Fast and precise positioning method and system

A fast and precise positioning system, characterized in that the system is arranged in a user receiver and comprises:

• a satellite observation data receiving and processing apparatus configured for acquiring observation data of navigation satellites and Low Earth Orbit (LEO) augmentation satellites at each epoch and preprocessing the observation data;
• a satellite navigation telegram receiving and processing apparatus configured for respectively acquiring navigation telegrams of the navigation satellites and the LEO augmentation satellites at each epoch, and obtaining precise orbit and clock bias of the navigation satellites and precise orbit and clock bias of the LEO augmentation satellites according to the acquired navigation telegrams of the LEO augmentation satellites;
• a positioning error correcting apparatus configured for correcting errors received in the positioning process according to the acquired navigation telegrams by model correction and parameter estimation;
• a positioning and velocity measurement parameter observation value calculating apparatus configured for normalizing by taking a type of satellite navigation system as reference to obtain unified linear observation equations, and calculating observation values of positioning and velocity measurement parameters;
• a positioning and velocity measurement parameter estimated value calculating apparatus configured for obtaining estimated values of positioning and velocity measurement parameters at a current epoch through a state equation according to the calculated observation values of positioning and velocity measurement parameters and saved estimated values of positioning and velocity measurement parameters at the previous epoch;
• a positioning and velocity measurement result saving apparatus configured for generating and saving positioning and velocity measurement results at the current epoch according to the estimated values of positioning and velocity measurement parameters at the current epoch, the positioning and velocity measurement results defining a navigation map dataset;
• and
• a screen configured for displaying in real-time positioning and velocity of a moving carrier according to the navigation map dataset.

A non-transitory computer-readable storage medium storing at least one executable instruction, wherein the executable instruction is configured to cause a processor to perform a fast and precise positioning method, and the method comprises following steps implemented by a user receiver:

• a step 1 of acquiring observation data of navigation satellites and Low Earth Orbit (LEO) augmentation satellites at a current epoch and preprocessing the observation data;
• a step 2 of respectively acquiring navigation telegrams of the navigation satellites and the LEO augmentation satellites, and obtaining a precise orbit and a clock bias of the navigation satellites and a precise orbit and a clock bias of the LEO augmentation satellites according to the acquired navigation telegrams of the LEO augmentation satellites;
• a step 3 of correcting errors received in the positioning process according to the acquired navigation telegrams by model correction and parameter estimation;
• a step 4 of normalizing by taking a type of satellite navigation system as reference to obtain unified linear observation equations, and calculating observation values of positioning and velocity measurement parameters;
• a step 5 of obtaining estimated values of positioning and velocity measurement parameters at the current epoch through a state equation according to the calculated observation values of positioning and velocity measurement parameters and estimated values of positioning and velocity measurement parameters at the previous epoch;
• a step 6 of generating and saving positioning and velocity measurement results at the current epoch according to the estimated values of positioning and velocity measurement parameters at the current epoch, the positioning and velocity measurement results defining a navigation map dataset;
• and
• a step 7 of displaying in real-time positioning and velocity of a moving carrier according to the navigation map dataset on a screen.