洁，仅以上述各功能模块的划分进行举例说明，实际应用中，可以根据需要而将上述功能分配由不同的功能模块完成，即将装置的内部结构划分成不同的功能模块，以完成以上描述的全部或者部分功能。上述描述的装置的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (37)

  1. 一种RTK基准站的坐标标定方法，应用于标定设备，其特征在于，包括：
    获取待标定的RTK基准站的第一卫星观测数据，所述第一卫星观测数据至少包括所述待标定的RTK基准站的单点定位坐标；
    根据所述待标定的RTK基准站的单点定位坐标，从多种类型的用于计算所述待标定的RTK基准站的精准坐标的解算模型中确定目标解算模型；
    根据所述目标解算模型和所述第一卫星观测数据标定所述待标定的RTK基准站的精准坐标。
  2. 根据权利要求1所述的方法，其特征在于，所述多种类型的解算模型中的至少一种为RTK解算模型、PPK解算模型、静态定位解算模型、快速静态定位解算模型中的一种。
  3. 根据权利要求1所述的方法，其特征在于，所述根据所述待标定的RTK基准站的单点定位坐标，从多种类型的用于计算所述待标定的RTK基准站的精准坐标的解算模型中确定目标解算模型，包括：
    若根据所述待标定的RTK基准站的单点定位坐标，确定所述待标定的RTK基准站周围的第一预设范围内存在已标定的参考RTK基准站，则从多种类型的用于计算所述待标定的RTK基准站的精准坐标的解算模型中确定RTK解算模型；
    所述根据所述目标解算模型和所述第一卫星观测数据标定所述待标定的RTK基准站的精准坐标，包括：
    获取已标定的参考RTK基准站的第二卫星观测数据；
    根据所述RTK解算模型、所述第一卫星观测数据和所述第二卫星观测数据标定所述待标定的RTK基准站的精准坐标。
  4. 根据权利要求3所述的方法，其特征在于，所述第一预设范围包括与所述待标定的RTK基准站的距离小于或等于第一预设距离的范围。
  5. 根据权利要求1-4任一项所述的方法，其特征在于，
    所述获取待标定的RTK基准站的第一卫星观测数据，包括：
    获取第一预设时长的待标定的RTK基准站的第一卫星观测数据；
    所述根据所述待标定的RTK基准站的单点定位坐标，从多种类型的用于计算所述待标定的RTK基准站的精准坐标的解算模型中确定目标解算模型，包括：
    若根据所述待标定的RTK基准站的单点定位坐标，确定所述待标定的RTK基准站周围的第二预设范围内存在已标定的参考RTK基准站，则从多种类型的用于计算所述待标定的RTK基准站的精准坐标的解算模型中确定PPK解算模型；
    所述根据所述目标解算模型和所述第一卫星观测数据标定所述待标定的RTK基准站的精准坐标，包括：
    获取第一预设时长的已标定的参考RTK基准站的第二卫星观测数据；
    根据所述PPK解算模型、所述第一预设时长的第一卫星观测数据和所述第一预设时长的第二卫星观测数据标定所述待标定的RTK基准站的精准坐标。
  6. 根据权利要求5所述的方法，其特征在于，所述第二预设范围包括与所述待标定的RTK基准站的距离大于第一预设距离且小于或等于第二预设距离的范围，所述第二预设距离大于所述第一预设距离。
  7. 根据权利要求1-6任一项所述的方法，其特征在于，所述获取待标定的RTK基准站的第一卫星观测数据，包括：
    获取第二预设时长的待标定的RTK基准站的第一卫星观测数据；
    所述根据所述待标定的RTK基准站的单点定位坐标，从多种类型的用于计算所述待标定的RTK基准站的精准坐标的解算模型中确定目标解算模型，包括：
    若根据所述待标定的RTK基准站的单点定位坐标，确定所述待标定的RTK基准站周围的第三预设范围内不存在已标定的参考RTK基准站，则从多种类型的用于计算所述待标定的RTK基准站的精准坐标的解算模型中确定静态定位解算模型或者快速静态定位解算模型；
    所述根据所述目标解算模型和所述第一卫星观测数据标定所述待标定的RTK基准站的精准坐标，包括：
    根据静态定位解算模型或者快速静态定位解算模型和所述第二预设时长的第一卫星观测数据标定所述待标定的RTK基准站的精准坐标。
  8. 根据权利要求7所述的方法，其特征在于，所述第三预设范围包括与所述待标定的RTK基准站的距离小于或等于第二预设距离的范围。
  9. 根据权利要求1-8任一项所述的方法，其特征在于，所述标定设备设置在服务器。
  10. 根据权利要求9所述的方法，其特征在于，所述获取待标定的RTK基准站的第一卫星观测数据，包括：
    接收所述待标定的RTK基准站发送的第一卫星观测数据。
  11. 根据权利要求9或10所述的方法，其特征在于，所述根据所述目标解算模型和所述第一卫星观测数据标定所述待标定的RTK基准站的精准坐标之后，所述方法还包括：
    将所述待标定的RTK基准站的精准坐标发送给所述待标定的RTK基准站。
  12. 根据权利要求9或10所述的方法，其特征在于，所述根据所述目标解算模型和所述第一卫星观测数据标定所述待标定的RTK基准站的精准坐标之后，所述方法还包括：
    将所述待标定的RTK基准站的精准坐标和所述目标解算模型的标识信息发送给所述待标定的RTK基准站。
  13. 根据权利要求1-8任一项所述的方法，其特征在于，所述标定设备设置在所述待标定的RTK基准站。
  14. 根据权利要求13所述的方法，其特征在于，所述获取待标定的RTK基准站的第一卫星观测数据，包括：
    获取所述待标定的RTK基准站的定位接收机生成的第一卫星观测数据。
  15. 根据权利要求13或14所述的方法，其特征在于，所述根据所述目标解算模型和所述第一卫星观测数据标定所述待标定的RTK基准站的精准坐标之后，所述方法还包括：
    将所述待标定的RTK基准站的精准坐标发送给流动站。
  16. 根据权利要求13或14所述的方法，其特征在于，所述根据所述目标解算模型和所述第一卫星观测数据标定所述待标定的RTK基准站的精准坐标之后，所述方法还包括：
    将所述待标定的RTK基准站的精准坐标和所述目标解算模型的标识信息发送给流动站。
  17. 根据权利要求1-16任一项所述的方法，其特征在于，所述待标定的RTK基准站的天线处于水平对中状态。
  18. 根据权利要求1-17任一项所述的方法，其特征在于，所述第一卫星观测数据还包括如下至少一种：
    载波相位、星历、多径信息、伪距。
  19. 一种标定设备，其特征在于，包括：存储器和处理器；
    所述存储器用于存储程序代码；
    所述处理器，调用所述程序代码，当程序代码被执行时，用于执行以下操作：
    获取待标定的RTK基准站的第一卫星观测数据，所述第一卫星观测数据至少包括所述待标定的RTK基准站的单点定位坐标；
    根据所述待标定的RTK基准站的单点定位坐标，从多种类型的用于计算所述待标定的RTK基准站的精准坐标的解算模型中确定目标解算模型；
    根据所述目标解算模型和所述第一卫星观测数据标定所述待标定的RTK基准站的精准坐标。
  20. 根据权利要求19所述的标定设备，其特征在于，所述多种类型的解算模型中的至少一种为RTK解算模型、PPK解算模型、静态定位解算模型、快速静态定位解算模型中的一种。
  21. 根据权利要求19所述的标定设备，其特征在于，所述处理器根据所述待标定的RTK基准站的单点定位坐标，从多种类型的用于计算所述待标定的RTK基准站的精准坐标的解算模型中确定目标解算模型时，具体用于：
    若根据所述待标定的RTK基准站的单点定位坐标，确定所述待标定的RTK基准站周围的第一预设范围内存在已标定的参考RTK基准站，则从多种类型的用于计算所述待标定的RTK基准站的精准坐标的解算模型中确定RTK解算模型；
    所述处理器根据所述目标解算模型和所述第一卫星观测数据标定所 述待标定的RTK基准站的精准坐标时，具体用于：
    获取已标定的参考RTK基准站的第二卫星观测数据；
    根据所述RTK解算模型、所述第一卫星观测数据和所述第二卫星观测数据标定所述待标定的RTK基准站的精准坐标。
  22. 根据权利要求21所述的标定设备，其特征在于，所述第一预设范围包括与所述待标定的RTK基准站的距离小于或等于第一预设距离的范围。
  23. 根据权利要求19-22任一项所述的标定设备，其特征在于，所述处理器获取待标定的RTK基准站的第一卫星观测数据时，具体用于：
    获取第一预设时长的待标定的RTK基准站的第一卫星观测数据；
    所述处理器根据所述待标定的RTK基准站的单点定位坐标，从多种类型的用于计算所述待标定的RTK基准站的精准坐标的解算模型中确定目标解算模型时，具体用于：
    若根据所述待标定的RTK基准站的单点定位坐标，确定所述待标定的RTK基准站周围的第二预设范围内存在已标定的参考RTK基准站，则从多种类型的用于计算所述待标定的RTK基准站的精准坐标的解算模型中确定PPK解算模型；
    所述处理器根据所述目标解算模型和所述第一卫星观测数据标定所述待标定的RTK基准站的精准坐标时，具体用于：
    获取第一预设时长的已标定的参考RTK基准站的第二卫星观测数据；
    根据所述PPK解算模型、所述第一预设时长的第一卫星观测数据和所述第一预设时长的第二卫星观测数据标定所述待标定的RTK基准站的精准坐标。
  24. 根据权利要求23所述的标定设备，其特征在于，所述第二预设范围包括与所述待标定的RTK基准站的距离大于第一预设距离且小于或等于第二预设距离的范围，所述第二预设距离大于所述第一预设距离。
  25. 根据权利要求19-24任一项所述的标定设备，其特征在于，所述处理器获取待标定的RTK基准站的第一卫星观测数据时，具体用于：
    获取第二预设时长的待标定的RTK基准站的第一卫星观测数据；
    所述处理器根据所述待标定的RTK基准站的单点定位坐标，从多种 类型的用于计算所述待标定的RTK基准站的精准坐标的解算模型中确定目标解算模型时，具体用于：
    若根据所述待标定的RTK基准站的单点定位坐标，确定所述待标定的RTK基准站周围的第三预设范围内不存在已标定的参考RTK基准站，则从多种类型的用于计算所述待标定的RTK基准站的精准坐标的解算模型中确定静态定位解算模型或者快速静态定位解算模型；
    所述处理器根据所述目标解算模型和所述第一卫星观测数据标定所述待标定的RTK基准站的精准坐标时，具体用于：
    根据静态定位解算模型或者快速静态定位解算模型和所述第二预设时长的第一卫星观测数据标定所述待标定的RTK基准站的精准坐标。
  26. 根据权利要求25所述的标定设备，其特征在于，所述第三预设范围包括与所述待标定的RTK基准站的距离小于或等于第二预设距离的范围。
  27. 根据权利要求19-26任一项所述的标定设备，其特征在于，所述标定设备设置在服务器。
  28. 根据权利要求27所述的标定设备，其特征在于，所述标定设备还包括：通讯接口；
    所述处理器获取待标定的RTK基准站的第一卫星观测数据时，具体用于：
    通过所述通讯接口接收所述待标定的RTK基准站发送的第一卫星观测数据。
  29. 根据权利要求28所述的标定设备，其特征在于，所述处理器根据所述目标解算模型和所述第一卫星观测数据标定所述待标定的RTK基准站的精准坐标之后，还用于：
    通过所述通讯接口将所述待标定的RTK基准站的精准坐标发送给所述待标定的RTK基准站。
  30. 根据权利要求28所述的标定设备，其特征在于，所述处理器根据所述目标解算模型和所述第一卫星观测数据标定所述待标定的RTK基准站的精准坐标之后，还用于：
    通过所述通讯接口将所述待标定的RTK基准站的精准坐标和所述目 标解算模型的标识信息发送给所述待标定的RTK基准站。
  31. 根据权利要求19-26任一项所述的标定设备，其特征在于，所述标定设备设置在所述待标定的RTK基准站。
  32. 根据权利要求31所述的标定设备，其特征在于，所述处理器获取待标定的RTK基准站的第一卫星观测数据时，具体用于：
    获取所述待标定的RTK基准站的定位接收机生成的第一卫星观测数据。
  33. 根据权利要求31或32所述的标定设备，其特征在于，所述标定设备还包括：通讯接口；
    所述处理器根据所述目标解算模型和所述第一卫星观测数据标定所述待标定的RTK基准站的精准坐标之后，还用于：
    通过所述通讯接口将所述待标定的RTK基准站的精准坐标发送给流动站。
  34. 根据权利要求31或32所述的标定设备，其特征在于，所述标定设备还包括：通讯接口；
    所述处理器根据所述目标解算模型和所述第一卫星观测数据标定所述待标定的RTK基准站的精准坐标之后，还用于：
    将所述待标定的RTK基准站的精准坐标和所述目标解算模型的标识信息发送给流动站。
  35. 根据权利要求19-34任一项所述的标定设备，其特征在于，所述待标定的RTK基准站的天线处于水平对中状态。
  36. 根据权利要求19-35任一项所述的标定设备，其特征在于，所述第一卫星观测数据还包括如下至少一种：
    载波相位、星历、多径信息、伪距。
  37. 一种计算机可读存储介质，其特征在于，其上存储有计算机程序，所述计算机程序被处理器执行以实现如权利要求1-18任一项所述的方法。
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