CN114325788A - PPP-RTK positioning method and system based on edge calculation - Google Patents
PPP-RTK positioning method and system based on edge calculation Download PDFInfo
- Publication number
- CN114325788A CN114325788A CN202111656642.3A CN202111656642A CN114325788A CN 114325788 A CN114325788 A CN 114325788A CN 202111656642 A CN202111656642 A CN 202111656642A CN 114325788 A CN114325788 A CN 114325788A
- Authority
- CN
- China
- Prior art keywords
- low
- orbit
- data
- satellite
- user
- 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
Images
Landscapes
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a PPP-RTK positioning method and a system based on edge calculation, relating to the field of satellite positioning, wherein the method comprises the following steps: a1, the low-orbit constellation receives the low-orbit navigation enhancement information and analyzes the low-orbit navigation enhancement information to obtain low-orbit navigation enhancement format data information; the method comprises the steps that a user side receives ranging signals of a navigation satellite and a low-orbit satellite, generates original observation data, and carries out format conversion on the original observation data to obtain user observation format data; a2, sending the user observation format data to a low-orbit constellation, and determining a low-orbit satellite for executing a resolving task; and A3, executing the resolving task in the determined low-orbit satellite, wherein the resolving task is to calculate according to the user observation format data and the low-orbit navigation enhancement format data information to obtain a positioning result, and the low-orbit satellite sends the positioning result to a user terminal, so that the requirement of the user terminal on the calculation force is reduced, and the user terminal can be realized by using hardware with lower performance.
Description
Technical Field
The invention relates to the field of satellite positioning, in particular to a PPP-RTK positioning method and system based on edge calculation.
Background
The PPP-RTK positioning technology is mature, the PPP-RTK technology integrates the advantages of the network RTK technology and the PPP technology, and the accuracy and the convergence rate of the static and dynamic PPP positioning of a user can be greatly improved; meanwhile, the defects that the coverage range of the network RTK technology is limited by the inside of a reference network, the data communication burden is large and the like are overcome, and the satellite communication network and the PPP-RTK technology can be used for realizing wide-area and even global precise positioning service.
With the rapid development and networking construction of low-orbit satellite constellations, the positioning accuracy and convergence rate can be further improved by using the low-orbit satellites and the GNSS satellites to carry out PPP-RTK positioning together, but in the prior art, positioning resolving is completed at a user terminal, and the method has extremely high requirements on the user terminal and is not beneficial to large-scale popularization and application of PPP-RTK.
Disclosure of Invention
The invention aims to solve the technical problems that the requirement on the hardware performance of a user end is high, the PPP-RTK is not beneficial to large-scale popularization, and the PPP-RTK positioning method and the PPP-RTK positioning system based on edge calculation are provided to solve the problem that the requirement on the hardware performance of the user end is high.
The invention is realized by the following technical scheme:
a PPP-RTK positioning method based on edge calculation comprises the following steps:
a1, the low-orbit constellation receives the low-orbit navigation enhancement information and analyzes the low-orbit navigation enhancement information to obtain low-orbit navigation enhancement format data information;
the method comprises the steps that a user side receives ranging signals of a navigation satellite and ranging signals of a low-orbit constellation to generate original observation data, and format conversion is carried out on the original observation data to obtain user observation format data;
a2, sending the user observation format data to a low-orbit constellation, and determining a low-orbit satellite for executing a resolving task;
and A3, executing the resolving task in the determined low-orbit satellite, wherein the resolving task is to calculate according to the user observation format data and the low-orbit navigation enhancement format data information to obtain a positioning result, and the low-orbit satellite sends the positioning result to a user terminal.
The low earth orbit satellite is used as a user side and an edge node of the earth surface terrain, data are analyzed and processed near a data generation source, data circulation is avoided, network flow and response time are further reduced, and response efficiency is improved.
The resolving task is completed in the low orbit satellite, the requirement of a user terminal or a module on computing power is reduced, so that the terminal equipment or the PPP-RTK module can be realized by using a lower-performance processor to reduce the requirement on the data quality of the user terminal or the module, the cost is saved, and the PPP-RTK is favorable for large-scale popularization.
Further, before format conversion is performed on the original observation data, preprocessing is also required to be performed on the original observation data, and the preprocessing includes the following steps: rejecting original observation data in the satellite elevation angle, which do not belong to the threshold range of the satellite elevation angle; and carrying out cycle slip detection on the original observation data, and rejecting the original observation data with cycle slip.
The threshold range of the satellite altitude angle is 10-15 degrees, the satellite altitude angle is too low, although the number of observable satellites can be increased, the satellite signals with low altitude angles have large multipath errors and large refraction deviation of a troposphere in the process of propagation, and simultaneously multipath effect is easy to generate, so that the quality of observed data is reduced integrally, and the positioning precision is influenced; the satellite altitude is too high, which improves the quality of received data, but leads to the ten-phase similarity of the angle from the receiver to the space satellite and the instability of geometric figure, and further leads to the overlarge numerical value of GDOP (geometric precision factor), thus leading to the poor positioning precision;
the cycle slip enables all observation data after the cycle slip occurs to contain the same whole cycle counting error, so that the positioning precision is poor; and eliminating the original observation data influencing the positioning precision so as to improve the positioning precision.
Further, before sending the user observation format data to the low-orbit constellation, the method further includes the following steps: the user observation format data is grouped and arranged according to the low-earth orbit satellite transmission protocol, because the wireless channel of the low-earth orbit satellite has the space multiplexing characteristic and the problems of user side frequency multiplexing, interference and the like exist, grouping conflict is easily caused, the utilization rate of the channel is reduced, the user observation format data of the user side is grouped and transmitted according to the low-earth orbit satellite transmission protocol, the problem of grouping conflict is solved, the channel of the low-earth orbit satellite is reasonably utilized, and the transmission efficiency is improved.
Further, the step of generating the low-track navigation enhancement information is as follows: and the ground navigation enhancement data processing module receives observation data of ground low-orbit navigation satellite reference stations and generates low-orbit navigation enhancement information.
Further, the low-earth-orbit navigation enhancement information includes a precise orbit, a precise clock error, and a carrier phase error of the navigation satellite, a precise orbit, a precise clock error, and a carrier phase error of the low-earth-orbit satellite, and precise single-point positioning is performed according to the precise orbit, the precise clock error, and the carrier phase error of the navigation satellite and the low-earth-orbit satellite in the low-earth-orbit navigation enhancement information, and user observation format data.
Further, the determining the low-orbit satellite performing the solution task includes the following steps:
b1, judging whether the task load of the low-orbit satellite after the low-orbit satellite receives the resolving task exceeds the task load of the low-orbit satellite;
b11, if the task load of the low-orbit satellite after receiving the task of resolving does not exceed the task load of the low-orbit satellite, performing the task of resolving on the low-orbit satellite;
and B12, if the task load of the low-orbit satellite after receiving the task of the current resolving exceeds the task load of the low-orbit satellite, distributing the resolving task to the nearest idle low-orbit satellite in the link node through the inter-satellite link.
When the low-orbit satellite runs in an overload mode, data in a user observation format can be lost or damaged, and positioning accuracy is affected; or, computational efficiency is reduced, reducing user experience.
The low-orbit satellite which is determined to execute the resolving task still does not exceed the task load of the low-orbit satellite after receiving the resolving task, so that the overload operation of the low-orbit satellite is avoided, and the positioning precision is improved; or, the calculation efficiency is improved, and further the user experience is improved.
Further, the step of calculating the task includes:
c1, the low orbit satellite constructs a PPP-RTK resolving equation according to the received user observation format data and the low orbit navigation enhancement format data information;
and C2, performing PPP-RTK positioning solution according to the constructed PPP-RTK solution equation.
The user observation format data and the low-orbit navigation enhancement format data information are currently in a low-orbit satellite; the PPP-RTK solution equation is constructed according to the user observation format data and the low orbit navigation enhancement format data information and is also positioned in the low orbit satellite; the PPP-RTK positioning solution is solved according to the observation format data of the user and the low-orbit navigation enhancement format data information, and the solving process is completed in the low-orbit satellite; the processes are all completed in the low-orbit satellite, and the edge calculation is adopted, so that the process that the user observation format data and the low-orbit navigation enhancement format data information are transmitted in the network is reduced, and the service efficiency is improved.
An edge calculation-based PPP-RTK positioning system comprises
The user end data receiving module is used for receiving the ranging signals of the navigation satellite and the ranging signals of the low orbit constellation and generating original observation data; or receiving a positioning result;
the user end data processing module is used for judging and eliminating the original observation data which do not meet the requirements in the user end data receiving module, and carrying out format conversion on the original observation data which meet the requirements to obtain user observation format data;
the user side data sending module is used for grouping, arranging and sending the user observation format data to the low orbit constellation;
the low-orbit satellite data receiving and analyzing module is used for receiving the user observation format data and the low-orbit navigation enhancement information and analyzing the low-orbit navigation enhancement information to obtain low-orbit navigation enhancement format data information;
the task control and regulation module is used for determining a low-orbit satellite for executing a resolving task;
the positioning resolving module is used for constructing a PPP-RTK resolving equation on the low-orbit satellite and executing a resolving task;
and the low orbit satellite data sending module is used for sending the positioning result calculated by the positioning calculation module to the user side.
The positioning resolving module resolves in the low orbit satellite, reduces the requirement of a user terminal on computational power, reduces the requirement on the hardware performance of the user terminal, saves cost and is beneficial to PPP-RTK large-scale popularization.
Furthermore, the system comprises a user terminal and a low-orbit satellite,
the user side comprises a user side data receiving module, a user side data processing module and a user side data sending module which are connected in sequence;
the low orbit satellite comprises a low orbit satellite data receiving and analyzing module, a task control adjusting module, a positioning resolving module and a low orbit satellite data sending module which are connected in sequence;
the user side data receiving module of the user side is connected with the low orbit satellite data sending module of the low orbit satellite; the low orbit satellite data receiving module of the low orbit satellite is connected with the user side data sending module of the user side.
The ranging signal or the positioning result of the low orbit satellite sent by the low orbit satellite data sending module is received by the user side data receiving module; the original observation format data sent by the user end data sending module is received by the low orbit satellite data receiving module to realize positioning.
The user terminal includes all terminal devices using PPP-RTK.
Further, the low orbit satellite data receiving module of the low orbit satellite is connected with the ground navigation enhancement data processing module.
The low orbit navigation enhancement format data information provided by the ground navigation enhancement data processing module is received by the low orbit satellite data receiving module and is used for constructing a PPP-RTK resolving equation and resolving to realize precise single-point positioning.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. the low-orbit satellite is used as a user side and an edge node of the earth surface terrain, data are analyzed and processed nearby the low-orbit satellite, data circulation is avoided, network flow and response time are further reduced, and service efficiency is improved.
2. The resolving task is executed in the determined low-orbit satellite, and is completed in the low-orbit satellite, so that the requirement of a user terminal on the resolving power is reduced, the terminal equipment or the PPP-RTK module can be realized by using a processor with lower performance, the requirement on the data quality of the user terminal is reduced, the cost is saved, and the PPP-RTK is beneficial to large-scale popularization.
Drawings
In order to more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and that for those skilled in the art, other related drawings can be obtained from these drawings without inventive effort. In the drawings:
FIG. 1 is a main flow diagram of the present invention;
FIG. 2 is a main flow chart provided in example 1;
FIG. 3 is a system framework diagram of the present invention;
FIG. 4 is a schematic diagram of the system structure connection relationship of the present invention.
Reference numbers and corresponding part names in the drawings:
1-low orbit constellation, 2-low orbit satellite, 3-user terminal, 4-navigation satellite, 5-ground navigation enhancement data processing module, 6-ground injection station, 7-low orbit navigation enhancement information, 8-ranging signal or positioning result of low orbit satellite, 9-ranging signal of navigation satellite, 10-user observation format data.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to examples and accompanying drawings, and the exemplary embodiments and descriptions thereof are only used for explaining the present invention and are not meant to limit the present invention.
As shown in fig. 1, a PPP-RTK positioning method based on edge calculation includes the following steps:
a1, the low-orbit constellation receives the low-orbit navigation enhancement information and analyzes the low-orbit navigation enhancement information to obtain low-orbit navigation enhancement format data information;
the method comprises the steps that a user side receives ranging signals of a navigation satellite and ranging signals of a low-orbit constellation to generate original observation data, and format conversion is carried out on the original observation data to obtain user observation format data;
a2, sending the user observation format data to a low-orbit constellation, and determining a low-orbit satellite for executing a resolving task;
and A3, executing the resolving task in the determined low-orbit satellite, wherein the resolving task is to calculate according to the user observation format data and the low-orbit navigation enhancement format data information to obtain a positioning result, and the low-orbit satellite sends the positioning result to a user terminal.
Example 1
As shown in fig. 2, this embodiment 1 provides an edge calculation-based PPP-RTK positioning method, which includes the following steps:
s1, the user side 3 receives the ranging signal 8 of the low orbit satellite and the ranging signal 9 of the navigation satellite to generate original observation data;
s2, preprocessing the original observation data, wherein the preprocessing comprises the following steps:
rejecting original observation data of which the height angle is 15 degrees or 10 degrees larger than the height angle threshold of the satellite in the satellite height angle; performing real-time cycle slip detection and gross error detection on the original observation data by adopting a cycle slip detection algorithm and a gross error detection algorithm, and rejecting the original observation data with cycle slip and gross error; original observation data with smaller signal-to-noise ratio are removed;
s3, carrying out format conversion on the preprocessed original observation data to obtain user observation format data 10;
s31, grouping and arranging the user observation format data 10 according to a low earth orbit satellite 2 transmission protocol, and sending the data to a low earth orbit constellation 1;
s4, the low orbit constellation 1 receives the low orbit navigation enhancement information 7 and the user observation format data 10, and analyzes the low orbit navigation enhancement information 7 to obtain low orbit navigation enhancement format data information, wherein the low orbit navigation enhancement format data information is used for constructing and resolving a PPP-RTK positioning resolving equation;
s5, determining the low orbit satellite 2 executing the resolving task;
s6, executing the resolving task in the determined low-orbit satellite 2, wherein the resolving task is calculated according to the user observation format data 10 and the low-orbit navigation enhancement format data information to obtain a positioning result 8;
s7, the low earth orbit satellite 2 sends the positioning result 8 to the user end 3.
The resolving task is completed in the low orbit satellite 2, the requirement of the user side 3 or the module on computing power is reduced, the user side 3 or the module can be realized by using a lower-performance processor, the requirement on the data quality of terminal equipment or a PPP-RTK module is reduced, the cost is saved, and the PPP-RTK is favorable for large-scale popularization.
The altitude angle of the satellite is too low, so that the number of observable satellites can be increased, but the satellite signals with low altitude angle have large multipath error and large troposphere refraction deviation in the transmission process, and are easy to generate multipath effect, so that the quality of observed data is reduced integrally, and the positioning precision is influenced; the satellite altitude is too high, which improves the quality of received data, but leads to the ten-phase similarity of the angle from the receiver to the space satellite and the instability of geometric figure, and further leads to the overlarge numerical value of GDOP (geometric precision factor), thus leading to the poor positioning precision;
the original observation data with smaller signal-to-noise ratio has larger noise signal, so that the positioning precision is poorer;
the cycle slip enables all observation data after the cycle slip occurs to contain the same whole cycle counting error, so that the positioning precision is poor; and eliminating the original observation data influencing the positioning precision so as to improve the positioning precision.
In a specific embodiment, the determining the low-earth satellite 2 performing the solution task includes the following steps:
b1, judging whether the task load of the low-orbit satellite 2 after receiving the resolving task exceeds the task load of the low-orbit satellite 2;
b11, if the task quantity of the low-orbit satellite 2 after receiving the task of resolving does not exceed the task quantity load of the low-orbit satellite 2, performing the task of resolving on the low-orbit satellite 2;
and B12, if the task amount of the low-orbit satellite 2 after receiving the resolving task exceeds the task amount load of the low-orbit satellite 2, distributing the resolving task to the nearest idle low-orbit satellite 2 in the link node through the inter-satellite link.
When the low earth orbit satellite 2 runs in an overload mode, the user observation format data 10 can be lost or damaged, and the positioning accuracy is influenced; or, computational efficiency is reduced, reducing user experience.
The low orbit satellite 2 which executes the calculation task is determined not to exceed the task load of the low orbit satellite 2 after receiving the calculation task, so that the overload operation of the low orbit satellite 2 is avoided, and the positioning precision is improved; or, the calculation efficiency is improved, and further the user experience is improved.
In a specific embodiment, the step of calculating the task includes:
c1, the low orbit satellite 2 constructs a PPP-RTK resolving equation according to the received user observation format data 10 and the low orbit navigation enhancement format data information;
and C2, performing PPP-RTK positioning solution according to the constructed PPP-RTK solution equation.
The user observation format data 10 and the low-orbit navigation enhancement format data information are currently in the low-orbit satellite 2; the PPP-RTK solution equation is constructed according to the user observation format data 10 and the low orbit navigation enhancement format data information and is also positioned in the low orbit satellite 2; the PPP-RTK positioning solution is solved according to the user observation format data 10 and the low orbit navigation enhancement format data information, and the solving process is completed in the low orbit satellite 2; the above processes are all completed in the low orbit satellite 2, and edge calculation is adopted, so that the process of transmitting the user observation format data 10 and the low orbit navigation enhancement format data information in the network is reduced, and the service efficiency is improved.
In a specific embodiment, the navigation satellite 4 includes one or more of GNSS (compass navigation satellite positioning system), GPS (global positioning system in the united states), and galileo satellite positioning system of the european space agency.
In a specific embodiment, the low-orbit navigation enhancement information 7 includes a precise orbit, a precise clock error, a carrier phase error, integrity information, troposphere grid parameter information, and ionosphere grid parameter information of the navigation satellite 4, and a precise orbit, a precise clock error, a carrier phase error, integrity information, troposphere grid parameter information, and ionosphere grid parameter information of the low-orbit satellite 2;
and performing precise point positioning according to the precise orbits, the precise clock errors and the carrier phase deviations of the navigation satellite 4 and the low-orbit satellite 2 in the low-orbit navigation enhancement information 7 and the user observation format data 10.
The low earth orbit satellite 2 updates the position information of the user terminal 3 based on the troposphere grid parameter information and the ionosphere grid parameter information.
In a specific embodiment, the ground navigation enhancement data processing module 5 receives observation data of ground low-orbit and navigation satellite reference stations to generate low-orbit navigation enhancement information 7.
Example 2
As shown in fig. 3 and 4, the present embodiment 2 provides an edge calculation-based PPP-RTK positioning system, which includes
The user end data receiving module is used for receiving a ranging signal 9 of a navigation satellite and a ranging signal 8 of a low orbit satellite to generate original observation data; or, receiving the positioning result 8;
the user end data processing module is used for judging and eliminating the original observation data which do not meet the requirements in the user end data receiving module, and carrying out format conversion on the original observation data which meet the requirements to obtain user observation format data 10;
the user side data sending module is used for grouping, arranging and sending the user observation format data 10 to the low orbit constellation 1;
the ground navigation enhancement data processing module 5 is used for receiving observation data of ground low-orbit and navigation satellite reference stations, generating low-orbit navigation enhancement information 7 and sending the low-orbit navigation enhancement information 7 to the low-orbit constellation 1;
the low-orbit satellite data receiving and analyzing module is used for receiving the user observation format data 10 and the low-orbit navigation enhancement information 7 and analyzing the low-orbit navigation enhancement information 7 to obtain low-orbit navigation enhancement format data information;
the task control and regulation module is used for determining the low-orbit satellite 2 executing the resolving task;
the positioning resolving module is used for constructing a PPP-RTK resolving equation on the low-orbit satellite 2 and executing a resolving task;
and the low orbit satellite data sending module is used for sending the positioning result 8 calculated by the positioning calculation module to the user side 3.
The positioning resolving module resolves at the low orbit satellite 2, reduces the requirement of the user end 3 on computing power, reduces the requirement on the hardware performance of the user end 3, saves cost and is beneficial to PPP-RTK large-scale popularization.
In a specific embodiment, the user side 3 includes a user side data receiving module, a user side data processing module and a user side data sending module, which are connected in sequence;
the low orbit satellite 2 comprises a low orbit satellite data receiving and analyzing module, a task control adjusting module, a positioning resolving module and a low orbit satellite data sending module which are connected in sequence;
the user side data receiving module of the user side 3 is connected with the low orbit satellite data sending module of the low orbit satellite 2; the low orbit satellite 2 data receiving module of the low orbit satellite 2 is connected with the user end 3 data sending module of the user end 3;
the low orbit satellite 2 data receiving module of the low orbit satellite 2 is connected with the ground navigation enhancement data processing module 5.
The ranging signal 8 or the positioning result 8 of the low orbit satellite sent by the low orbit satellite data sending module is received by the user side data receiving module; the user observation format data sent by the user side data sending module is received by the low orbit satellite data receiving module to realize positioning.
The low orbit navigation enhancement format data information provided by the ground navigation enhancement data processing module 5 is received by the low orbit satellite data receiving module and is used for constructing a PPP-RTK resolving equation and resolving to realize precise single-point positioning, and the positioning resolving is carried out on the low orbit satellite 2, so that the requirement on the hardware performance of the user side 3 is reduced, the cost is saved, and the large-scale popularization of the PPP-RTK is facilitated.
In a specific embodiment, the ground navigation enhancement data processing module 5 receives observation data of a ground low-orbit and navigation satellite 4 reference station, generates low-orbit navigation enhancement information 7, transmits the low-orbit navigation enhancement information 7 to the ground injection station 6, and the ground injection station 6 sends the low-orbit navigation enhancement information 7 to the low-orbit constellation 1.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. A PPP-RTK positioning method based on edge calculation is characterized by comprising the following steps:
a1, the low-orbit constellation (1) receives the low-orbit navigation enhancement information (7), and analyzes the low-orbit navigation enhancement information (7) to obtain low-orbit navigation enhancement format data information;
a user end (3) receives a ranging signal (9) of a navigation satellite and a ranging signal (8) of a low earth orbit satellite to generate original observation data, and format conversion is carried out on the original observation data to obtain user observation format data (10);
a2, sending the user observation format data (10) to a low-orbit constellation (1) and determining a low-orbit satellite (2) for executing a resolving task;
a3, executing the resolving task in the determined low-orbit satellite (2), wherein the resolving task is to calculate according to the user observation format data (10) and the low-orbit navigation enhancement format data information to obtain a positioning result (8), and the low-orbit satellite (2) sends the positioning result (8) to the user terminal (3).
2. A PPP-RTK positioning method based on edge calculation as claimed in claim 1, characterized in that the raw observation data is preprocessed before format conversion, said preprocessing comprises the following steps: rejecting original observation data in the satellite elevation angle, which do not belong to the threshold range of the satellite elevation angle; and carrying out cycle slip detection on the original observation data, and rejecting the original observation data with cycle slip.
3. An edge computation based PPP-RTK positioning method as claimed in claim 1, further comprising the following steps before sending the user observation format data (10) to the low orbit constellation (1): the user observation format data (10) is grouped and arranged according to the transmission protocol of the low earth orbit satellite (2).
4. An edge computing based PPP-RTK positioning method according to claim 1, characterized in that the step of generating said low-orbit navigation enhancement information (7) is as follows: and the ground navigation enhancement data processing module (5) receives observation data of ground low-orbit navigation satellite reference stations and generates low-orbit navigation enhancement information (7).
5. An edge-computation-based PPP-RTK positioning method according to claim 4, wherein said low-orbit navigation enhancement information (7) comprises the precise orbit, the precise clock error, and the carrier phase deviation of the navigation satellite (4), the precise orbit, the precise clock error, and the carrier phase deviation of the low-orbit satellite (2), and the precise point positioning is performed according to the precise orbit, the precise clock error, and the carrier phase deviation of the navigation satellite (4) and the low-orbit satellite (2) in the low-orbit navigation enhancement information (7), and the user observation format data (10).
6. An edge computation based PPP-RTK positioning method according to claim 1, characterized in that said determining the low earth orbit satellite (2) performing the resolving task comprises the following steps:
b1, judging whether the task quantity of the low-orbit satellite (2) after receiving the task of the current resolving exceeds the task quantity load of the low-orbit satellite (2) or not;
b11, if the task quantity of the low-orbit satellite (2) after receiving the task of resolving does not exceed the task quantity load of the low-orbit satellite (2), performing the task of resolving on the low-orbit satellite (2);
and B12, if the task amount of the low-orbit satellite (2) after receiving the resolving task exceeds the task amount load of the low-orbit satellite (2), distributing the resolving task to the nearest idle low-orbit satellite (2) in the link node through the inter-satellite link.
7. The PPP-RTK positioning method based on edge calculation as claimed in claim 6, wherein the step of solving the task comprises:
c1, the low-orbit satellite (2) constructs a PPP-RTK resolving equation according to the received user observation format data (10) and the low-orbit navigation enhancement format data information;
and C2, performing PPP-RTK positioning solution according to the constructed PPP-RTK solution equation.
8. An edge-computing-based PPP-RTK positioning system, comprising
The user end data receiving module is used for receiving a ranging signal (9) of a navigation satellite and a ranging signal (8) of a low orbit constellation to generate original observation data; or, receiving a positioning result (8);
the user end data processing module is used for judging and eliminating the original observation data which do not meet the requirements in the user end data receiving module, and carrying out format conversion on the original observation data which meet the requirements to obtain user observation format data (10);
the user side data sending module is used for grouping and arranging the user observation format data (10) and sending the user observation format data to the low orbit constellation (1);
the low-orbit satellite data receiving and analyzing module is used for receiving the user observation format data (10) and the low-orbit navigation enhancement information (7) and analyzing the low-orbit navigation enhancement information (7) to obtain the low-orbit navigation enhancement format data information;
the task control and regulation module is used for determining the nearest low-orbit satellite (2) for executing the resolving task;
the positioning resolving module is used for constructing a PPP-RTK resolving equation on the low-orbit satellite (2) and executing a resolving task;
and the low orbit satellite data sending module is used for sending the positioning result (8) calculated by the positioning calculating module to the user side (3).
9. An edge computing based PPP-RTK positioning system according to claim 8, characterized by comprising a user terminal (3) and a low-orbit satellite (2),
the user side (3) comprises a user side data receiving module, a user side data processing module and a user side data sending module which are connected in sequence;
the low orbit satellite (2) comprises a low orbit satellite data receiving and analyzing module, a task control and regulation module, a positioning resolving module and a low orbit satellite data sending module which are connected in sequence;
a user side data receiving module of the user side (3) is connected with a low orbit satellite data sending module of the low orbit satellite (2); and the low-orbit satellite data receiving module of the low-orbit satellite (2) is connected with the user side data sending module of the user side (3).
10. An edge computing based PPP-RTK positioning system as claimed in claim 9, characterised in that the low orbit satellite data receiving module of the low orbit satellite (2) is adapted to be connected to the ground navigation enhancement data processing module (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111656642.3A CN114325788A (en) | 2021-12-30 | 2021-12-30 | PPP-RTK positioning method and system based on edge calculation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111656642.3A CN114325788A (en) | 2021-12-30 | 2021-12-30 | PPP-RTK positioning method and system based on edge calculation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114325788A true CN114325788A (en) | 2022-04-12 |
Family
ID=81018536
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111656642.3A Pending CN114325788A (en) | 2021-12-30 | 2021-12-30 | PPP-RTK positioning method and system based on edge calculation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114325788A (en) |
-
2021
- 2021-12-30 CN CN202111656642.3A patent/CN114325788A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111045034B (en) | GNSS multi-system real-time precise time transfer method and system based on broadcast ephemeris | |
| WO2020228754A1 (en) | Orbit determination method, device and system for lower earth orbit satellite | |
| EP4060384A1 (en) | Cloud-end" architecture-based ppp-rtk enhancement method and system | |
| Wübbena et al. | Reducing distance dependent errors for real-time precise DGPS applications by establishing reference station networks | |
| US8456353B2 (en) | Method and system for determining clock corrections | |
| US11971489B2 (en) | Method and device for converting state space representation information to observation space representation information | |
| JPWO2019233039A5 (en) | ||
| CN114442128B (en) | Wide-area high-precision positioning system and method based on integration of heaven and earth | |
| JP7050906B2 (en) | Methods and devices for supplying correction data for satellite navigation | |
| CN111694030A (en) | BDS local difference method and system based on grid virtual observation value | |
| CN110072187B (en) | Method and device for distributing and receiving differential data | |
| EP4198649A1 (en) | Distributed centerless space-based time reference establishing and maintaining system | |
| CN112286038A (en) | Common-view time synchronization method and device for Beidou satellite navigation | |
| CN113581501B (en) | System and method suitable for networking low-orbit satellite combined orbit determination | |
| KR102545275B1 (en) | Apparatus and method for generating revising information of sattellite location coordinates using optimal information of virtual reference station | |
| CN109061676B (en) | Transmission method and system of positioning correction data, positioning method and terminal | |
| CN117111112A (en) | GNSS and LNSS data fusion processing method and system | |
| CN113064186A (en) | Intelligent terminal rapid dynamic positioning system and method based on dual-system satellite difference | |
| CN114325788A (en) | PPP-RTK positioning method and system based on edge calculation | |
| CN115236706B (en) | Method and system for processing inter-satellite link unidirectional ranging observation data | |
| CN111679295A (en) | Reliability evaluation method for communication network of satellite-based augmentation system | |
| CN115173925B (en) | Inter-satellite single difference ionosphere delay determination method and system | |
| CN115963520A (en) | Optimization method based on 6G aerial base station combined with Beidou satellite positioning | |
| WO2022173528A2 (en) | Adaptive estimation of gnss satellite biases | |
| CN112731489A (en) | High-precision positioning method based on seamless fusion of BDS (brain-based distributed system) satellite-based foundation enhancement system |
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 |