CN110297259B - Grid-based method and system for monitoring availability of positioning enhancement information of reference station network - Google Patents
Grid-based method and system for monitoring availability of positioning enhancement information of reference station network Download PDFInfo
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Abstract
The invention discloses a grid-based method for monitoring availability of positioning enhancement information of a reference station network, which comprises the following steps: dividing a known reference station network coverage area into grids at equal intervals according to the longitude and latitude, and obtaining three-dimensional coordinates of each grid point; generating corresponding virtual GGA information according to the three-dimensional coordinates of each grid point, uploading the virtual GGA information to a data processing center, and requesting to generate virtual observed values of each grid point; performing cycle slip detection and pseudo-range single-point positioning resolving on the virtual observation value returned by the data processing center, implementing observation value anomaly detection, and judging the actual available satellite number of each grid point; calculating the theoretical available satellite number of each grid point by combining the broadcast ephemeris integrated by the reference station network and the coordinates of the grid points; and calculating the utilization rate of the satellite at each grid point in the coverage area of the reference station network. The invention realizes the uniform monitoring of the positioning enhancement information of the coverage area of the reference station network from the perspective of users, thereby enriching and perfecting the reliability system of high-precision enhanced positioning.
Description
Technical Field
The invention relates to an availability monitoring technology for enhanced positioning of a reference station network, in particular to a grid-based method for monitoring availability of enhanced positioning information of the reference station network, and belongs to the technical field of GNSS (Global Navigation Satellite System) positioning and Navigation.
Background
The GNSS continuous operation reference station network (referred to as the GNSS reference station network for short) consists of a plurality of uniformly distributed reference stations in the area range, receives satellite navigation data in real time in all weather, solves and calculates error correction such as atmosphere between stations through base lines between the reference stations, and further performs positioning error modeling on the whole coverage area. Then, a network consisting of computer, data communication and internet technology is utilized to provide positioning enhancement information for users of different types, different requirements and different levels in real time, and the method is widely applied to the fields of city planning, homeland surveying and mapping, cadastral management, urban and rural construction, environmental monitoring, disaster prevention and reduction, traffic monitoring and the like so as to meet the requirements of various industries on high-precision, quick and real-time positioning and navigation. Due to the great demand of the information-oriented society for high-precision position service, the GNSS reference station network becomes a great infrastructure for modern spatial position reference and precise navigation positioning.
The high-precision positioning service provided by the GNSS reference station network covers various industrial applications and government decisions, wherein the fields of mapping, cadastral, aviation and the like have mandatory requirements on safety and reliability of the service, and the completeness of the high-precision positioning service is even more important than the precision of the high-precision positioning service. The integrity monitoring system is a set of comprehensive service system capable of reflecting the running health condition of a continuously running reference station system in real time, and provides timely and effective warning information (namely reliability index) for a user within a preset time range when a GNSS reference station network system is abnormal or cannot provide services required by the user. The system integrity monitoring relates to the use safety of users and is an important component in the whole reference station network system.
The existing GNSS reference station network integrity monitoring system mainly has two main directions: the method is used for controlling the quality of observation data of a reference station, and mainly comprises the steps of monitoring the health state of a satellite, and the availability (including signal-to-noise ratio, data delay, cycle slip ratio, multipath and the like) of the observation data of the reference station; and secondly, integrity monitoring is carried out on modeling of space atmospheric errors such as an ionosphere and a troposphere in a region by adopting a sparse monitoring station mode and arranging a small number of monitoring stations. Since it is difficult for a small number of monitoring stations to effectively cover the entire network area of reference stations, it is difficult to reflect the overall space availability of the network system of reference stations from the perspective of the user.
Disclosure of Invention
Aiming at the defect that the existing integrity monitoring method is difficult to reflect the availability of the whole space of the reference station network from the user perspective, the invention provides the grid-based method for monitoring the availability of the positioning enhancement information of the reference station network.
The technical scheme of the invention is as follows:
the first scheme is as follows: a grid-based reference station network positioning enhancement information availability monitoring method comprises the following steps:
dividing a known reference station network coverage area into grids at equal intervals according to the longitude and latitude, and obtaining three-dimensional coordinates of each grid point;
generating corresponding virtual GGA information according to the three-dimensional coordinates of each grid point, and uploading the GGA information to a data processing center to request to generate virtual observed values of each grid point;
receiving a virtual observation value returned by a data processing center, wherein the virtual observation value comprises a carrier observation value taking a week as a unit and a pseudo-range observation value taking a meter as a unit;
detecting the carrier observation value through carrier cycle slip detection, resolving and detecting the pseudo-range observation value through pseudo-range single-point positioning, and obtaining the actual available satellite number of each grid point according to the detection results of the carrier observation value and the pseudo-range observation value;
calculating the theoretical available satellite number of each grid point by combining the broadcast ephemeris integrated by the reference station network and the coordinates of the grid points;
and calculating the utilization rate of the satellite at each grid point in the coverage area of the reference station grid according to the actual available satellite and the theoretical available satellite number of each grid point.
As a preferred scheme, the coordinates of each grid point can be obtained according to the following formula:
in the formula, B(i,j)、L(i,j)And H(i,j)Respectively representing the latitude, longitude and altitude of the grid point (i, j); b ismaxAnd BminRespectively representing the maximum latitude and the minimum latitude of a coverage area of a reference station network; l ismaxAnd LminRespectively representing the maximum longitude and the minimum longitude of a coverage area of a reference station network; m and n represent division numbers by latitude and longitude, respectively; huIndicating the height of the U-th reference station and U indicating the number of reference stations in the network of reference stations.
As a preferred scheme, the general generation format of the GGA information is:
$GPGGA,<1>,<2>,<3>,<4>,<5>,<6>,<7>,<8>,<9>,M,<10>,M,<11>,<12>*xx<CR><LF>；
wherein, the data section 2-5 is longitude and latitude information of a grid point; the data segment 9 is height information of grid points; the data segment 6 is a localization quality flag and is set to 1, i.e. a non-differential localization flag.
As a preferred solution, the expression of the virtual observation value returned by the data processing center is as follows:
in the formula (I), the compound is shown in the specification,
represents a carrier observation in units of weeks; p represents a pseudo-range observation in meters; superscripts r and s denote reference and non-reference satellites, respectively; the subscript V indicates the grid point,subscript a denotes a main reference station in the reference station network; λ represents a carrier wavelength;
representing the difference between the geometric distances of the master reference station and the grid point to the same satellite,
the double-difference error between the main reference station and the grid point modeled by the reference station network is corrected.
As a preferred scheme, detecting the carrier observed value by carrier cycle slip detection specifically includes:
and adopting the combination of the non-geometric combination of the difference between epochs and the MW combination to carry out cycle slip detection:
wherein the geometrically combinationless observed quantity DeltaL of the difference between epochsGF(t1,t2) Comprises the following steps:
△LGF(t1,t2)＝△φ1(t1,t2)-△φ2(t1,t2) (3)
wherein, MW combined observed quantity DeltaL of difference between epochsMW(t1,t2) Comprises the following steps:
wherein Δ represents t1And t2Difference operator between two epochs, phi1And phi2Respectively represents f1And f2Two carrier observations in distance over frequency, P1And P2Respectively represents f1And f2Pseudorange observations at two frequencies;
when Δ LGF(t1,t2) Greater than a predetermined threshold A, or Δ LMW(t1,t2) When the frequency is larger than a preset threshold value B, the cycle slip is considered to exist, and the virtual observation value is judged to be abnormal and unavailable;
resolving and checking the pseudo-range observation value through pseudo-range point positioning, and specifically comprises the following steps:
the pseudo range single point positioning calculation verification method comprises the following steps:
in the formula (I), the compound is shown in the specification,
for the parameters to be estimated, the coordinates of the given grid points are the correction matrix of the coordinates, B is a design matrix related to satellite distribution, L is an observation matrix corresponding to each satellite, and P is an observation value weight matrix related to the altitude angle;
when correcting number matrix
When the absolute value of each component is not less than the threshold value C, the pseudo-range observed value of each satellite is considered to be abnormal and unavailable;
obtaining the actual available satellite number of each grid point according to the test result of the carrier observation value and the pseudo-range observation value, and specifically comprises the following steps: and when the carrier observed value and the pseudo-range observed value are not abnormal, judging that the virtual observed value of each grid point is not abnormal, and further obtaining the actual available satellite number of each grid point.
Preferably, the threshold A is set to 0.1 λ1The threshold B is set to 10 lambdaWL(ii) a Wherein the content of the first and second substances,
denotes f1A wavelength corresponding to the frequency;
representing wide lane wavelengths; c is the speed of light;
the threshold C is 15 m.
As a preferred scheme, the method calculates the theoretically available satellite number of each grid point by combining the broadcast ephemeris synthesized by the reference station network and the coordinates of the grid point, and specifically comprises the following steps:
calculating the altitude angles of the satellites on the grid points based on the grid point coordinates and the comprehensive broadcast ephemeris;
calculating the number of theoretically available satellites according to a preset comprehensive judgment standard by combining health sign data contained in the broadcast ephemeris; the judgment standard is as follows: and when the health mark position is healthy and the satellite altitude satisfies the cut-off altitude angle condition, the satellite is a theoretically available satellite.
As a preferred solution, the calculation formula of the utilization rate p is as follows:
in the formula, nrecRepresenting the actual number of available satellites, n, of grid pointstheThe theoretical number of available satellites representing grid points.
Scheme II: a grid data processing apparatus comprising a processor and a memory, said memory storing a grid data processing program which, when executed by the processor, implements the method of any one of the aspects.
The third scheme is as follows: a grid-based reference station network positioning enhanced information availability monitoring system comprises a grid point data processing device and a data processing center in data communication with the grid point data processing device; the grid point data processing apparatus comprises a processor and a memory, the memory storing a grid point data processing program which, when executed by the processor, implements the method of any one of the aspects; and the data processing center is used for generating the GGA information into virtual observation values corresponding to all grid points.
The beneficial effects of the invention include:
the invention provides a grid-based reference station network positioning enhanced information availability monitoring method, which is used for judging whether enhanced information is abnormal or not by dividing uniform grid points from the user positioning angle and implementing cycle slip detection and single-point positioning calculation on each grid point; on the basis, theoretical usable satellites at all grid points are calculated according to the broadcast ephemeris integrated by the reference station network and the coordinates of the grid points, and then are compared with the satellites in the virtual observation values, so that the utilization rate of the satellites is monitored.
The gridding monitoring method provided by the invention considers all possible user positions in the coverage area of the reference station network, and calculates the quality of the observed value of the enhanced information (virtual observed value) and the satellite utilization rate at each grid point through uniform grid point division, so that the uniform monitoring of the basic positioning enhanced information in the coverage area of the reference station network can be realized, the defect that the conventional method for monitoring a small number of stations cannot effectively reflect the whole area is effectively overcome, and the whole space availability of the reference station network system is reflected from the user perspective.
Drawings
Fig. 1 is a design framework diagram of a reference station network positioning enhancement information availability monitoring method according to embodiment 1;
fig. 2 is a flowchart of an implementation of the method for monitoring availability of enhanced positioning information of a network of reference stations in embodiment 1.
Detailed Description
With reference to fig. 1 and fig. 2, embodiment 1 discloses a grid-based reference station network positioning enhancement information availability monitoring method, which includes the following specific steps:
step (1), according to longitude and latitude, equally dividing a known coverage area of a reference station network into grids.
The coordinates of each grid point (which can be regarded as a virtual reference station) obtained by dividing can be obtained according to the following formula:
in the formula, B(i,j)、L(i,j)And H(i,j)Respectively representing the latitude, longitude and altitude of the grid point (i, j); b ismaxAnd BminRespectively representing the maximum latitude and the minimum latitude of a coverage area of a reference station network; l ismaxAnd LminRespectively representing the maximum longitude and the minimum longitude of a coverage area of a reference station network; m and n respectively representThe number of divisions of latitude and longitude; huIndicating the height of the U-th reference station and U indicating the number of reference stations in the network of reference stations.
Step (2), according to the grid point three-dimensional coordinates (B)(i,j),L(i,j),Have) And generating virtual Geographical fixed Information (GGA Information for short), uploading the Information to a data processing center, and requesting to generate a virtual observation value.
The general generation format of GGA information is:
$GPGGA,<1>,<2>,<3>,<4>,<5>,<6>,<7>,<8>,<9>,M,<10>,M,<11>,<12>*xx<CR><LF>
wherein, the data section 2-5 is longitude and latitude information of a grid point; the data segment 9 is height information of grid points; the data segment 6 is a positioning quality mark, and in the invention, because the grid points are not differentiated, the grid points are directly set to be 1, namely, a non-differential positioning mark; and assigning values to other data segments according to actual conditions. It should be noted that the obtained virtual observation value is positioning enhancement information corresponding to the grid point.
And (3) generating a virtual observation value by the data processing center.
And the data processing center generates a virtual observation value of each grid point according to the virtual GGA information generated by the grid points. The virtual observations typically include carrier observations in weeks and pseudorange observations in meters. Generating a virtual observation is represented by:
in the formula (I), the compound is shown in the specification,
represents a carrier observation in units of weeks; p represents a pseudo-range observation in meters; superscripts r and s denote reference and non-reference satellites, respectively; the subscript V denotes a grid point and the subscript a denotes a main reference station, typically the most distant from the user station, among the reference station network elements included in the reference station networkA near reference station; λ represents a carrier wavelength;
representing the difference between the geometric distances of the master reference station and the grid point to the same satellite,
the double-difference error between the main reference station and the grid point modeled by the reference station network is corrected.
And (4) receiving the virtual observation value returned by the data processing center, and performing pseudo-range single-point positioning calculation and carrier cycle slip detection to realize abnormal judgment of the virtual observation value.
And the grid point receives the virtual observation value sent by the data processing center, and the usability of the grid point is checked through cycle slip detection and single-point positioning calculation. Considering that the sampling interval of the virtual observation value is generally 1s, the cycle slip detection adopts a detection strategy combining geometric-free combination and MW combination of difference between epochs, which is specifically as follows:
geometrically combinationless observed quantity Delta L of difference between epochsGF(t1,t2) Comprises the following steps:
△LGF(t1,t2)＝△φ1(t1,t2)-△φ2(t1,t2) (3)
MW combined observed quantity DeltaL of difference between epochsMW(t1,t2) Comprises the following steps:
wherein Δ represents t1And t2Difference operator between two epochs, phi1And phi2Respectively represents f1And f2Two carrier observations in distance over frequency, P1And P2Respectively represents f1And f2Pseudorange observations at two frequencies.
Considering that the sampling interval of the virtual observation value is 1s, this isCan be converted intoGF(t1,t2) The threshold is set at a distance, DeltaL, corresponding to 0.1 weekMW(t1,t2) Set to a distance corresponding to 10 weeks, i.e. when Δ LGF(t1,t2)≥0.1λ1And Δ LMW(t1,t2)≥10λWLWhen any item is satisfied, the cycle slip is considered to exist, and the virtual observation value is judged to be abnormal and unavailable; wherein the content of the first and second substances,
denotes f1A wavelength corresponding to the frequency;
indicating the wide-lane wavelength, and c is the speed of light.
When the carrier observed value is determined to have no cycle skip, checking the quality of the pseudo-range observed value by adopting pseudo-range single-point positioning, wherein the checking mode is as follows:
in the formula (I), the compound is shown in the specification,
and for the parameters to be estimated, the coordinates of the given grid points are the correction matrix of the coordinates, B is a design matrix related to satellite distribution, L is an observation matrix corresponding to each satellite, and P is an observation value weight matrix related to the altitude angle. When correcting number matrix
When the absolute value of each component of (a) is less than 15m, it is considered that there is no abnormality in the pseudo-range observed value of each satellite.
It should be noted that the checking order of the cycle slip detection and the single-point positioning calculation is not strictly required, whether the carrier observation value in the cycle slip detection check in the unit of cycle is abnormal or not, whether the pseudo-range observation value in the unit of meter is abnormal or not is checked in the single-point positioning calculation, and whether the virtual observation value corresponding to each grid point is usable or not is finally satisfied, and both the checking results are abnormal or not.
Through the steps, the abnormity judgment of the carrier wave and the pseudo-range virtual observation value is realized, the final available virtual observation value is obtained under the condition that the carrier wave and the pseudo-range virtual observation value are determined to be abnormal, and accordingly, the pseudo-range observation value is obtained without abnormity and without cycle slip, namely, the actual available satellite of each grid point.
And (5) calculating the number of theoretically available satellites, and comparing the number of theoretically available satellites with the number of actually available satellites in the virtual observation value to further obtain the utilization rate of the satellites at each grid point in the reference station network.
And calculating the theoretically available satellite according to the comprehensive broadcast ephemeris of the reference station network and the coordinates of qualified nodes. Specifically, grid point coordinates and a comprehensive broadcast ephemeris (a union of the broadcast ephemeris received by all reference stations) are adopted to calculate the altitude angle of each satellite on the grid points, and the health sign data contained in the broadcast ephemeris is combined to perform comprehensive judgment to calculate the number of theoretically available satellites.
Wherein, the standard which can be theoretically used is judged as follows: when the health flag in the ephemeris is healthy and the computed satellite altitude satisfies the cut-off altitude condition (typically 10 degrees), it is considered as a theoretically available satellite.
The formula for calculating the elevation angle E of each satellite on the grid point is as follows:
in the formula (I), the compound is shown in the specification,
and
respectively representing the coordinates of the satellite in the northeast, northeast and vertical directions in a northeast coordinate system with the grid points as the origin.
And finally, comparing the calculated theoretical available satellite number with the actual available satellite number in the virtual observation value received by the grid point obtained in the step (4) to obtain the satellite utilization rate p:
in the formula, nrecRepresenting the actual number of available satellites, n, of grid pointstheThe theoretical number of available satellites representing grid points.
Correspondingly, embodiment 2 discloses a grid-based reference station network positioning enhanced information availability monitoring system, which comprises a grid point data processing device and a data processing center in data communication with the grid point data processing device. The grid point data processing device comprises a processor and a memory, wherein the memory stores a grid point data processing program which executes instructions corresponding to the steps (1) to (2) and the steps (4) to (5) in the embodiment 1 when the program is executed by the processor; and the data processing center is used for completing the step (3).
Finally, it should be noted that while the above describes exemplifying embodiments of the invention with reference to the accompanying drawings, the invention is not limited to the embodiments and applications described above, which are intended to be illustrative and instructive only, and not limiting. Those skilled in the art, having the benefit of this disclosure, may effect numerous modifications thereto without departing from the scope of the invention as defined by the appended claims.
Claims (10)
1. A grid-based reference station network positioning enhancement information availability monitoring method is characterized by comprising the following steps:
dividing a known reference station network coverage area into grids at equal intervals according to the longitude and latitude, and obtaining three-dimensional coordinates of each grid point; generating corresponding virtual GGA information according to the three-dimensional coordinates of each grid point, and uploading the GGA information to a data processing center to request to generate virtual observed values of each grid point;
receiving a virtual observation value returned by a data processing center, wherein the virtual observation value comprises a carrier observation value taking a week as a unit and a pseudo-range observation value taking a meter as a unit;
detecting the carrier observation value through carrier cycle slip detection, resolving and detecting the pseudo-range observation value through pseudo-range single-point positioning, and obtaining the actual available satellite number of each grid point according to the detection results of the carrier observation value and the pseudo-range observation value;
calculating the theoretical available satellite number of each grid point by combining the broadcast ephemeris integrated by the reference station network and the coordinates of the grid points; and calculating the utilization rate of the satellite at each grid point in the coverage area of the reference station grid according to the actual available satellite and the theoretical available satellite number of each grid point.
2. The method for monitoring availability of positioning enhancement information of reference station network based on gridding according to claim 1, wherein the coordinates of each grid point can be obtained according to the following formula:
in the formula, B(i,j)、L(i,j)And H(i,j)Respectively representing the latitude, longitude and altitude of the grid point (i, j); b ismaxAnd BminRespectively representing the maximum latitude and the minimum latitude of a coverage area of a reference station network; l ismaxAnd LminRespectively representing the maximum longitude and the minimum longitude of a coverage area of a reference station network; m and n represent division numbers by latitude and longitude, respectively; huIndicating the height of the U-th reference station and U indicating the number of reference stations in the network of reference stations.
3. The reference station network positioning enhancement information availability monitoring method based on gridding is characterized in that the general generation format of the GGA information is as follows:
wherein, the data section 2-5 is longitude and latitude information of a grid point; the data segment 9 is height information of grid points; the data segment 6 is a localization quality flag and is set to 1, i.e. a non-differential localization flag.
4. The grid-based reference station network positioning enhancement information availability monitoring method as claimed in claim 1, wherein the expression of the virtual observation value returned by the data processing center is as follows:
in the formula (I), the compound is shown in the specification,
represents a carrier observation in units of weeks; p represents a pseudo-range observation in meters; superscripts r and s denote reference and non-reference satellites, respectively; subscript V denotes a grid point, and subscript a denotes a main reference station in the reference station network; λ represents a carrier wavelength;
representing the difference between the geometric distances of the master reference station and the grid point to the same satellite,
the double-difference error between the main reference station and the grid point modeled by the reference station network is corrected.
5. The grid-based reference station network positioning enhancement information availability monitoring method as claimed in claim 4,
detecting the carrier wave observed value through carrier wave cycle slip detection, specifically comprising:
and adopting the combination of the non-geometric combination of the difference between epochs and the MW combination to carry out cycle slip detection:
wherein the geometrically combinationless observed quantity DeltaL of the difference between epochsGF(t1,t2) Comprises the following steps:
△LGF(t1,t2)＝△φ1(t1,t2)-△φ2(t1,t2) (3)
wherein, MW combined observed quantity DeltaL of difference between epochsMW(t1,t2) Comprises the following steps:
wherein Δ represents t1And t2Difference operator between two epochs, phi1And phi2Respectively represents f1And f2Two carrier observations in distance over frequency, P1And P2Respectively represents f1And f2Pseudorange observations at two frequencies; when Δ LGF(t1,t2) Greater than a predetermined threshold A, or Δ LMW(t1,t2) When the frequency is larger than a preset threshold value B, the cycle slip is considered to exist, and the virtual observation value is judged to be abnormal and unavailable;
resolving and checking the pseudo-range observation value through pseudo-range point positioning, and specifically comprises the following steps:
the pseudo range single point positioning calculation verification method comprises the following steps:
in the formula (I), the compound is shown in the specification,
for the parameters to be estimated, the coordinates of the given grid points are the correction matrix of the coordinates, B is a design matrix related to satellite distribution, L is an observation matrix corresponding to each satellite, and P is an observation value weight matrix related to the altitude angle;
when correcting number matrix
When the absolute value of each component is not less than the threshold value C, the pseudo-range observed value of each satellite is considered to be abnormal and unavailable;
obtaining the actual available satellite number of each grid point according to the test result of the carrier observation value and the pseudo-range observation value, and specifically comprises the following steps: and when the carrier observed value and the pseudo-range observed value are not abnormal, judging that the virtual observed value of each grid point is not abnormal, and further obtaining the actual available satellite number of each grid point.
6. The grid-based reference station network positioning enhancement information availability monitoring method as claimed in claim 5,
the threshold A is set to 0.1 lambda1The threshold B is set to 10 lambdaWL(ii) a Wherein the content of the first and second substances,
denotes f1A wavelength corresponding to the frequency;
representing wide lane wavelengths; c is the speed of light;
the threshold C is 15 m.
7. The grid-based reference station network positioning enhancement information availability monitoring method as claimed in claim 1, wherein the method for calculating the number of theoretically available satellites of each grid point by combining the broadcast ephemeris synthesized by the reference station network and the coordinates of the grid points specifically comprises:
calculating the altitude angles of the satellites on the grid points based on the grid point coordinates and the comprehensive broadcast ephemeris;
calculating the number of theoretically available satellites according to a preset comprehensive judgment standard by combining health sign data contained in the broadcast ephemeris; the judgment standard is as follows: and when the health mark position is healthy and the satellite altitude satisfies the cut-off altitude angle condition, the satellite is a theoretically available satellite.
8. The grid-based reference station network positioning enhancement information availability monitoring method as claimed in claim 1, wherein the calculation formula of the utilization rate p is as follows:
in the formula, nrecRepresenting the actual number of available satellites, n, of grid pointstheThe theoretical number of available satellites representing grid points.
9. A grid data processing apparatus comprising a processor and a memory, said memory storing a grid data processing program for implementing the method as claimed in any one of claims 1 to 8 when said program is run by the processor.
10. A grid-based reference station network positioning enhanced information availability monitoring system is characterized by comprising a grid point data processing device and a data processing center in data communication with the grid point data processing device; the grid point data processing apparatus comprising a processor and a memory, the memory storing a grid point data processing program which, when executed by the processor, implements the method of any one of claims 1 to 8; and the data processing center is used for generating the GGA information into virtual observation values corresponding to all grid points.
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| CN110954931A (en) * | 2019-12-17 | 2020-04-03 | 国家基础地理信息中心 | Positioning method, positioning device and computer readable storage medium |
| CN111708061A (en) * | 2020-06-04 | 2020-09-25 | 东南大学 | Multi-reference-station differential positioning information generation method based on dynamic grid |
| CN111856513A (en) * | 2020-07-31 | 2020-10-30 | 中国南方电网有限责任公司 | Satellite observation value acquisition method and device, computer equipment and storage medium |
| CN112799106B (en) * | 2021-03-30 | 2021-06-29 | 腾讯科技（深圳）有限公司 | Satellite observation information processing method, mobile terminal and storage medium |
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