CN117992706B - Point-to-plane conversion method and system for real-time troposphere zenith delay - Google Patents
Point-to-plane conversion method and system for real-time troposphere zenith delay Download PDFInfo
- Publication number
- CN117992706B CN117992706B CN202410409381.2A CN202410409381A CN117992706B CN 117992706 B CN117992706 B CN 117992706B CN 202410409381 A CN202410409381 A CN 202410409381A CN 117992706 B CN117992706 B CN 117992706B
- Authority
- CN
- China
- Prior art keywords
- ztd
- gnss
- site
- value
- virtual
- 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.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 58
- 239000005436 troposphere Substances 0.000 title claims abstract description 24
- 238000006243 chemical reaction Methods 0.000 title claims abstract description 22
- 238000004364 calculation method Methods 0.000 claims description 19
- 230000008569 process Effects 0.000 claims description 16
- 238000012937 correction Methods 0.000 claims description 13
- 238000009827 uniform distribution Methods 0.000 claims description 5
- 239000011159 matrix material Substances 0.000 claims description 3
- 238000010606 normalization Methods 0.000 claims description 3
- 230000001131 transforming effect Effects 0.000 claims description 3
- 230000008878 coupling Effects 0.000 abstract description 2
- 238000010168 coupling process Methods 0.000 abstract description 2
- 238000005859 coupling reaction Methods 0.000 abstract description 2
- 230000006870 function Effects 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012958 reprocessing Methods 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000002706 hydrostatic effect Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 230000009022 nonlinear effect Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000007723 transport mechanism Effects 0.000 description 1
Landscapes
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a point-to-surface conversion method and a system for real-time troposphere zenith delay, and relates to the field of navigation positioning service. The method comprises the following steps: setting up a plurality of virtual GNSS sites between the actual GNSS sites; obtaining a ZTD residual model according to the experience ZTD values and the ZTD values of all actual GNSS sites; correcting the experience ZTD value of each virtual site according to the ZTD residual error model to obtain the ZTD value of each virtual GNSS site; and determining the coefficients to be solved of the fixed point rotating surface according to the ZTD value of each effective GNSS site. According to the method, the ZTD point-to-plane conversion is carried out by combining the virtual GNSS site with the actual GNSS site, so that the ZTD point-to-plane conversion accuracy of the virtual GNSS site is remarkably improved; the invention also fully considers the high coupling of ZTD and GNSS stations, thereby realizing the purpose of ensuring the high-precision availability of the fine ZTD product while delaying the fast point-to-turn surface of the zenith of the troposphere.
Description
Technical Field
The invention relates to the field of navigation positioning services, in particular to a point-to-plane conversion method and a point-to-plane conversion system for real-time troposphere zenith delay.
Background
ZTD is a common parameter describing the impact of the troposphere on the travel of the radio signal. The high-precision ZTD information can not only eliminate the atmospheric delay in the radio signal-based observation system, but also reflect the state of the troposphere. In the current ZTD fast inversion technology, the most convenient means is to directly apply an empirical model. The method solves the problems of large data volume and release delay of the analysis data set, and the ZTD value of any position and moment in the modeling area is estimated in an ultra-fast way. But ignores the atmospheric nonlinear effects and is of insufficient quality to meet the requirements of high precision applications. Another technique is a GNSS (Global Navigation SATELLITE SYSTEM, global satellite navigation system) with high accuracy and high time resolution advantages, which enables accurate estimation of spatially distributed ZTD values in real-time mode. However, fine high spatial resolution ZTD maps require reprocessing methods that rely on point-to-plane conversion.
Existing methods of reprocessing ZTD point-to-surface are limited by ZTD estimation accuracy and GNSS site density, whether simple interpolation or elevation-dependent fitting. Despite the increasing number of continuous GNSS networks built in recent years, sparse sites have been a difficult problem with real-time tropospheric zenith delay point-to-plane conversion, especially in areas of varying terrain elevation.
Disclosure of Invention
Aiming at the defects in the prior art, the invention solves the technical problems as follows: how to ensure the high-precision availability of the fine ZTD product while realizing the fast rotation of the zenith delay of the troposphere.
In order to achieve the above objective, the embodiment of the present application provides a method for converting a point to a plane oriented to a real-time troposphere zenith delay, comprising the following steps: setting up a plurality of virtual GNSS sites which are basically and evenly distributed among the actual GNSS sites; determining an experience ZTD value of each GNSS site according to the ZD value of the adjacent grid point of each GNSS site at the specified height, and obtaining a ZTD residual error model representing ZTD residual error and position information according to the experience ZTD values and ZTD values of all the actual GNSS sites; correcting the experience ZTD value of each virtual site according to the ZTD residual error model to obtain the ZTD value of each virtual GNSS site; and determining the coefficients to be solved of the fixed point rotating surface according to the ZTD value of each effective GNSS site.
With reference to the first aspect, in an embodiment, the ZD values comprise ZHD values and ZWD values; the formulas for ZHD and ZWD are:
Wherein Z represents ZHD or ZWD, doy represents the yearly product day, Representing year, h represents altitude of GNSS site to be calculated,/>Representing the height of the lattice point to be calculated; /(I)Representing ZHD or ZWD's already disclosed model coefficients.
With reference to the first aspect, in one implementation manner, the calculating process of the experience ZTD value of each GNSS site includes: adding ZHD values of each grid point and the ZWD value to obtain the ZTD value of the grid point, and obtaining the experience ZTD value of the corresponding GNSS site needing to be calculated by bilinear interpolation of the ZTD values of adjacent grid points of the GNSS site needing to be calculated.
With reference to the first aspect, in one implementation manner, the process of obtaining a ZTD residual model representing ZTD residual and position information according to the experience ZTD values and ZTD values of all actual GNSS sites includes: and calculating the experience ZTD value and the ZTD difference value of the ZTD value of each actual GNSS site, forming the ZTD residual error by the ZTD difference values of all the actual GNSS sites, and substituting the ZTD residual error into a best fitting algorithm to obtain a ZTD residual error model representing the ZTD residual error and the position information.
With reference to the first aspect, in one implementation manner, the specific process of substituting the ZTD residual error into the best fitting algorithm to obtain the ZTD residual error model that represents the ZTD residual error and the position information is:
Constructing a best fit calculation formula:
Wherein the method comprises the steps of As fitting parameters, here specifically represents ZTD residuals; /(I)Representing spherical cap coordinates; /(I)Representing the radial distance of the earth; /(I)Representing degrees of SCHA model,/>Representing the order of SCHA models, N being the maximum degree; /(I)AndConstant terms for SCHA models; /(I)Is the coefficient to be solved of SCHA model;
，（B，/> ) Longitude and latitude representing geodetic coordinates [ ] ) The geodetic coordinates representing the spherical crown poles;
Wherein the method comprises the steps of Represents the average radius of the earth; /(I)Is a continuous Legend function;
；
Wherein the method comprises the steps of Representing a super-geometric function; /(I)The normalization factor is represented as such,
Transforming the best fit calculation formula into a matrix form: the unfolding is as follows:
representing the number of samples fitted, M and X representing SCHA constant terms and coefficients;
according to the ZTD residual error and the known position information, calculating a coefficient x to be solved, wherein the calculation formula is as follows: 。
With reference to the first aspect, in one implementation manner, a calculation formula of the point-to-surface coefficient to be solved X is:
wherein V is the fitting parameter, R represents the ZTD value of the actual GNSS site, F represents the ZTD value of the virtual GNSS site, and p is the weight of the virtual ZTD and the GNSS ZTD; Wherein RMSE represents the root mean square error of the virtual ZTD value of the actual GNSS site;
；/> virtual ZTD value representing an actual GNSS site,/> ZTD values representing actual GNSS sites; the virtual ZTD value of each actual GNSS site is the sum of the ZTD correction values corresponding to the experience ZTD values of the actual GNSS sites, and the ZTD correction values are calculated according to the ZTD residual error model.
With reference to the first aspect, in one embodiment, the process of obtaining the ZTD value of each virtual GNSS site after correcting the empirical ZTD value of each virtual site according to the ZTD residual model includes: and calculating a ZTD correction value corresponding to the experience ZTD value of each virtual GNSS site through the ZTD residual model, wherein the ZTD value of each virtual GNSS site is the sum of the experience ZTD value and the ZTD correction value of the virtual GNSS site.
With reference to the first aspect, in one embodiment, the substantially uniform distribution is defined as: the distance between adjacent GNSS sites is a 1-b 1, a1 is the minimum distance between actual GNSS sites, and b1 is the maximum distance between actual GNSS sites; the error between adjacent GNSS sites is a1-; The difference between the number of virtual GNSS sites and the number of actual GNSS sites is 10% of the total number of actual GNSS sites;
The process of setting up a plurality of virtual GNSS sites with substantially uniform distribution among the actual GNSS sites includes: selecting grid points in GTrop modeling data adjacent to 1 GNSS actual site, and determining the distance between the GNSS actual site and the selected grid points as site distance; judging whether grid points in GTrop modeling data matched with the actual GNSS site spacing exist or not, if yes, taking the grid points as virtual GNSS sites, and if not, setting up virtual GNSS sites around the GNSS sites according to the determined site spacing.
With reference to the first aspect, in an implementation manner, the determining procedure of the active GNSS site includes: calculation of each GNNS siteValue/>Wherein a and b are coefficients of the model; to each GNNS siteSubtracting the ZTD value from the ZTD value of the GNSS station; and forming the ZTD differences of all the GNSS stations into differences, forming a difference sequence according to a specified sequence, and deleting GNSS stations corresponding to the maximum 1-3% and minimum 1-3% of the ZTD differences in the difference sequence.
In a second aspect, an embodiment of the present application provides a real-time troposphere zenith delay point-to-plane conversion system, which is characterized in that: the system is for implementing the method of the first aspect.
Compared with the prior art, the invention has the advantages that:
The virtual GNSS site is established through the strategy of correcting the experience model of the actual GNSS site, and the ZTD point-to-plane rotation is carried out according to the combination of the virtual GNSS site and the actual GNSS site. Compared with the ZTD point-to-plane conversion of the actual GNSS site, the method has the advantages that the ZTD point-to-plane conversion accuracy of the virtual GNSS site is obviously improved; meanwhile, the high coupling of the ZTD and the GNSS site is fully considered, so that the high-precision availability of the fine ZTD product is ensured while the rapid point-to-surface rotation of the zenith delay of the troposphere is realized.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of a method for switching point-to-plane switching to real-time troposphere zenith delay according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
The flow diagrams depicted in the figures are merely illustrative and not necessarily all of the elements and operations/steps are included or performed in the order described. For example, some operations/steps may be further divided, combined, or partially combined, so that the order of actual execution may be changed according to actual situations.
Referring to fig. 1, the method for converting the point-plane of the zenith delay of the real-time troposphere in the embodiment of the invention comprises the following steps:
S1: between the actual GNSS stations, several virtual GNSS stations are set up, which are substantially evenly distributed.
Preferably, the substantially uniform distribution is defined as: the distance between adjacent GNSS sites (including the distance between adjacent actual GNSS sites, the distance between adjacent virtual GNSS sites, and the distance between the actual GNSS sites and the adjacent virtual GNSS sites) is a 1-b 1, a1 is the minimum distance between the actual GNSS sites (i.e. 2 closest GNSS site distances), and b1 is the maximum distance between the actual GNSS sites (i.e. 2 farthest GNSS site distances); the error between adjacent GNSS sites is a1-; The number of virtual GNSS stations differs from the number of actual GNSS stations by 10% of the total number of actual GNSS stations.
On this basis, setting up several virtual GNSS sites with substantially uniform distribution among the actual GNSS sites may be summarized as setting up virtual GNSS sites in the data gap area between the actual GNSS sites, and the specific procedure may be:
The site spacing is determined by the following steps: selecting grid points in GTrop modeling data adjacent to 1 GNSS actual site, and taking the distance between the GNSS actual site and the selected grid points as site distance; if no lattice points in GTrop modeling data exist, site spacing can be selected between a 1-b 1.
Judging whether grid points in GTrop modeling data matched with the actual GNSS site spacing exist or not, if yes, taking the grid points as virtual GNSS sites, and if not, setting up virtual GNSS sites around the GNSS sites according to the determined site spacing.
S2: the method comprises the steps of determining an empirical ZTD value of each GNSS site according to ZD values of 4 grid points adjacent to each GNSS site (including an actual GNSS site and a virtual GNSS site) at a designated height (the designated height is the height of the GNSS site needing to be calculated currently), wherein the ZD values comprise ZHD values (Zenith Hydrostatic Delay, zenith dry Delay) and ZWD values (Zenith Wet Delay). And obtaining a ZTD residual error model representing the ZTD residual error and the position information according to the experience ZTD values and the ZTD values (namely the actual ZTD values) of all the actual GNSS sites.
Preferably, the calculation formulas of ZHD and ZWD are:
Wherein Z represents ZHD or ZWD, doy represents the yearly product day, Representing year, h represents altitude of GNSS site to be calculated,/>Representing the height of the lattice point to be calculated; /(I)Representing ZHD or ZWD's already disclosed model coefficients.
Preferably, the calculation process of the empirical ZTD value of each GNSS site includes: adding ZHD values of each grid point and the ZWD values to obtain the ZTD values of the grid points, and obtaining the experience ZTD values of the GNSS sites which are required to be calculated by bilinear interpolation from the ZTD values of the adjacent 4 grid points of the GNSS sites which are required to be calculated.
Preferably, the process of obtaining the ZTD residual error model representing the ZTD residual error and the position information according to the experience ZTD values and ZTD values of all the actual GNSS sites includes: and calculating the experience ZTD value and the ZTD difference value of the ZTD value of each actual GNSS site, forming the ZTD residual error by the ZTD difference values of all the actual GNSS sites, and substituting the ZTD residual error into a best fitting algorithm to obtain a ZTD residual error model representing the ZTD residual error and the position information.
Preferably, the specific process of substituting the ZTD residual into the best fitting algorithm to obtain the ZTD residual model representing the ZTD residual and the position information is as follows:
Constructing a best fit calculation formula:
Wherein the method comprises the steps of As fitting parameters, here specifically represents ZTD residuals; /(I)Representing spherical cap coordinates; /(I)Representing the radial distance of the earth; /(I)The degrees of SCHA model (SPHERICAL CAP harmonic analysis ) are represented,Representing the order of SCHA models, N being the maximum degree; /(I)And/>Constant terms for SCHA models; /(I)Is the coefficient to be solved of SCHA model;
，（B，/> ) Longitude and latitude representing geodetic coordinates [ ] ) The geodetic coordinates representing the spherical cap poles, the center of the investigation region is typically selected as the spherical cap pole;
Wherein the method comprises the steps of Represents the average radius of the earth; /(I)Is a continuous Legend function;
；
Wherein the method comprises the steps of Representing a super-geometric function; /(I)Representing the normalization factor, the calculation formula is as follows:
Transforming the best fit calculation formula into a matrix form: the unfolding is as follows:
Representing the number of samples fit, M and X represent SCHA constant terms and coefficients.
According to the ZTD residual error and the known position information, calculating a coefficient x to be solved, wherein the calculation formula is as follows:。
it follows that after the application area is determined, the pole and constant terms of the spherical cap And/>Is fixed. So long as the coefficient to be solved/>And/>The SCHA model fits can be calculated immediately.
S3: and correcting the experience ZTD value of each virtual site according to the ZTD residual error model to obtain the ZTD value of each virtual GNSS site.
Preferably, the specific process in S3 includes: and calculating a ZTD correction value corresponding to the experience ZTD value of each virtual GNSS site through the ZTD residual model, wherein the ZTD value of each virtual GNSS site is the sum of the experience ZTD value and the ZTD correction value of the virtual GNSS site.
S4: and determining a coefficient to be solved of the point-to-surface according to the ZTD value of each effective GNSS site, and then carrying out the point-to-surface work by combining SCHA models according to the coefficient.
Preferably, the determining procedure of the active GNSS site in S4 includes: calculation of each GNNS siteThe value of the sum of the values,Wherein a and b are coefficients of the model; />, per GNNS siteSubtracting the ZTD value from the ZTD value of the GNSS station; and (5) keeping the effective GNSS stations according to the ZTD difference of all the GNSS stations.
Preferably, the process of preserving the valid GNSS stations according to the ZTD differences of all the GNSS stations includes: and forming the ZTD differences of all the GNSS stations into differences, forming a difference sequence according to a specified sequence (from bottom to big or from big to small), and deleting GNSS stations corresponding to the maximum 1% and the minimum 1% of the ZTD differences in the difference sequence, thereby effectively preventing error deviation of abnormal values to the weighting and fitting process.
Preferably, the calculation formula of the point-to-surface coefficient to be solved X is as follows:
wherein V is the fitting parameter, R represents the ZTD value of the actual GNSS site, F represents the ZTD value of the virtual GNSS site, and p is the weight of the virtual ZTD and the GNSS ZTD; Wherein RMSE represents the root mean square error (in mm) of the virtual ZTD value of the actual GNSS site;
；/> virtual ZTD value representing an actual GNSS site,/> The ZTD value representing the actual GNSS site.
The virtual ZTD value of each actual GNSS site is the sum of the ZTD correction values corresponding to the actual GNSS site experience ZTD value, and the ZTD correction values are calculated by the ZTD residual error model.
The system for converting the point and the surface of the real-time troposphere zenith delay in the embodiment of the invention is used for realizing the method.
Specifically, the system comprises a virtual station building module, a best fitting module and a combination estimation module.
The virtual station building module is used for: setting up a plurality of virtual GNSS sites which are distributed basically uniformly among the actual GNSS sites, and determining the ZTD value of each virtual GNSS site according to the experience ZTD value of each virtual GNSS site and the ZTD correction value of the ZTD residual model.
The best fit module is used for: and obtaining a ZTD residual error model representing the ZTD residual error and the position information according to the experience ZTD values and the ZTD values of all the practical GNSS sites. And correcting the experience ZTD value of each virtual site according to the ZTD residual model.
The combination estimation module is used for: and determining a coefficient to be solved of the point-to-surface according to the ZTD value of each effective GNSS site, and then carrying out the point-to-surface work by combining SCHA models according to the coefficient.
Those of ordinary skill in the art will appreciate that all or some of the steps, systems, functional modules/units in the apparatus, and methods disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof. In a hardware implementation, the division between the functional modules/units mentioned in the above description does not necessarily correspond to the division of physical components; for example, one physical component may have multiple functions, or one function or step may be performed cooperatively by several physical components. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on computer-readable storage media, which may include computer-readable storage media (or non-transitory media) and communication media (or transitory media).
The term computer-readable storage medium includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information, such as computer-readable instructions, data structures, program modules or other data, as known to those skilled in the art. Computer-readable storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can be accessed by a computer. Furthermore, as is well known to those of ordinary skill in the art, communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media.
By way of example, the computer readable storage medium may be an internal storage unit of the electronic device of the foregoing embodiments, such as a hard disk or a memory of the electronic device. The computer readable storage medium may also be an external storage device of the electronic device, such as a plug-in hard disk provided on the electronic device, a smart memory card (SMART MEDIA CARD, SMC), a Secure Digital (SD) card, a flash memory card (FLASH CARD), or the like.
The foregoing is merely a specific implementation of the embodiment of the present invention, but the protection scope of the embodiment of the present invention is not limited thereto, and any person skilled in the art may easily think of various equivalent modifications or substitutions within the technical scope of the embodiment of the present invention, and these modifications or substitutions should be covered in the protection scope of the embodiment of the present invention. Therefore, the protection scope of the embodiments of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. The point-to-surface conversion method for real-time troposphere zenith delay is characterized by comprising the following steps of: between the actual GNSS stations, a number of virtual GNSS stations are set up, which are substantially evenly distributed, defined as: the distance between adjacent GNSS sites is a 1-b 1, a1 is the minimum distance between actual GNSS sites, and b1 is the maximum distance between actual GNSS sites; determining an experience ZTD value of each GNSS site according to the ZD value of the adjacent grid point of each GNSS site at the specified height, and obtaining a ZTD residual error model representing ZTD residual error and position information according to the experience ZTD values and ZTD values of all the actual GNSS sites; correcting the experience ZTD value of each virtual site according to the ZTD residual error model to obtain the ZTD value of each virtual GNSS site; determining a coefficient to be solved of the fixed point rotating surface according to the ZTD value of each effective GNSS site;
The process of setting up a plurality of virtual GNSS sites with substantially uniform distribution among the actual GNSS sites includes: selecting grid points in GTrop modeling data adjacent to 1 GNSS actual site, and determining the distance between the GNSS actual site and the selected grid points as site distance; judging whether grid points in GTrop modeling data matched with the actual GNSS site spacing exist or not, if yes, taking the grid points as virtual GNSS sites, and if not, setting up virtual GNSS sites around the GNSS sites according to the determined site spacing.
2. The real-time troposphere zenith delay-oriented point-to-plane conversion method of claim 1, wherein: the ZD values include ZHD values and ZWD values; the formulas for ZHD and ZWD are:
Wherein Z represents ZHD or ZWD, doy represents the yearly product day, Representing year, h represents altitude of GNSS site to be calculated,/>Representing the height of the lattice point to be calculated; /(I)Representing ZHD or ZWD's already disclosed model coefficients.
3. The real-time troposphere zenith delay oriented point-to-plane conversion method of claim 2, wherein: the calculation process of the experience ZTD value of each GNSS site comprises the following steps: adding ZHD values of each grid point and the ZWD value to obtain the ZTD value of the grid point, and obtaining the experience ZTD value of the corresponding GNSS site needing to be calculated by bilinear interpolation of the ZTD values of adjacent grid points of the GNSS site needing to be calculated.
4. The real-time troposphere zenith delay oriented point-to-plane conversion method of claim 3, wherein: the process of obtaining the ZTD residual error model representing the ZTD residual error and the position information according to the experience ZTD values and ZTD values of all the actual GNSS sites includes: and calculating the experience ZTD value and the ZTD difference value of the ZTD value of each actual GNSS site, forming the ZTD residual error by the ZTD difference values of all the actual GNSS sites, and substituting the ZTD residual error into a best fitting algorithm to obtain a ZTD residual error model representing the ZTD residual error and the position information.
5. The real-time troposphere zenith delay oriented point-to-plane conversion method of claim 4, wherein: the specific process of substituting the ZTD residual error into the best fitting algorithm to obtain the ZTD residual error model representing the ZTD residual error and the position information is as follows:
Constructing a best fit calculation formula:
Wherein the method comprises the steps of As fitting parameters, here specifically represents ZTD residuals; /(I)Representing spherical cap coordinates; /(I)Representing the radial distance of the earth; /(I)Representing degrees of SCHA model,/>Representing the order of SCHA models, N being the maximum degree; /(I)AndConstant terms for SCHA models; /(I)Is the coefficient to be solved of SCHA model;
，（B，/> ) Longitude and latitude representing geodetic coordinates, (/ >) ) The geodetic coordinates representing the spherical crown poles;
Wherein the method comprises the steps of Represents the average radius of the earth; /(I)Is a continuous Legend function;
；
Wherein the method comprises the steps of Representing a super-geometric function; /(I)The normalization factor is represented as such,
Transforming the best fit calculation formula into a matrix form: the unfolding is as follows:
representing the number of samples fitted, M and X representing SCHA constant terms and coefficients;
according to the ZTD residual error and the known position information, calculating a coefficient x to be solved, wherein the calculation formula is as follows: 。
6. the real-time troposphere zenith delay oriented point-to-plane conversion method of claim 5, wherein: the calculation formula of the point-to-surface coefficient X to be solved is as follows:
wherein V is the fitting parameter, R represents the ZTD value of the actual GNSS site, F represents the ZTD value of the virtual GNSS site, and p is the weight of the virtual ZTD and the GNSS ZTD; Wherein RMSE represents the root mean square error of the virtual ZTD value of the actual GNSS site;
；/> virtual ZTD value representing an actual GNSS site,/> ZTD values representing actual GNSS sites; the virtual ZTD value of each actual GNSS site is the sum of the ZTD correction values corresponding to the experience ZTD values of the actual GNSS sites, and the ZTD correction values are calculated according to the ZTD residual error model.
7. The real-time troposphere zenith delay oriented point-to-plane conversion method of any one of claims 1 to 6, wherein: the process of obtaining the ZTD value of each virtual GNSS site after correcting the experience ZTD value of each virtual site according to the ZTD residual model includes: and calculating a ZTD correction value corresponding to the experience ZTD value of each virtual GNSS site through the ZTD residual model, wherein the ZTD value of each virtual GNSS site is the sum of the experience ZTD value and the ZTD correction value of the virtual GNSS site.
8. The real-time troposphere zenith delay oriented point-to-plane conversion method of any one of claims 1 to 6, wherein: the error between adjacent GNSS sites is a1-; The number of virtual GNSS stations differs from the number of actual GNSS stations by 10% of the total number of actual GNSS stations.
9. The real-time troposphere zenith delay oriented point-to-plane conversion method of any one of claims 1 to 6, wherein: the determining procedure of the active GNSS site includes: calculation of each GNNS siteThe value of the sum of the values,Wherein a and b are coefficients of the model; />, per GNNS siteSubtracting the ZTD value from the ZTD value of the GNSS station; and forming the ZTD differences of all the GNSS stations into differences, forming a difference sequence according to a specified sequence, and deleting GNSS stations corresponding to the maximum 1-3% and minimum 1-3% of the ZTD differences in the difference sequence.
10. The utility model provides a real-time troposphere zenith delay's some face conversion system which characterized in that: the system being adapted to implement the method of any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410409381.2A CN117992706B (en) | 2024-04-07 | 2024-04-07 | Point-to-plane conversion method and system for real-time troposphere zenith delay |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410409381.2A CN117992706B (en) | 2024-04-07 | 2024-04-07 | Point-to-plane conversion method and system for real-time troposphere zenith delay |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN117992706A CN117992706A (en) | 2024-05-07 |
| CN117992706B true CN117992706B (en) | 2024-06-11 |
Family
ID=90895783
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410409381.2A Active CN117992706B (en) | 2024-04-07 | 2024-04-07 | Point-to-plane conversion method and system for real-time troposphere zenith delay |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117992706B (en) |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110031877A (en) * | 2019-04-17 | 2019-07-19 | 山东科技大学 | A kind of region NWP tropospheric delay correction method based on GRNN model |
| CN110059361A (en) * | 2019-03-22 | 2019-07-26 | 中国科学院测量与地球物理研究所 | A kind of real-time region troposphere modeling method based on robust Kalman filtering algorithm |
| WO2021146775A1 (en) * | 2020-01-23 | 2021-07-29 | Ied Foundation Pty Ltd | Systems and methods for processing gnss data streams for determination of hardware and atmosphere-delays |
| WO2021169318A1 (en) * | 2020-02-25 | 2021-09-02 | 东南大学 | Parabola-based regional tropospheric wet delay calculation method |
| CN113465575A (en) * | 2021-04-30 | 2021-10-01 | 自然资源部大地测量数据处理中心 | High-precision fast network solution method for GNSS (global navigation satellite system) in high-fall mountainous area based on troposphere prior information constraint |
| CN114019584A (en) * | 2021-10-11 | 2022-02-08 | 武汉大学 | VRS resolving method for high-precision CORS network in large-altitude-difference area |
| CN114935768A (en) * | 2022-07-13 | 2022-08-23 | 武汉大学 | Method for constructing virtual reference station based on single base station |
| CN115061170A (en) * | 2022-07-13 | 2022-09-16 | 武汉大学 | Short-distance large-altitude-difference environment network RTK method |
| CN116010767A (en) * | 2021-10-22 | 2023-04-25 | 中国石油化工股份有限公司 | Method for improving zenith delay estimation precision of troposphere |
| CN116299596A (en) * | 2023-05-15 | 2023-06-23 | 中山大学 | Marine precise single-point positioning method considering station baseline length and troposphere constraint |
| CN116626730A (en) * | 2023-07-24 | 2023-08-22 | 山东科技大学 | Marine region CORS enhanced PPP method considering NWP |
| CN117574622A (en) * | 2023-11-08 | 2024-02-20 | 北京无线电计量测试研究所 | Troposphere modeling method and device |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8665146B2 (en) * | 2007-07-10 | 2014-03-04 | Electronic Navigation Research Institute | Calculation method of the amount of zenith troposphere delay, and a correcting method of troposphere delay of satellite positioning signal |
| CN114502987A (en) * | 2019-08-01 | 2022-05-13 | 斯威夫特导航股份有限公司 | System and method for GNSS correction generation for gaussian process augmentation |
-
2024
- 2024-04-07 CN CN202410409381.2A patent/CN117992706B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110059361A (en) * | 2019-03-22 | 2019-07-26 | 中国科学院测量与地球物理研究所 | A kind of real-time region troposphere modeling method based on robust Kalman filtering algorithm |
| CN110031877A (en) * | 2019-04-17 | 2019-07-19 | 山东科技大学 | A kind of region NWP tropospheric delay correction method based on GRNN model |
| WO2021146775A1 (en) * | 2020-01-23 | 2021-07-29 | Ied Foundation Pty Ltd | Systems and methods for processing gnss data streams for determination of hardware and atmosphere-delays |
| WO2021169318A1 (en) * | 2020-02-25 | 2021-09-02 | 东南大学 | Parabola-based regional tropospheric wet delay calculation method |
| CN113465575A (en) * | 2021-04-30 | 2021-10-01 | 自然资源部大地测量数据处理中心 | High-precision fast network solution method for GNSS (global navigation satellite system) in high-fall mountainous area based on troposphere prior information constraint |
| CN114019584A (en) * | 2021-10-11 | 2022-02-08 | 武汉大学 | VRS resolving method for high-precision CORS network in large-altitude-difference area |
| CN116010767A (en) * | 2021-10-22 | 2023-04-25 | 中国石油化工股份有限公司 | Method for improving zenith delay estimation precision of troposphere |
| CN114935768A (en) * | 2022-07-13 | 2022-08-23 | 武汉大学 | Method for constructing virtual reference station based on single base station |
| CN115061170A (en) * | 2022-07-13 | 2022-09-16 | 武汉大学 | Short-distance large-altitude-difference environment network RTK method |
| CN116299596A (en) * | 2023-05-15 | 2023-06-23 | 中山大学 | Marine precise single-point positioning method considering station baseline length and troposphere constraint |
| CN116626730A (en) * | 2023-07-24 | 2023-08-22 | 山东科技大学 | Marine region CORS enhanced PPP method considering NWP |
| CN117574622A (en) * | 2023-11-08 | 2024-02-20 | 北京无线电计量测试研究所 | Troposphere modeling method and device |
Non-Patent Citations (5)
| Title |
|---|
| GPS实时服务(RTS)产品关键技术及其应用研究;张良;中国优秀博士论文电子期刊;20221231;全文 * |
| Wang Hu,Ashim Neupane.Using PPP Information to Implement a Global Real-Time Virtual Network DGNSS Approach.IEEE Transactions on Vehicular Technology.2022,10337-10349. * |
| Zheng Du,Yibin Yao.Real-time tropospheric delay map retrieval using sparse GNSS stations.GPS Solution.2023,全文. * |
| 姚宜斌,杜正.GNSS辅助风云三号卫星MERSI近红外通道的大气可降水量反演方法.测绘学报.2024,306-320. * |
| 星座异构基准站网虚拟参考站数据生成方法;张熙;陈现春;包海;;测绘通报;20200225(第02期);69-74 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN117992706A (en) | 2024-05-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US8194922B2 (en) | System and methods for dynamically generating earth position data for overhead images and derived information | |
| WO2023019613A1 (en) | Large-scale gnss network parallel resolution method and system based on dynamic partioning | |
| Zeybek | Accuracy assessment of direct georeferencing UAV images with onboard global navigation satellite system and comparison of CORS/RTK surveying methods | |
| US20210080613A1 (en) | Method and device for filling invalid regions of terrain elevation model data | |
| CN112393714B (en) | Image correction method based on unmanned aerial vehicle aerial photography and satellite remote sensing fusion | |
| CN116086411B (en) | Digital topography generation method, device, equipment and readable storage medium | |
| CN113031037B (en) | Device positioning method and device, electronic device and computer readable medium | |
| CN110927665A (en) | Verification method and system for positioning accuracy of thousand-searching-cloud-track virtual reference station | |
| CN114549616A (en) | Method and device for calculating earthwork project amount and electronic equipment | |
| JP2019027799A (en) | Positioning accuracy information calculation device and positioning accuracy information calculation method | |
| CN117580054B (en) | NTN cell construction method, device, equipment and medium based on use demand data | |
| CN117992706B (en) | Point-to-plane conversion method and system for real-time troposphere zenith delay | |
| CN117130012B (en) | Rough positioning method for interference source by using open-land topography shielding on undulating topography | |
| CN116166680B (en) | Automatic updating and maintaining method and system for railway Beidou reference station control network | |
| CN116908818A (en) | Laser radar calibration method and device based on RTK unmanned aerial vehicle and storage medium | |
| CN115826011A (en) | Layer dynamic gridding network RTK method and device | |
| CN109947877B (en) | Method and system for improving map positioning precision of GIS mobile terminal | |
| Ma et al. | Low‐Altitude Photogrammetry and Remote Sensing in UAV for Improving Mapping Accuracy | |
| Guntel et al. | Accuracy analysis of control point distribution for different terrain types on photogrammetric block | |
| CN113207088A (en) | PPP-RTK method based on user data return | |
| CN113269827A (en) | Method and computing device for realizing automatic calibration | |
| CN117310716B (en) | Method and device for estimating precipitation based on multi-band radar fusion | |
| Du et al. | Real-time tropospheric delay map retrieval using sparse GNSS stations | |
| CN115183746B (en) | Space-earth integrated image acquisition method applied to distribution network low-voltage line panoramic transparent user newspaper | |
| CN114002718A (en) | System and method for improving positioning precision of satellite positioning terminal |
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 | ||
| GR01 | Patent grant |