CN-121276551-B - Positioning end PPP-RTK real-time precise product monitoring method and device

CN121276551BCN 121276551 BCN121276551 BCN 121276551BCN-121276551-B

Abstract

The invention discloses a method and a device for monitoring a PPP-RTK real-time precise product at a positioning end, and belongs to the technical field of satellite navigation and positioning. The method comprises the steps of obtaining PPP-RTK positioning results and post-precision coordinate reference values in real time, calculating ENU direction positioning deviation, generating a reliability index C by fusing three parameters including satellite geometric configuration, product precision and data timeliness, dynamically adjusting an alarm threshold value according to the reliability index C, establishing a positioning precision database to support quick query and analysis, formulating a multi-level alarm rule aiming at positioning continuity and precision overrun, presetting a diagnosis item mapping relation, automatically executing data recording, root cause diagnosis and information output after triggering an alarm, and realizing full-flow automation from abnormal perception to root cause diagnosis. The invention obviously improves the reliability, stability and operation and maintenance efficiency of PPP-RTK positioning service through an evaluation-prediction-diagnosis three-layer intelligent closed-loop system.

Inventors

WANG CHENXU
HOU FURONG
YU QI
SU CHUNYANG
MENG QINGBO
WANG LIANGLIANG
YANG XUEYAN
LI YANHONG

Assignees

齐鲁空天信息研究院

Dates

Publication Date: 20260508
Application Date: 20251119

Claims (7)

1. The utility model provides a real-time precision product monitoring method of locating terminal PPP-RTK, which is characterized in that the method includes: S1, acquiring a PPP-RTK real-time positioning result and a precise coordinate reference value, calculating an ENU three-direction positioning deviation under a northeast coordinate system, fusing three parameters of satellite geometric configuration, product precision and data timeliness, generating a quantized reliability index, and dynamically adjusting an ENU three-direction alarm threshold according to the reliability index; S2, establishing a structured positioning accuracy database, wherein the structured positioning accuracy database comprises a storage time stamp, coordinate deviation, an accuracy index and environmental parameters; Step S3, aiming at the positioning continuity abnormality, formulating a grading alarm rule based on duration time, aiming at the accuracy overrun abnormality, determining an alarm level based on alarm thresholds of three directions of ENU, wherein the structural positioning accuracy database is preset with upstream state diagnosis items corresponding to each grade of alarm to form a mapping relation between the alarm level and a potential root cause; S4, after the real-time comparison triggering alarm, automatically executing closed-loop processing of data recording, root cause diagnosis, information association and encryption transmission, and outputting structural alarm information integrating fault phenomena, environment context and definite root cause; In the step S1, the reliability index C is obtained by weighting and calculating a normalized satellite geometric accuracy attenuation factor, an SSR product accuracy standard deviation and an SSR data delay time index attenuation term: , , Wherein C is [0,1], Is a normalized satellite geometry accuracy attenuation factor, For the maximum geometrical distribution to be a maximum, In order to minimize the geometrical distribution of the particles, Is the standard deviation of the precision of the product, Delay time is SSR data; The dynamically adjusting the three-direction alarm thresholds of the ENU comprises calculating the three-direction dynamic alarm thresholds of the ENU according to the following formula: , Wherein, the Is a dynamic threshold value that is set to be, Is a static threshold value and, Is a coefficient of sensitivity.
2. The method according to claim 1, wherein in the step S3, the rule of classification alarm for positioning continuity includes five levels L1 to L5, which are classified according to the duration of interruption of the PPP-RTK real-time positioning result, i.e., interruption time is not more than 5 minutes for L1 level alarm, interruption time is more than 5 minutes but not more than 15 minutes for L2 level alarm, interruption time is more than 15 minutes but not more than 30 minutes for L3 level alarm, interruption time is more than 30 minutes but not more than 60 minutes for L4 level alarm, and interruption time is more than 60 minutes but not more than 120 minutes for L5 level alarm.
3. The method for monitoring real-time precision products of PPP-RTK at positioning end according to claim 1, wherein in step S3, the grading alarm rule for precision overrun comprises five levels G1-G5, which are divided according to the number of overrun directions and overrun amplitude, wherein the single direction positioning deviation exceeds the dynamic threshold of the direction to trigger the level G1 alarm, any two direction positioning deviations exceed the corresponding dynamic threshold to trigger the level G2 alarm, the three direction positioning deviations of ENU exceed the corresponding dynamic threshold to trigger the level G3 alarm, the single direction positioning deviation exceeds 1 meter to trigger the level G4 alarm, and the three direction positioning deviations of ENU exceed 1 meter to trigger the level G5 alarm.
4. The method for monitoring real-time precision products of PPP-RTK at positioning end according to claim 1, wherein in step S4, after triggering alarm, mail notification including alarm event and abnormality cause is automatically generated and sent according to alarm level.
5. A positioning end PPP-RTK real-time precision product monitoring device, which is applied to the positioning end PPP-RTK real-time precision product monitoring method according to any one of claims 1-4, and is characterized by comprising: The calculation module is used for obtaining a PPP-RTK real-time positioning result and a precise coordinate reference value, calculating the positioning deviation of the ENU in three directions under the northeast coordinate system, fusing three parameters of satellite geometric configuration, product precision and data timeliness, generating a quantized reliability index, and dynamically adjusting the alarm threshold of the ENU in three directions according to the reliability index; The storage module is used for establishing a structured positioning precision database, and the structured positioning precision database comprises a storage time stamp, coordinate deviation, precision indexes and environmental parameters; The system comprises a structural positioning accuracy database, an alarm module, a precision control module and a control module, wherein the structural positioning accuracy database is used for establishing a hierarchical alarm rule based on duration time aiming at positioning continuity abnormality, determining alarm levels based on alarm thresholds of three directions of ENU aiming at accuracy overrun abnormality, and presetting an upstream state diagnosis item corresponding to each level of alarm to form a mapping relation between the alarm levels and potential root causes; And the output module is used for automatically executing closed-loop processing of data recording, root cause diagnosis, information association and encryption transmission after the triggering alarm is compared in real time, and outputting structural alarm information integrating fault phenomenon, environment context and definite root cause.
6. An electronic device, comprising: One or more processors; a memory for storing one or more programs; Wherein the one or more programs, when executed by the one or more processors, cause the one or more processors to implement a positioning-side PPP-RTK real-time precision product monitoring method of any of claims 1-4.
7. A computer readable storage medium having stored thereon executable instructions that when executed by a processor cause the processor to implement a positioning-end PPP-RTK real-time precision product monitoring method according to any of claims 1-4.

Description

Positioning end PPP-RTK real-time precise product monitoring method and device Technical Field The invention belongs to the technical field of satellite navigation and positioning, and particularly relates to a method and a device for monitoring a PPP-RTK real-time precise product at a positioning end. Background The regional enhanced precision single point positioning technology (PPP-RTK) is taken as an important development direction of the Global Navigation Satellite System (GNSS), integrates the technical advantages of precision single point positioning (PPP) and real-time dynamic network positioning (RTK), generates concurrent state space characterization (SSR) correction information through a regional reference network, and enables a user to realize quick and high-precision single point positioning in a wide area. The technology has wide application prospect in the fields of surveying and mapping, intelligent transportation, accurate agriculture, automatic driving and the like with extremely high requirements on real-time performance and reliability. However, the actual positioning performance of PPP-RTK systems is limited by a number of factors. Besides common satellite signal propagation errors, receiver noise and multipath effects, the SSR which is core dependent enhances the quality of products, including the accuracy and the integrity of orbit and clock correction and the timeliness of data broadcasting, and has decisive influence on the convergence speed, the stability and the final accuracy of positioning results. Especially under complex observation environment or space weather disturbance conditions, abnormality or interruption of SSR products often directly leads to reduced positioning performance and even service failure. At present, performance monitoring for a PPP-RTK system is concentrated on product quality evaluation of a server, and a real-time and continuous monitoring means for a user terminal positioning effect is lacking. The traditional method usually only focuses on a single parameter (such as DOP value or data delay), and fails to comprehensively reflect the overall credibility of the positioning result, so that the alarm mechanism has insufficient flexibility, high false alarm rate and difficulty in timely positioning the root cause of the problem. Along with the gradual trend of PPP-RTK technology to large-scale commercial, how to construct a set of automatic monitoring system capable of sensing and positioning abnormality in real time, diagnosing fault causes intelligently and supporting operation and maintenance decisions has become a key challenge for improving the reliability and service capability of the system. Therefore, development of a real-time monitoring method with terminal positioning performance as a core and fusion of multi-source information is needed to realize the whole-flow closed-loop processing from abnormal perception to root cause diagnosis, and provide technical support for high availability and stable operation of PPP-RTK systems. Disclosure of Invention In order to solve the technical problems, the invention provides a method and a device for monitoring a positioning end PPP-RTK real-time precision product, which realize real-time and continuous monitoring and operation maintenance of the PPP-RTK positioning performance and improve the reliability and stability of positioning service by constructing a monitoring and evaluating overall architecture taking the positioning performance of a terminal PPP-RTK as a core. In order to achieve the above purpose, the technical scheme adopted by the invention is as follows: A method for monitoring a positioning end PPP-RTK real-time precision product, comprising the following steps: S1, acquiring a PPP-RTK real-time positioning result and a precision coordinate reference value, calculating an ENU direction positioning deviation, fusing three parameters of satellite geometric configuration, product precision and data timeliness, generating a quantized reliability index, and dynamically adjusting alarm thresholds of all directions of the ENU according to the reliability index; S2, establishing a structured positioning accuracy database, and storing a time stamp, coordinate deviation, accuracy indexes and environmental parameters; Step S3, aiming at the positioning continuity abnormality, formulating a grading alarm rule based on duration time, aiming at the accuracy overrun abnormality, determining an alarm level based on alarm thresholds of various directions of an ENU, wherein the database is preset with upstream state diagnosis items corresponding to each level of alarm, and a mapping relation between the alarm level and a potential root cause is formed; And S4, after the real-time comparison triggering alarm, automatically executing closed-loop processing of data recording, root cause diagnosis, information association and encryption transmission, and outputting structural alarm information integrating fault p