Network rtk anti-ionospheric disturbance positioning method, apparatus, system, device and storage medium

A network RTK anti-ionospheric disturbance positioning method applicable to a server, the method comprising:

• generating, according to observation data and position information of base stations in a base station network, ionospheric errors and tropospheric errors of a plurality of baselines, wherein the baseline is formed by connecting two of the base stations;
• performing modeling based on the ionospheric errors and the tropospheric errors of the plurality of baselines and the position information of the base stations to obtain an atmospheric error model;
• calculating differential correction data for a plurality of grid point positions in the base station network and quality indicators for the plurality of grid point positions according to a model parameter of the atmospheric error model;
• determining, according to approximate position information sent by a terminal, a target grid point closest to an approximate position of the terminal from the plurality of grid point positions;
• broadcasting differential correction data and a quality indicator for the target grid point to the terminal, so that the terminal determines an RTK filtering mode according to the quality indicator for the target grid point, and performs, using the differential correction data, filtering and calculation according to the RTK filtering mode to obtain high-precision position information of the terminal, wherein the RTK filtering mode comprises an ionosphere-free combined filtering mode or a non-combined filtering mode.

A network RTK anti-ionospheric disturbance positioning system, comprising a server and a terminal, wherein:

• the server generates, according to observation data and position information of base stations in a base station network, ionospheric errors and tropospheric errors of a plurality of baselines, wherein the baseline is formed by connecting two of the base stations;
• the server performs modeling based on the ionospheric errors and the tropospheric errors of the plurality of baselines and the position information of the base stations to obtain an atmospheric error model;
• the server calculates differential correction data for a plurality of grid point positions in the base station network and quality indicators for the plurality of grid point positions according to a model parameter of the atmospheric error model;
• the server determines, according to approximate position information sent by a terminal, a target grid point closest to the approximate position of the terminal from the plurality of grid point positions;
• the server broadcasts differential correction data and a quality indicator for the target grid point to the terminal;
• the terminal receives differential correction data and a quality indicator broadcast by a server, wherein the differential correction data and the quality indicator are generated by the server according to observation data and position information of base stations and approximate position information uploaded by the terminal, and the quality indicator is configured to characterize accuracy of an atmospheric error model used for generating the differential correction data;
• the terminal determines an RTK filtering mode according to the received quality indicator, wherein the RTK filtering mode comprises an ionosphere-free combined filtering mode or a non-combined filtering mode;
• and
• the terminal performs filtering and calculation, using the determined RTK filtering mode, on observation data of the terminal and the differential correction data received by the terminal to obtain high-precision position information of the terminal.