Positioning method and equipment that combines precision independent positioning and real-time kinematics (PPP-RTK)

摘要

A PPP-RTK positioning method that combines precision stand-alone positioning and real-time kinematics is disclosed, which determines the first observation data when it detects a direct signal broadcast by a multisystem navigation satellite and a low-orbit constellation. Receiving navigation satellite reinforcement information and low orbit satellite precision orbit and precision clock error broadcast by the low orbit constellation, said navigation satellite reinforcement information, said low orbit satellite precision orbit and said precision clock error, and the first When precision independent positioning is performed using the observation data or ground reinforcement total error correction information is received, the navigation satellite reinforcement information, the low orbit satellite precision orbit and the precision clock error, the first observation data and the ground This includes performing precise independent positioning of ground reinforcement using the reinforcement comprehensive error correction information. [Selection diagram] Fig. 1