High-accuracy satellite positioning method, positioning terminal, and positioning system

A positioning method, comprising:

• performing, by a positioning terminal, detection in a satellite navigation system, to obtain an original detection message, wherein the positioning terminal comprises N common receivers and one real-time kinematics (RTK) receiver, each common receiver capable of measuring a pseudorange between the common receiver and a satellite that is in the satellite navigation system and that is detected by the common receiver, and the RTK receiver capable of executing an RTK positioning algorithm;
• wherein:
• N is an integer greater than or equal to 3, the N common receivers are located at N vertices of a regular N-gon, and the RTK receiver is located at a geometric center of the regular N-gon;
• and
• the original detection message comprises an original detection value of each common receiver and an original detection value of the RTK receiver, the original detection value of each common receiver comprises a pseudorange between the common receiver and each of a plurality of satellites that are in the satellite navigation system and that are detected by the common receiver, and the original detection value of the RTK receiver comprises a pseudorange between the RTK receiver and each of a plurality of satellites that are in the satellite navigation system and that are detected by the RTK receiver;
• transmitting, by the positioning terminal, the original detection value of the RTK receiver;
• receiving, by a correction value calculation service station, the original detection value of the RTK receiver;
• inputting, by the correction value calculation service station, the original detection value of the RTK receiver into an RTK error correction model, to obtain a first correction value through calculation;
• inputting, the correction value calculation service station, a converted detection value of the RTK receiver into a multi-receiver constraint (MRC) error correction model, to obtain a second correction value through calculation, wherein the converted detection value of the RTK receiver is obtained by converting the original detection value of each common receiver based on a location relationship between the common receiver and the RTK receiver;
• transmitting, by the correction value calculation service station, the first correction value;
• receiving, by the positioning terminal, the first correction value;
• correcting, by the positioning terminal, the original detection value of the RTK receiver using the first correction value, to obtain a corrected detection value of the RTK receiver,
• correcting, by the positioning terminal, the original detection value of each common receiver by using a third correction value, to obtain a corrected detection value of each common receiver, and
• performing, by the positioning terminal, a calculation using the corrected detection value of each common receiver and the corrected detection value of the RTK receiver, to obtain a positioning result of the RTK receiver, wherein the third correction value is obtained through calculation based on the second correction value and the location relationship between the common receiver and the RTK receiver.