CN108983268A - A kind of localization method based on virtual reference station, positioning system and relevant apparatus - Google Patents
A kind of localization method based on virtual reference station, positioning system and relevant apparatus Download PDFInfo
- Publication number
- CN108983268A CN108983268A CN201810903879.9A CN201810903879A CN108983268A CN 108983268 A CN108983268 A CN 108983268A CN 201810903879 A CN201810903879 A CN 201810903879A CN 108983268 A CN108983268 A CN 108983268A
- Authority
- CN
- China
- Prior art keywords
- geometric distance
- reference station
- virtual reference
- pseudorange
- receiver
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
A kind of localization method based on virtual reference station provided herein, comprising: the position of the position, receiver that are admittedly on ground according to signal time of transmission satellite calculates satellite to the geometric distance of receiver；According to the position computational geometry distance of virtual reference station in virtual reference station location approximation；According to geometric distance and approximation calculation pseudorange；The geometric distance changing value of virtual reference station is determined according to pseudorange, geometric distance, approximation and earth rotation algorithm；Dummy observation is obtained according to the carrier phase equation of virtual reference station and geometric distance changing value；It is positioned according to dummy observation.The application carries out real-time high-precision carrier phase Difference Solution using the data and the observation data of itself of virtual reference station and calculates, and can establish emulation platform based on the above method, improve the precision of positioning.The application also provides a kind of positioning system based on virtual reference station, a kind of computer readable storage medium and a kind of positioning terminal, has above-mentioned beneficial effect.
Description
Technical field
This application involves field of satellite location, in particular to a kind of localization method based on virtual reference station, positioning system,
And a kind of computer readable storage medium and a kind of positioning terminal.
Background technique
Real time dynamic differential (RTK, Real-time Kinematic) location technology is one kind of GPS technology, it is to be based on
The real time kinematic survey system of carrier phase observation data can provide survey station point in the three-dimensional localization of specified coordinate system in real time
As a result, and reaching a centimetre class precision.The key of differential global positioning system based on RTK is data processing technique and data transmission skill
Art requires Reference BTS receiver in real time observation data (Pseudo-range Observations, carrier phase observable etc.) and known when RTK is positioned
Data are transmitted through the network to server, and data volume is bigger.In order to guarantee the precise positioning of terminal device, need to guarantee benchmark
Base station, server, the communication between terminal device are effectively stable.
However, existing location technology is only unable to reach the high accuracy positioning in hundred meters with RTK technology, therefore how to realize
The problem of more accurate positioning is those skilled in the art's urgent need to resolve.
Apply for content
The purpose of the application is to provide a kind of localization method based on virtual reference station, positioning system and a kind of calculating
Machine readable storage medium storing program for executing and a kind of positioning terminal solve the problems, such as that the positioning accuracy based on RTK is insufficient in the prior art.
In order to solve the above technical problems, the application provides a kind of localization method based on virtual reference station, particular technique side
Case is as follows:
The position of the position, receiver that are admittedly on ground according to signal time of transmission satellite calculates the satellite to the reception
The geometric distance of machine；
Geometric distance approximation in the virtual reference station location is calculated according to the position of the virtual reference station；
According to the geometric distance and the approximation calculation pseudorange；
The virtual reference station is determined according to the pseudorange, the geometric distance, the approximation and earth rotation algorithm
Geometric distance changing value；
Dummy observation is obtained according to the carrier phase equation of the virtual reference station and the geometric distance changing value；
It is positioned according to the dummy observation.
Wherein, the position of the position, receiver that are admittedly on ground according to signal time of transmission satellite calculates the satellite to institute
State the geometric distance of receiver specifically:
It utilizesCalculate the satellite to the receiver geometric distance；
Wherein, R (t) is geometric distance,For the position that signal time of transmission satellite is admittedly on ground,For the reception
The position of machine.
Wherein, close in the virtual reference station location according to the position of the virtual reference station calculating geometric distance
Like value specifically:
It utilizesThe geometric distance is calculated in the virtual reference station location
Approximation；
Wherein, RvIt (t) is geometric distance approximation in the virtual reference station location,For virtual reference station
Position.
Wherein, according to the geometric distance and the approximation calculation pseudorange specifically:
Utilize ρv=ρA+(Rv-Rv) calculate pseudorange；
Wherein, ρvFor pseudorange, ρAFor the initial value of the pseudorange, RvFor the virtual reference station geometric distance.
Wherein, the virtual ginseng is determined according to the pseudorange, the geometric distance, the approximation and earth rotation algorithm
The geometric distance changing value for examining station includes:
Utilize the pseudorange, Δ R=Rv-RAThe geometric distance variation of the virtual reference station is determined with earth rotation algorithm
Value；
Wherein, RAFor the satellite to the geometric distance of the receiver.
Wherein, the carrier phase equation are as follows:
Wherein,For the non-poor carrier phase observation data for having added correction, δAFor composition error.
Wherein, it is virtually seen according to the carrier phase equation of the virtual reference station and the geometric distance changing value
Measured value includes:
The geometric distance changing value is added simultaneously on the both sides of the carrier phase equation；
The expression formula of the geometric distance changing value is substituted into, and converts to obtain dummy observation through data.
The application also provides a kind of positioning system based on virtual reference station, comprising:
The position of first computing unit, position, receiver for being admittedly on ground according to signal time of transmission satellite calculates
Geometric distance of the satellite to the receiver；
Second computing unit, for calculating the geometric distance in the virtual ginseng according to the position of the virtual reference station
Approximation when examining station location；
Third computing unit, for according to the geometric distance and the approximation calculation pseudorange；
4th computing unit, for true according to the pseudorange, the geometric distance, the approximation and earth rotation algorithm
The geometric distance changing value of the fixed virtual reference station；
5th computing unit, for according to the carrier phase equation of the virtual reference station and geometric distance variation
Value obtains dummy observation；
Positioning unit, for being positioned according to the dummy observation.
The application also provides a kind of computer readable storage medium, is stored thereon with computer program, the computer journey
The step of localization method as described above is realized when sequence is executed by processor.
The application also provides a kind of positioning terminal, including memory and processor, has computer journey in the memory
The step of sequence, the processor realizes localization method as described above when calling the computer program in the memory.
A kind of localization method based on virtual reference station provided herein, comprising: according to signal time of transmission satellite
The position of the position, receiver that are admittedly on ground calculates the satellite to the geometric distance of the receiver；According to the virtual ginseng
The position for examining station calculates geometric distance approximation in the virtual reference station location；According to the geometric distance and described
Approximation calculation pseudorange；It is determined according to the pseudorange, the geometric distance, the approximation and earth rotation algorithm described virtual
The geometric distance changing value of reference station；According to the carrier phase equation of the virtual reference station and the geometric distance changing value
Obtain dummy observation；It is positioned according to the dummy observation.
The application utilizes the data of virtual reference station and the observation data of itself by utilizing virtual reference station technology
It carries out real-time high-precision carrier phase Difference Solution to calculate, to obtain high-precision positioning result.It can be established based on the above method
Emulation platform realizes data interaction and data processing between control centre, base station and rover station, improves the precision of positioning.
The application also provides a kind of positioning system based on virtual reference station, a kind of computer readable storage medium and a kind of positioning eventually
End has above-mentioned beneficial effect, and details are not described herein again.
Detailed description of the invention
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of application for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is a kind of flow chart of the localization method based on virtual reference station provided by the embodiment of the present application；
Fig. 2 is a kind of positioning system structure schematic diagram based on virtual reference station provided by the embodiment of the present application.
Specific embodiment
To keep the purposes, technical schemes and advantages of the embodiment of the present application clearer, below in conjunction with the embodiment of the present application
In attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is
Some embodiments of the present application, instead of all the embodiments.Based on the embodiment in the application, those of ordinary skill in the art
Every other embodiment obtained without making creative work, shall fall in the protection scope of this application.
VRS technical requirements two-way data communication, rover station should receive data, also send oneself result and state.
Networked RTK system will provide differential corrections service for mobile station user, generally use the differential data format RTCM of standard into
Row broadcast, RTCM are to survey observation data based on non-difference to generate.But the rover station calculated according to modified combined bias interpolation
Changing number is based on double difference correction, it is necessary to non-difference observation data or virtual reference station observation after being converted into changing.Virtual ginseng
The basic thought for examining station is to generate the reference station data simulated close to receiver user.Basic process is entire by handling
After the data of Fiducial station of the network, the accurate model of all errors is established, then the anticipation error of computed user locations, ultimately produces
Analog references station data.
Referring to FIG. 1, Fig. 1 is a kind of process of the localization method based on virtual reference station provided by the embodiment of the present application
Figure, concrete scheme are as follows:
S101: the position of the position, receiver that are admittedly on ground according to signal time of transmission satellite calculates the satellite to institute
State the geometric distance of receiver；
It should be noted that the application needs to obtain the position that signal time of transmission satellite is admittedly on ground before defaulting this step
It sets, the data such as the position of receiver, and specific acquisition methods is not construed as limiting.
Firstly the need of geometric distance of the satellite to receiver is calculated, specifically, can use following formula:
Wherein, R (t) is geometric distance of the satellite to receiver,For the position that signal time of transmission satellite is admittedly on ground,For the position of the receiver.WhatContinuous operation (the satellite usually established using more base station network RTK technologies
Position service) reference station (Continuously Operating Reference Stations, CORS), it is received by antenna
Data.
S102: it is close in the virtual reference station location that the geometric distance is calculated according to the position of the virtual reference station
Like value；
So-called geometric distance approximation, virtual reference station in the virtual reference station location have a position coordinates, geometry
Distance is user with a distance from this position coordinates.
Specific calculating process can use lower formula:
Wherein, RvIt (t) is geometric distance approximation in the virtual reference station location,For virtual reference station
Position.
S103: according to the geometric distance and the approximation calculation pseudorange；
Using apart from triangulation principle, user's satellite receiver receives the signal of 3 satellites simultaneously, can calculate
Three-dimensional space position where user's satellite receiver；Meanwhile it is micro- using the time is carried out to the distance obtained in time of measuring
Point, according to the relationship of linear speed and Doppler frequency, user's satellite receiver can calculate the Doppler frequency of satellite, thus
Calculate the movement velocity of itself.Due to the clock reference of receiver user, the atomic clock benchmark relative to satellite there are error,
Therefore, its actual measurement distance is referred to as " pseudorange " (pseudo range).
Specifically, it is as follows to calculate pseudorange equations:
ρv=ρA+(Rv-Rv)；
Wherein, ρvFor pseudorange, ρAFor the initial value of the pseudorange, RvFor the virtual reference station geometric distance.
S104: the virtual ginseng is determined according to the pseudorange, the geometric distance, the approximation and earth rotation algorithm
Examine the geometric distance changing value at station；
This step can use pseudorange, Δ R=Rv-RAWith earth rotation algorithm determine the geometry of the virtual reference station away from
From changing value；
Wherein, RAFor the satellite to the geometric distance of the receiver.And earth rotation algorithm is those skilled in the art
Content well known to member, therefore not to repeat here.
S105: it is virtually seen according to the carrier phase equation of the virtual reference station and the geometric distance changing value
Measured value；
Wherein, the carrier phase equation are as follows:
Wherein,For the non-poor carrier phase observation data for having added correction, δAFor composition error.
The geometric distance changing value is added simultaneously on the both sides of the carrier phase equation；
The expression formula of the geometric distance changing value is substituted into, and converts to obtain dummy observation through data.
Specifically, can be obtained by carrier phase equation:
Substitute into Δ R=Rv-RA, it can obtain:
Dummy observation
S106: it is positioned according to the dummy observation.
After obtaining dummy observation in S105, emulation platform can be established according to the dummy observation, according to above-mentioned mistake
Required parameters establish corresponding data acquisition and processing (DAP) device to realize positioning function in journey.Through sunykatuib analysis, originally
Application provides a kind of localization method based on virtual reference station, and error is big compared to existing location technology precision 1% or so
It is big to improve.
In general, localization method provided by the present application, in the specific implementation process, by rover station send rough coordinates to
Then system data processing and control centre are handled by system data and control centre are according to rough coordinates generation virtual reference station
Observation, and return to rover station.Rover station carries out real-time high-precision using virtual reference station data and the observation data of itself
The clearing of carrier phase difference, obtain high accuracy positioning result.
A kind of positioning system based on virtual reference station provided by the embodiments of the present application is introduced below, is described below
Positioning system can correspond to each other reference with above-described localization method.
The application also provides a kind of positioning system based on virtual reference station, comprising:
First computing unit 100, by according to signal time of transmission satellite in the position of position, receiver that ground is admittedly based on
Calculate the satellite to the receiver geometric distance；
Second computing unit 200, for calculating the geometric distance in the void according to the position of the virtual reference station
Intend approximation when with reference to station location；
Third computing unit 300, for according to the geometric distance and the approximation calculation pseudorange；
4th computing unit 400, for being calculated according to the pseudorange, the geometric distance, the approximation and earth rotation
Method determines the geometric distance changing value of the virtual reference station；
5th computing unit 500, for the carrier phase equation and the geometric distance according to the virtual reference station
Changing value obtains dummy observation；
Positioning unit 600, for being positioned according to the dummy observation.
Further, the first computing unit 100 is availableCalculate the satellite
To the geometric distance of the receiver；
Wherein, R (t) is geometric distance,For the position that signal time of transmission satellite is admittedly on ground,For the reception
The position of machine.
Further, the second computing unit 200 is availableCalculate the geometry
Distance approximation in the virtual reference station location；
Wherein, RvIt (t) is geometric distance approximation in the virtual reference station location,For virtual reference station
Position.
Further, third computing unit 300 can utilize ρv=ρA+(Rv-Rv) calculate pseudorange；
Wherein, ρvFor pseudorange, ρAFor the initial value of the pseudorange, RvFor the virtual reference station geometric distance.
Further, the 4th computing unit 400 can use Δ R=Rv-RADetermine the geometric distance of the virtual reference station
Changing value；
Wherein, RAFor the satellite to the geometric distance of the receiver.
Further, the 5th computing unit 500 may include:
Equation converts subelement, for adding the geometric distance variation simultaneously on the both sides of the carrier phase equation
Value；
Subelement is substituted into, for substituting into the expression formula of the geometric distance changing value, and converts through data and is virtually seen
Measured value.
Present invention also provides a kind of computer readable storage mediums, have computer program thereon, the computer program
It is performed the step of localization method provided by above-described embodiment may be implemented.The storage medium may include: USB flash disk, movement
Hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory,
RAM), the various media that can store program code such as magnetic or disk.
Present invention also provides a kind of positioning terminals, may include memory and processor, have meter in the memory
Calculation machine program may be implemented provided by above-described embodiment when the processor calls the computer program in the memory
The step of localization method.Certain positioning terminal can also include various network interfaces, the components such as power supply.
Each embodiment is described in a progressive manner in specification, the highlights of each of the examples are with other realities
The difference of example is applied, the same or similar parts in each embodiment may refer to each other.For embodiment provide system and
Speech, since it is corresponding with the method that embodiment provides, so being described relatively simple, related place is referring to method part illustration
?.
Specific examples are used herein to illustrate the principle and implementation manner of the present application, and above embodiments are said
It is bright to be merely used to help understand the present processes and its core concept.It should be pointed out that for the ordinary skill of the art
For personnel, under the premise of not departing from the application principle, can also to the application, some improvement and modification can also be carried out, these improvement
It is also fallen into the protection scope of the claim of this application with modification.
It should also be noted that, in the present specification, relational terms such as first and second and the like be used merely to by
One entity or operation are distinguished with another entity or operation, without necessarily requiring or implying these entities or operation
Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant meaning
Covering non-exclusive inclusion, so that the process, method, article or equipment for including a series of elements not only includes that
A little elements, but also including other elements that are not explicitly listed, or further include for this process, method, article or
The intrinsic element of equipment.In the absence of more restrictions, the element limited by sentence "including a ...", is not arranged
Except there is also other identical elements in the process, method, article or apparatus that includes the element.
Claims (10)
1. a kind of localization method based on virtual reference station characterized by comprising
The position of the position, receiver that are admittedly on ground according to signal time of transmission satellite calculates the satellite to the receiver
Geometric distance；
Geometric distance approximation in the virtual reference station location is calculated according to the position of the virtual reference station；
According to the geometric distance and the approximation calculation pseudorange；
The several of the virtual reference station are determined according to the pseudorange, the geometric distance, the approximation and earth rotation algorithm
What distance change value；
Dummy observation is obtained according to the carrier phase equation of the virtual reference station and the geometric distance changing value；
It is positioned according to the dummy observation.
2. localization method according to claim 1, which is characterized in that the position for being admittedly on ground according to signal time of transmission satellite
Set, the position of receiver calculate the satellite to the receiver geometric distance specifically:
It utilizesCalculate the satellite to the receiver geometric distance；
Wherein, R (t) is geometric distance,For the position that signal time of transmission satellite is admittedly on ground,For the position of the receiver
It sets.
3. localization method according to claim 2, which is characterized in that according to the calculating of the position of the virtual reference station
Geometric distance approximation in the virtual reference station location specifically:
It utilizesIt is approximate in the virtual reference station location to calculate the geometric distance
Value；
Wherein, RvIt (t) is geometric distance approximation in the virtual reference station location,For the position of virtual reference station
It sets.
4. localization method according to claim 3, which is characterized in that according to the geometric distance and the approximation calculation
Pseudorange specifically:
Utilize ρv=ρA+(Rv-Rv) calculate pseudorange；
Wherein, ρvFor pseudorange, ρAFor the initial value of the pseudorange, RvFor the virtual reference station geometric distance.
5. localization method according to claim 4, which is characterized in that according to the pseudorange, geometric distance, described close
The geometric distance changing value for determining the virtual reference station like value and earth rotation algorithm includes:
Utilize the pseudorange, Δ R=Rv-RAThe geometric distance changing value of the virtual reference station is determined with earth rotation algorithm；
Wherein, RAFor the satellite to the geometric distance of the receiver.
6. localization method according to claim 5, which is characterized in that the carrier phase equation are as follows:
Wherein,For the non-poor carrier phase observation data for having added correction, δAFor composition error.
7. localization method according to claim 6, which is characterized in that according to the carrier phase equation of the virtual reference station
And the geometric distance changing value obtains dummy observation and includes:
The geometric distance changing value is added simultaneously on the both sides of the carrier phase equation；
The expression formula of the geometric distance changing value is substituted into, and converts to obtain dummy observation through data.
8. a kind of positioning system based on virtual reference station characterized by comprising
First computing unit, described in the position of position, receiver for being admittedly on ground according to signal time of transmission satellite calculates
Geometric distance of the satellite to the receiver；
Second computing unit, for calculating the geometric distance in the virtual reference station according to the position of the virtual reference station
Approximation when position；
Third computing unit, for according to the geometric distance and the approximation calculation pseudorange；
4th computing unit, for determining institute according to the pseudorange, the geometric distance, the approximation and earth rotation algorithm
State the geometric distance changing value of virtual reference station；
5th computing unit, for being obtained according to the carrier phase equation and the geometric distance changing value of the virtual reference station
To dummy observation；
Positioning unit, for being positioned according to the dummy observation.
9. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the computer program quilt
The step of localization methods as described in any item such as claim 1-7 are realized when processor executes.
10. a kind of positioning terminal, which is characterized in that including memory and processor, there is computer program in the memory,
The processor realizes such as the described in any item localization methods of claim 1-7 when calling the computer program in the memory
The step of.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810903879.9A CN108983268A (en) | 2018-08-09 | 2018-08-09 | A kind of localization method based on virtual reference station, positioning system and relevant apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810903879.9A CN108983268A (en) | 2018-08-09 | 2018-08-09 | A kind of localization method based on virtual reference station, positioning system and relevant apparatus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108983268A true CN108983268A (en) | 2018-12-11 |
Family
ID=64555010
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810903879.9A Pending CN108983268A (en) | 2018-08-09 | 2018-08-09 | A kind of localization method based on virtual reference station, positioning system and relevant apparatus |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108983268A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110297259A (en) * | 2019-07-23 | 2019-10-01 | 江苏省测绘工程院 | Base station net positioning enhancement information availability monitoring method and system based on grid |
| CN110618435A (en) * | 2019-11-07 | 2019-12-27 | 广东星舆科技有限公司 | Observation data generation method and text data generation method for improving VRS stability |
| CN110927665A (en) * | 2019-11-09 | 2020-03-27 | 武汉中海庭数据技术有限公司 | Verification method and system for positioning accuracy of thousand-searching-cloud-track virtual reference station |
| CN113596722A (en) * | 2021-08-04 | 2021-11-02 | 武汉攀达时空科技有限公司 | Method for generating and serving adjacent user data product sharing MCBI |
| CN116256786A (en) * | 2023-05-16 | 2023-06-13 | 武汉理工大学 | High-precision differential ship positioning method, system and equipment using VRS |
-
2018
- 2018-08-09 CN CN201810903879.9A patent/CN108983268A/en active Pending
Non-Patent Citations (1)
| Title |
|---|
| 李征航 等: "《卫星导航定位新技术及高精度数据处理方法》", 31 October 2009, 武汉大学出版社 * |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110297259A (en) * | 2019-07-23 | 2019-10-01 | 江苏省测绘工程院 | Base station net positioning enhancement information availability monitoring method and system based on grid |
| CN110297259B (en) * | 2019-07-23 | 2021-08-03 | 江苏省测绘工程院 | Grid-based method and system for monitoring availability of positioning enhancement information of reference station network |
| CN110618435A (en) * | 2019-11-07 | 2019-12-27 | 广东星舆科技有限公司 | Observation data generation method and text data generation method for improving VRS stability |
| CN110618435B (en) * | 2019-11-07 | 2021-11-23 | 广东星舆科技有限公司 | Observation data generation method and text data generation method for improving VRS stability |
| CN110927665A (en) * | 2019-11-09 | 2020-03-27 | 武汉中海庭数据技术有限公司 | Verification method and system for positioning accuracy of thousand-searching-cloud-track virtual reference station |
| CN110927665B (en) * | 2019-11-09 | 2021-12-24 | 武汉中海庭数据技术有限公司 | Verification method and system for positioning accuracy of thousand-searching-cloud-track virtual reference station |
| CN113596722A (en) * | 2021-08-04 | 2021-11-02 | 武汉攀达时空科技有限公司 | Method for generating and serving adjacent user data product sharing MCBI |
| CN116256786A (en) * | 2023-05-16 | 2023-06-13 | 武汉理工大学 | High-precision differential ship positioning method, system and equipment using VRS |
| CN116256786B (en) * | 2023-05-16 | 2023-08-04 | 武汉理工大学 | High-precision differential ship positioning method, system and equipment using VRS |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108983268A (en) | A kind of localization method based on virtual reference station, positioning system and relevant apparatus | |
| EP2191290B1 (en) | Method for accuracy estimation of network based corrections for a satellite-aided positioning system | |
| CN102540228B (en) | A kind of single-frequency GPS high-precision point positioning system and method | |
| CN111559372B (en) | Parking space detection performance evaluation method of parking system and electronic equipment | |
| CN104459740A (en) | High-precision position differential positioning method of positioning terminal | |
| Lee et al. | The performance of RTK-GPS for surveying under challenging environmental conditions | |
| CN102116867A (en) | Method for detecting and restoring cycle slip of GPS (Global Positioning System) carrier phase under dynamic environment | |
| CN103885069B (en) | GPS in Long Distance Pipeline based on CORS controls measuring method | |
| CN106773783B (en) | Semi-physical simulation test system and method for continuously operating reference station system | |
| CN107765275A (en) | GPS wide area differential GPS localization method, device, terminal and computer-readable recording medium | |
| CN105372685A (en) | Regional high-precision position enhancing system and method | |
| CN103293550B (en) | Utilize the real-time high-precision earthquake deformation monitoring method of single-frequency GNSS receiver | |
| CN107976702A (en) | A kind of position correcting method based on CORS, positioning terminal and alignment system | |
| US8223068B2 (en) | Method and system for logging position data | |
| CN103344977A (en) | Locating and tracking device with switchable precision and locating and tracking method | |
| MX2011005844A (en) | A system and method of reference position determination. | |
| CN103364801A (en) | A method for multiplying positioning precision in a satellite navigation positioning system | |
| CN114035216A (en) | Positioning method, device, equipment and storage medium | |
| Bae et al. | Performance Analysis of Network‐RTK Techniques for Drone Navigation considering Ionospheric Conditions | |
| CN113325446A (en) | Multi-mode common-frequency GNSS carrier phase time transfer method and system | |
| CN114779301A (en) | Satellite navigation real-time precise single-point positioning method based on broadcast ephemeris | |
| CN110907974B (en) | Method and device for quickly fixing PPP ambiguity based on VRS difference | |
| CN117289312A (en) | Smart phone pseudo-range differential positioning and weighting method based on optimal satellite subset | |
| CN114994724A (en) | GNSS pseudo-range differential positioning performance evaluation method and system | |
| CN107132559A (en) | A kind of pseudorange differential method for GNSS One-Point Location results |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181211 |