CN106249264A - A kind of localization method, system and guider - Google Patents
A kind of localization method, system and guider Download PDFInfo
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- CN106249264A CN106249264A CN201610571621.4A CN201610571621A CN106249264A CN 106249264 A CN106249264 A CN 106249264A CN 201610571621 A CN201610571621 A CN 201610571621A CN 106249264 A CN106249264 A CN 106249264A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/25—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS
- G01S19/258—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS relating to the satellite constellation, e.g. almanac, ephemeris data, lists of satellites in view
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/28—Satellite selection
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The present invention provides a kind of alignment system, including: the first locating module, it is used for obtaining satellite-signal, obtains the first positioning result according to described satellite-signal；Second locating module, is used for obtaining ephemeris information, obtains the second positioning result according to described ephemeris information；3rd locating module, is used for obtaining pseudorange update information, pseudo-range information and temporal information, obtains the 3rd positioning result according to described pseudorange update information, pseudo-range information and temporal information；4th locating module, is used for obtaining RTK update information, carrier phase information and temporal information, obtains the 4th positioning result according to described RTK update information, carrier phase information and temporal information；Screening module, for according to preset rules, chooses one or more as final positioning result from described first positioning result, the second positioning result, the 3rd positioning result and the 4th positioning result.By combining the advantage of these four location, allow the speed positioned and precision faster.
Description
Technical field
The present invention relates to field of navigation technology, particularly relate to a kind of localization method, system and guider.
Background technology
Popularizing of NAVSTAR, greatly facilitates work and the life of people.Apply in the world the most at present
American global positioning system (GPS), Russian Glonass satellite is mainly had to lead for global positioning system widely
Boat system (GLONASS), China's Beidou satellite navigation system (BDS), European Union's galileo satellite navigation system (GALILEO).
The ultimate principle of satellite navigation system is to use the multi-satellite in space to transmit signals to reach receiver, by letter
Number propagation time is multiplied by the light velocity and calculates the distance of receiver and every satellite, the comprehensive position analyzed for determining receiver.
But owing to the many factors such as the clocking error of receiver, ephemeris error, atmospheric effect often result in satellite navigation, bigger mistake occurs
Difference, and owing to geographical environment is different, there is the situation of instability, very in the satellite signal quality of searcher receiver capture the most often
Affect the experience of people.
Therefore, how to provide a kind of locating speed faster, the higher localization method of positioning precision, system and guider,
Become the problem that this area needs solution badly.
Summary of the invention
It is an object of the invention to provide a kind of locating speed faster, the higher localization method of positioning precision, system and navigation
Device.
It is an object of the invention to be achieved through the following technical solutions:
A kind of alignment system, including:
First locating module, is used for obtaining satellite-signal, obtains the first positioning result according to described satellite-signal；
Second locating module, is used for obtaining ephemeris information, obtains the second positioning result according to described ephemeris information；
3rd locating module, is used for obtaining pseudorange update information, pseudo-range information and temporal information, according to described pseudorange correction
Information, pseudo-range information and temporal information obtain the 3rd positioning result；
4th locating module, is used for obtaining RTK update information, carrier phase information and temporal information, repaiies according to described RTK
Positive information, carrier phase information and temporal information obtain the 4th positioning result；
Screening module, for according to preset rules, from described first positioning result, the second positioning result, the 3rd location knot
Fruit and the 4th positioning result choose one or more as final positioning result.
Preferably, described second locating module specifically for:
The request obtaining ephemeris information is sent to assistant service center；
Obtaining the ephemeris information that assistant service center sends, described ephemeris information BDS is or/and GPS ephemeris information；
Positioning chip carries out searching star and One-Point Location according to ephemeris information, obtains the second positioning result.
Preferably, described 3rd locating module specifically for:
The request obtaining pseudorange update information is sent to assistant service center；
Obtaining the pseudorange update information that assistant service center sends, wherein said pseudorange update information is described assistant service
Pseudo range difference information centrally through multiple base stations calculates；
Obtain pseudo-range information and temporal information that positioning chip sends；
Carry out being calculated the 3rd positioning result according to pseudorange update information, pseudo-range information and temporal information.
Preferably, described 4th locating module specifically for:
The request obtaining RTK update information is sent to assistant service center；
Obtaining the RTK update information that assistant service center sends, it is many that wherein said RTK update information is that sectional center passes through
The RTK difference information of individual base station calculates；
Obtain carrier phase information and temporal information that positioning chip sends；
It is calculated the 4th positioning result according to described RTK update information, carrier phase information and temporal information.
Preferably, described 4th locating module specifically for:
Calculated by complete cycle ambiguity solution or part ambiguity solution calculates or is accurately positioned and is calculated the 4th positioning result.
Preferably, described system includes 4G communication module, obtains, by 4G communication module, the star that assistant service center sends
Go through information, pseudorange update information and RTK update information.
Preferably, described preset rules includes: according to the 4th positioning result, the 3rd positioning result, the first positioning result,
The priority of two positioning results selects one of which positioning result.
Preferably, described final positioning result is to screen once for every 0.1 second.
The open a kind of guider of the present invention, including a kind of alignment system as described in any of the above-described.
The open a kind of localization method of the present invention, including:
Obtain satellite-signal, obtain the first positioning result according to described satellite-signal；
Obtain ephemeris information, obtain the second positioning result according to described ephemeris information；
Obtain pseudorange update information, pseudo-range information and temporal information, according to described pseudorange update information, pseudo-range information and time
Between information obtain the 3rd positioning result；
Obtain RTK update information, carrier phase information and temporal information, according to described RTK update information, carrier phase letter
Breath and temporal information obtain the 4th positioning result；
According to preset rules, from described first positioning result, the second positioning result, the 3rd positioning result and the 4th location knot
One or more are chosen as final positioning result in Guo.
Compared to existing technology, the invention have the advantages that the alignment system of the present invention includes: the first locating module, use
In obtaining satellite-signal, obtain the first positioning result according to described satellite-signal；Second locating module, is used for obtaining ephemeris letter
Breath, obtains the second positioning result according to described ephemeris information；3rd locating module, is used for obtaining pseudorange update information, pseudorange letter
Breath and temporal information, obtain the 3rd positioning result according to described pseudorange update information, pseudo-range information and temporal information；4th location
Module, is used for obtaining RTK update information, carrier phase information and temporal information, according to described RTK update information, carrier phase
Information and temporal information obtain the 4th positioning result；Screening module, for according to preset rules, from described first positioning result,
Second positioning result, the 3rd positioning result and the 4th positioning result choose one or more as final positioning result.So,
First positioning result can pass through satellite fix, and the location required time of the first positioning result and positioning precision are the most general；And the
Two positioning result locating speeds are fast, and positioning precision is general；3rd positioning result locating speed is very fast, and precision is high；4th location knot
Really locating speed is relatively slow, and positioning precision is the highest.So by these four positioning result is combined, can be fixed in conjunction with these four
The advantage of position, allows the speed positioned and precision faster, is greatly improved the efficiency of location, and it is lower to position cost, and the present invention should
Be used on Vehicular navigation system and hi-Fix can be provided, improve driving safety row, increase on highway and street and
The safety of the vehicle of public transportation system and efficiency, reduce assignment and the problem of scheduling of vehicle.It is also possible to solution public transport
The problems such as the route planning that system, road maintenance and ambulance vehicles are faced, improve versatility and the scope of application of the present invention.
Accompanying drawing explanation
Fig. 1 is the flow chart of the localization method of the embodiment of the present invention one；
Fig. 2 is the schematic diagram of the localization method of the embodiment of the present invention one；
Fig. 3 is the schematic diagram of the alignment system of the embodiment of the present invention two.
Detailed description of the invention
Although flow chart operations is described as order process, but many of which operation can by concurrently,
Implement concomitantly or simultaneously.The order of operations can be rearranged.Process when its operations are completed and can be terminated,
It is also possible to have the additional step being not included in accompanying drawing.Process can correspond to method, function, code, subroutine, son
Program etc..
Computer equipment includes subscriber equipment and the network equipment.Wherein, subscriber equipment or client include but not limited to electricity
Brain, smart mobile phone, PDA etc.；The network equipment includes but not limited to the service that single network server, multiple webserver form
Device group or the cloud being made up of a large amount of computers or the webserver based on cloud computing.Computer equipment can realize in isolated operation
The present invention, it is possible to access network by realizing the present invention with the interactive operation of other computer equipments in network.Calculate
Network residing for machine equipment includes but not limited to the Internet, wide area network, Metropolitan Area Network (MAN), LAN, VPN etc..
Here may have been used term " first ", " second " etc. and describe unit, but these unit should not
When limited by these terms, use these terms to be only used to a unit and make a distinction with another unit.Here institute
The term "and/or" used includes one of them or any and all combination of more listed associated item.When one
Unit is referred to as " connection " or during " coupled " to another unit, and it can be connected or coupled to another unit described, or
Temporary location can be there is.
Term used herein above is only used to describe specific embodiment and be not intended to limit exemplary embodiment.Unless
Context refers else clearly, and singulative the most used herein above " ", " one " also attempt to include plural number.Also should
When being understood by, term used herein above " include " and/or " comprising " specify stated feature, integer, step, operation,
Unit and/or the existence of assembly, and do not preclude the presence or addition of other features one or more, integer, step, operation, unit,
Assembly and/or a combination thereof.
The invention will be further described with preferred embodiment below in conjunction with the accompanying drawings.
Embodiment one
As it is shown in figure 1, a kind of localization method disclosed in the present embodiment, including:
S101, acquisition satellite-signal, obtain the first positioning result according to described satellite-signal；
S102, acquisition ephemeris information, obtain the second positioning result according to described ephemeris information；
S103, acquisition pseudorange update information, pseudo-range information and temporal information, according to described pseudorange update information, pseudorange letter
Breath and temporal information obtain the 3rd positioning result；
S104, acquisition RTK update information, carrier phase information and temporal information, according to described RTK update information, carrier wave
Phase information and temporal information obtain the 4th positioning result；
S105, according to preset rules, from described first positioning result, the second positioning result, the 3rd positioning result and the 4th
Positioning result is chosen one or more as final positioning result.
So, the first positioning result can pass through satellite fix, the location required time of the first positioning result and positioning accurate
Spend the most general；And the second positioning result is to combine Fiducial station of the network information and satellite positioning information positions, capture first is defended
The time of star signal only needs several seconds, and shortcoming is that error is relatively big, and urban canyons area error is even more than 10 meters；3rd location knot
Fruit is by arranging known location base station in the world, carries out signal communication by base station and satellite and obtains correction
Sending to receiver, receiver is by this correction round-off error, and locating speed is very fast, and precision is high；4th positioning result be
Multiple base station is set in certain region, on the basis of one or more in base station, real-time correction is carried out for receiver
Location mode, can reach Centimeter Level precision widening a road, and static accuracy can reach grade, and locating speed is relatively slow, positioning accurate
Spend the highest.So by these four positioning result is combined, can in conjunction with these four location advantage, allow location speed
With precision faster, being greatly improved the efficiency of location, and it is lower to position cost, the present invention applies on Vehicular navigation system permissible
Hi-Fix is provided, improves driving safety row, increase on highway and street and the peace of vehicle of public transportation system
Complete and efficiency, reduces assignment and the problem of scheduling of vehicle.It is also possible to solve public transit system, road maintenance and emergency tender
The problems such as the route planning faced, improve versatility and the scope of application of the present invention.
Shown in Fig. 2, in the present embodiment, in region, location, have at least one base station 201, the present embodiment sets
Being equipped with two base stations 201, base station 201 is able to receive that the satellite-signal of BDS/GPS satellite 205, base station 201 the most not between
Stealpass defeated pseudo range difference information, pseudorange correction data, carrier difference information, RTK position the information such as update information, ephemeris information；
One assistant service center 202 is set in region, assistant service center 202 receive above-mentioned auxiliary information (include but
Be not limited to pseudo range difference information, pseudorange correction data, carrier difference information, RTK position update information, ephemeris information), and export
The information such as complete ephemeris information.Assistant service center can send above-mentioned auxiliary by 4G base station 203 navigation device 204 and believe
Breath, guider 204 can also directly receive the satellite-signal of BDS/GPS satellite 205.In the present embodiment, guider 204 can
To illustrate with car-mounted terminal.
The present embodiment is described in detail as a example by car-mounted terminal, but the present invention or embodiment are not limited to use
On car-mounted terminal, it is possible to use in other guiders or terminal, such as mobile phone, flat board, navigator etc..
In the present embodiment, step S101, S102, S103, S104 can be carried out simultaneously, are not limiting as concrete execution
Sequentially, certain step S105 is intended to after step S101, S102, S103, S104 are carried out just can start.
First positioning result generally by China's Beidou satellite navigation system (BDS) or/and american global positioning system
(GPS) satellite-signal obtains, and therefore the first positioning result example in the present embodiment is GPS positioning result, this location
Mode is easier, but unstable, and error is bigger.
In the present embodiment, the second positioning result can be with example for assisting quick positioning result；Step S102 obtains satellite letter
Number, the step obtaining the second positioning result according to described ephemeris information specifically includes:
The request obtaining ephemeris information is sent to assistant service center；
Obtaining the ephemeris information that assistant service center sends, described ephemeris information BDS is or/and GPS ephemeris information；
Positioning chip carries out searching star and One-Point Location according to ephemeris information, obtains the second positioning result.
Wherein, described second positioning result calculates frequency is 50 times per second.
More specific, the quick positioning step of auxiliary of the present embodiment includes；Start car-mounted terminal；Host CPU sends instruction
To assistant service center requests BDS or/and GPS ephemeris information；Ephemeris information is sent extremely by assistant service centrally through 4G network
The host CPU of car-mounted terminal；Ephemeris information is sent to positioning chip by host CPU, and sends positioning instruction；Positioning chip is believed according to ephemeris
Breath carries out searching star and One-Point Location, thus obtains the quick positioning result of auxiliary；Then quick positioning result will be assisted to send to extremely
Host CPU and screening module；The calculating frequency assisting quick positioning result is 50Hz, 50 positioning results of return the most per second.
Auxiliary quickly location is to combine Fiducial station of the network information and satellite positioning information positions, capture satellite letter first
Number time only need several seconds, shortcoming is that error is bigger.
In the present embodiment, the 3rd positioning result can be with example for pseudo range difference positioning result；Step S103 obtains pseudorange and repaiies
Positive information, pseudo-range information and temporal information, obtain the 3rd location according to described pseudorange update information, pseudo-range information and temporal information
The step of result specifically includes:
The request obtaining pseudorange update information is sent to assistant service center；
Obtaining the pseudorange update information that assistant service center sends, wherein said pseudorange update information is described assistant service
Pseudo range difference information centrally through multiple base stations calculates；
Obtain pseudo-range information and temporal information that positioning chip sends；
Carry out being calculated the 3rd positioning result according to pseudorange update information, pseudo-range information and temporal information.
Wherein, the calculating frequency of described 3rd positioning result is 50 times per second.
More specific, the step of the pseudo range difference location of the present embodiment includes: starting car-mounted terminal, host CPU sends finger
Order is to assistant service center requests pseudo range difference update information；Assistant service is centrally through the pseudo range difference information of multiple base stations
Calculate pseudorange update information, by 4G network, pseudorange update information is sent to host CPU；Host CPU sends instruction request location
Chip output pseudo-range information and temporal information, after positioning chip transmission, pseudorange and temporal information are to host CPU；Host CPU is according to pseudorange
Update information, pseudo-range information and temporal information calculate, and obtain pseudo range difference positioning result；Pseudo range difference positioning result is sent out
Deliver to screen module；The calculating frequency of pseudo range difference positioning result is 50Hz, 50 positioning results of return the most per second.
Pseudo range difference location is by arranging known location base station in the world, is carried out with satellite by base station
Signal communication obtains correction and sends to receiver, and receiver, by this correction round-off error, improves positional precision.
In the present embodiment, the 4th positioning result can be with example for RTK hi-Fix result.RTK(Real-time
Kinematic), it is meant that carrier phase difference technology, is the difference side processing two measuring station carrier phase observed quantities in real time
Method, issues receiver user by the carrier phase of base station collection, carries out asking difference to resolve coordinate.This is a kind of new commonly using
GPS measuring method, former static state, rapid static, kinetic measurement are required for carrying out resolving the essence that could obtain Centimeter Level afterwards
Degree, and RTK is the measuring method that can obtain centimeter-level positioning precision in real time.
Step S104 obtains RTK update information, carrier phase information and temporal information, according to described RTK update information, load
Wave phase information and temporal information obtain the step of the 4th positioning result and specifically include:
The request obtaining RTK update information is sent to assistant service center；
Obtaining the RTK update information that assistant service center sends, it is many that wherein said RTK update information is that sectional center passes through
The RTK difference information of individual base station calculates；
Obtain carrier phase information and temporal information that positioning chip sends；
It is calculated the 4th positioning result according to described RTK update information, carrier phase information and temporal information.
More specific, the RTK hi-Fix step of the present embodiment includes: start car-mounted terminal；Host CPU sends instruction
To assistant service center requests RTK Differential corrections；Assistant service calculates centrally through the RTK difference information of multiple base stations
Go out RTK update information；Host CPU sends instruction to positioning chip request carrier phase information and temporal information；Positioning chip is sent out
Send carrier phase information and temporal information to host CPU；Host CPU is calculated according to RTK update information, carrier phase information and temporal information
Obtain RTK hi-Fix result, and result is sent to screening module.
Wherein, the step being calculated the 4th positioning result specifically includes:
Calculated by complete cycle ambiguity solution or part ambiguity solution calculates or is accurately positioned and is calculated the 4th positioning result.
So, when positioning first, positioning result can be calculated by complete cycle ambiguity solution, non-first location and
When complete cycle saltus step occurs, it is calculated positioning result by part ambiguity solution, in non-location first and during without complete cycle saltus step, passes through
It is accurately positioned and is calculated positioning result.
Above-mentioned being illustrates with car-mounted terminal for case, and the method for the present embodiment or system are not limited to vehicle-mounted end
End, it is also possible to for such as Mobile Telephone Gps etc..
In the present embodiment, ephemeris information, pseudorange update information and the RTK sent by 4G Network Capture assistant service center
Update information.4G network communication speed is fast, can obtain data efficiently.
In the present embodiment, described preset rules includes: according to the 4th positioning result, the 3rd positioning result, the first location knot
Really, the priority of the second positioning result selects one of which positioning result.
Wherein, described final positioning result is to screen once for every 0.1 second.
So can quickly update positioning result can allow positioning result more accurate, real-time grasp location.
Above-mentioned four kinds of location modes are combined by the localization method in the present embodiment, combine above-mentioned four kinds of location modes
Advantage, can position quickly and accurately, obtain more accurate positioning result, facilitate the use of navigation system.
Differential GPS is made more detailed explanation herein, and differential GPS is to utilize the known precision coordinate of base station, calculates
Go out the base station distance correction to satellite, and in real time this correction is sent by base station.Receiver user exists
While carrying out GPS observation, utilize the correction of the base station received, its positioning result is corrected, thus improve and determine
Position precision.Its ultimate principle be due to receiver between GPS observation in exist and distance or the systematic error of space correlation, logical
Crossing relative localization technology (i.e. difference processing), the sharing system error in different observations is eliminated or weakens and (mainly depends on
Distance in base station Yu rover station), so can be obtained by than One-Point Location (or claiming absolute fix) higher precision.According to
Differential reference station send information mode, Differential positioning can be divided into differential position, pseudo range difference, differential smooth pseudo distance of phase and
Carrier phase difference four class.The particular content sending correction is different, and its Differential positioning precision is the most different.Differential position
Latest development mainly has two kinds of trend.One is to utilize pseudo satellite technology and satellite communication technology to build enhanced system, another
Planting is then development networked RTK system.
Embodiment two
As it is shown on figure 3, a kind of alignment system disclosed in the present embodiment, including:
First locating module 301, is used for obtaining satellite-signal, obtains the first positioning result according to described satellite-signal；
Second locating module 302, is used for obtaining ephemeris information, obtains the second positioning result according to described ephemeris information；
3rd locating module 303, is used for obtaining pseudorange update information, pseudo-range information and temporal information, according to described pseudorange
Update information, pseudo-range information and temporal information obtain the 3rd positioning result；
4th locating module 304, is used for obtaining RTK update information, carrier phase information and temporal information, according to described
RTK update information, carrier phase information and temporal information obtain the 4th positioning result；
Screening module 305, for according to preset rules, from described first positioning result, the second positioning result, the 3rd location
Result and the 4th positioning result choose one or more as final positioning result.
So, the first positioning result can pass through satellite fix, the location required time of the first positioning result and positioning accurate
Spend the most general；And the second positioning result is to combine Fiducial station of the network information and satellite positioning information positions, capture first is defended
The time of star signal only needs several seconds, and shortcoming is that error is relatively big, and urban canyons area error is even more than 10 meters；3rd location knot
Fruit is by arranging known location base station in the world, carries out signal communication by base station and satellite and obtains correction
Sending to receiver, receiver is by this correction round-off error, and locating speed is very fast, and precision is high；4th positioning result be
Multiple base station is set in certain region, on the basis of one or more in base station, real-time correction is carried out for receiver
Location mode, can reach Centimeter Level precision widening a road, and static accuracy can reach grade, and locating speed is relatively slow, positioning accurate
Spend the highest.So by these four positioning result is combined, can in conjunction with these four location advantage, allow location speed
With precision faster, being greatly improved the efficiency of location, and it is lower to position cost, the present invention applies on Vehicular navigation system permissible
Hi-Fix is provided, improves driving safety row, increase on highway and street and the peace of vehicle of public transportation system
Complete and efficiency, reduces assignment and the problem of scheduling of vehicle.It is also possible to solve public transit system, road maintenance and emergency tender
The problems such as the route planning faced, improve versatility and the scope of application of the present invention.
In the present embodiment, having at least one base station in region, location, base station is able to receive that BD or gps satellite letter
Number, base station continuous interrupted transmission pseudo range difference information, pseudorange correction data, carrier difference information, RTK revise number in location
According to, almanac data；
Arranging an assistant service center in region, assistant service center receives above-mentioned information, and exports complete ephemeris
Information.Assistant service carries out above-mentioned information data communication centrally through 4G network and mobile phone locating module.
The present embodiment is described in detail as a example by car-mounted terminal, but the present invention or embodiment are not limited to use
On car-mounted terminal, it is possible to use in other guiders or terminal, such as mobile phone, flat board, navigator etc..
In the present embodiment, first locating module the 301, second locating module the 302, the 3rd locating module the 303, the 4th location mould
Block 304 can be carried out simultaneously, is not limiting as concrete execution sequence, and screening module 305 is intended to obtain the first location certainly
Module the 301, second locating module the 302, the 3rd locating module the 303, the 4th locating module 304 just can start to calculate.
First positioning result generally by China's Beidou satellite navigation system (BDS) or/and american global positioning system
(GPS) satellite-signal obtains, and therefore the first positioning result example in the present embodiment is GPS positioning result, this location
Mode is easier, but unstable, and error is bigger.
In the present embodiment, the second positioning result can be with example for assisting quick positioning result；Described second locating module 302
Specifically for:
The request obtaining ephemeris information is sent to assistant service center；
Obtaining the ephemeris information that assistant service center sends, described ephemeris information BDS is or/and GPS ephemeris information；
Positioning chip carries out searching star and One-Point Location according to ephemeris information, obtains the second positioning result.
Wherein, the calculating frequency of described second positioning result is 50 times per second.
More specific, the quick positioning step of auxiliary of the present embodiment includes；Start car-mounted terminal；Host CPU sends instruction
To assistant service center requests BDS or/and GPS ephemeris information；Ephemeris information is sent extremely by assistant service centrally through 4G network
The host CPU of car-mounted terminal；Ephemeris information is sent to positioning chip by host CPU, and sends positioning instruction；Positioning chip is believed according to ephemeris
Breath carries out searching star and One-Point Location, thus obtains the quick positioning result of auxiliary；Then quick positioning result will be assisted to send to extremely
Host CPU and screening module；The calculating frequency assisting quick positioning result is 50Hz, 50 positioning results of return the most per second.
Auxiliary quickly location is to combine Fiducial station of the network information and satellite positioning information positions, capture satellite letter first
Number time only need several seconds, shortcoming is that error is bigger.
In the present embodiment, the 3rd positioning result can be with example for pseudo range difference positioning result；Described 3rd locating module 303
Specifically for:
The request obtaining pseudorange update information is sent to assistant service center；
Obtaining the pseudorange update information that assistant service center sends, wherein said pseudorange update information is described assistant service
Pseudo range difference information centrally through multiple base stations calculates；
Obtain pseudo-range information and temporal information that positioning chip sends；
Carry out being calculated the 3rd positioning result according to pseudorange update information, pseudo-range information and temporal information.
Wherein, the calculating frequency of described 3rd positioning result is 50 times per second.
More specific, the step of the pseudo range difference location of the present embodiment includes: starting car-mounted terminal, host CPU sends finger
Order is to assistant service center requests pseudo range difference update information；Assistant service is centrally through the pseudo range difference information of multiple base stations
Calculate pseudorange update information, by 4G network, pseudorange update information is sent to host CPU；Host CPU sends instruction request location
Chip output pseudo-range information and temporal information, after positioning chip transmission, pseudorange and temporal information are to host CPU；Host CPU is according to pseudorange
Update information, pseudo-range information and temporal information calculate, and obtain pseudo range difference positioning result；Pseudo range difference positioning result is sent out
Deliver to screen module；The calculating frequency of pseudo range difference positioning result is 50Hz, 50 positioning results of return the most per second.
Pseudo range difference location is by arranging known location base station in the world, is carried out with satellite by base station
Signal communication obtains correction and sends to receiver, and receiver, by this correction round-off error, improves positional precision.
In the present embodiment, the 4th positioning result can be with example for RTK hi-Fix result.RTK(Real-time
Kinematic), it is meant that carrier phase difference technology, is the difference side processing two measuring station carrier phase observed quantities in real time
Method, issues receiver user by the carrier phase of base station collection, carries out asking difference to resolve coordinate.This is a kind of new commonly using
GPS measuring method, former static state, rapid static, kinetic measurement are required for carrying out resolving the essence that could obtain Centimeter Level afterwards
Degree, and RTK is the measuring method that can obtain centimeter-level positioning precision in real time.
Described 4th locating module 304 specifically for:
The request obtaining RTK update information is sent to assistant service center；
Obtaining the RTK update information that assistant service center sends, it is many that wherein said RTK update information is that sectional center passes through
The RTK difference information of individual base station calculates；
Obtain carrier phase information and temporal information that positioning chip sends；
It is calculated the 4th positioning result according to described RTK update information, carrier phase information and temporal information.
More specific, the RTK hi-Fix step of the present embodiment includes: start car-mounted terminal；Host CPU sends instruction
To assistant service center requests RTK Differential corrections；Assistant service calculates centrally through the RTK difference information of multiple base stations
Go out RTK update information；Host CPU sends instruction to positioning chip request carrier phase information and temporal information；Positioning chip is sent out
Send carrier phase information and temporal information to host CPU；Host CPU is calculated according to RTK update information, carrier phase information and temporal information
Obtain RTK hi-Fix result, and result is sent to screening module.
Wherein, described 4th locating module specifically for:
Calculated by complete cycle ambiguity solution or part ambiguity solution calculates or is accurately positioned and is calculated the 4th positioning result.
So, when positioning first, positioning result can be calculated by complete cycle ambiguity solution, non-first location and
When complete cycle saltus step occurs, it is calculated positioning result by part ambiguity solution, in non-location first and during without complete cycle saltus step, passes through
It is accurately positioned and is calculated positioning result.
Above-mentioned being illustrates with car-mounted terminal for case, and the method for the present embodiment or system are not limited to vehicle-mounted end
End, it is also possible to for such as Mobile Telephone Gps etc..
In the present embodiment, described system includes 4G communication module, obtains assistant service center by 4G communication module and sends
Ephemeris information, pseudorange update information and RTK update information.4G network communication speed is fast, can obtain data efficiently.
In the present embodiment, described preset rules includes: according to the 4th positioning result, the 3rd positioning result, the first location knot
Really, the priority of the second positioning result selects one of which positioning result.
Wherein, described final positioning result is to screen once for every 0.1 second.
So can quickly update positioning result can allow positioning result more accurate, real-time grasp location.
Above-mentioned four kinds of location modes are combined by the localization method in the present embodiment, combine above-mentioned four kinds of location modes
Advantage, can position quickly and accurately, obtain more accurate positioning result, facilitate the use of navigation system.
The open a kind of guider of the present invention, including a kind of alignment system as described in any of the above-described.
This guider can be with car-mounted terminal, it is also possible to be mobile phone, flat board, navigator etc..
Above content is to combine concrete preferred implementation further description made for the present invention, it is impossible to assert
Being embodied as of the present invention is confined to these explanations.For general technical staff of the technical field of the invention,
On the premise of present inventive concept, it is also possible to make some simple deduction or replace, all should be considered as belonging to the present invention's
Protection domain.
Claims (10)
1. an alignment system, it is characterised in that including:
First locating module, is used for obtaining satellite-signal, obtains the first positioning result according to described satellite-signal；
Second locating module, is used for obtaining ephemeris information, obtains the second positioning result according to described ephemeris information；
3rd locating module, is used for obtaining pseudorange update information, pseudo-range information and temporal information, believes according to described pseudorange correction
Breath, pseudo-range information and temporal information obtain the 3rd positioning result；
4th locating module, is used for obtaining RTK update information, carrier phase information and temporal information, revises letter according to described RTK
Breath, carrier phase information and temporal information obtain the 4th positioning result；
Screening module, for according to preset rules, from described first positioning result, the second positioning result, the 3rd positioning result and
4th positioning result is chosen one or more as final positioning result.
System the most according to claim 1, it is characterised in that described second locating module specifically for:
The request obtaining ephemeris information is sent to assistant service center；
Obtaining the ephemeris information that assistant service center sends, described ephemeris information BDS is or/and GPS ephemeris information；
Positioning chip carries out searching star and One-Point Location according to ephemeris information, obtains the second positioning result.
System the most according to claim 1, it is characterised in that described 3rd locating module specifically for:
The request obtaining pseudorange update information is sent to assistant service center；
Obtaining the pseudorange update information that assistant service center sends, wherein said pseudorange update information is described assistant service center
Calculated by the pseudo range difference information of multiple base stations；
Obtain pseudo-range information and temporal information that positioning chip sends；
Carry out being calculated the 3rd positioning result according to pseudorange update information, pseudo-range information and temporal information.
System the most according to claim 1, it is characterised in that described 4th locating module specifically for:
The request obtaining RTK update information is sent to assistant service center；
Obtaining the RTK update information that assistant service center sends, wherein said RTK update information is that sectional center passes through multiple base
The RTK difference information at quasi-station calculates；
Obtain carrier phase information and temporal information that positioning chip sends；
It is calculated the 4th positioning result according to described RTK update information, carrier phase information and temporal information.
System the most according to claim 4, it is characterised in that described 4th locating module specifically for:
Calculated by complete cycle ambiguity solution or part ambiguity solution calculates or is accurately positioned and is calculated the 4th positioning result.
6. according to the arbitrary described system of claim 2 to 5, it is characterised in that described system includes 4G communication module, passes through 4G
Communication module obtains ephemeris information, pseudorange update information and the RTK update information that assistant service center sends.
System the most according to claim 1, it is characterised in that described preset rules includes: according to the 4th positioning result, the
Three positioning results, the first positioning result, the priority of the second positioning result selects one of which positioning result.
System the most according to claim 1, it is characterised in that described final positioning result is to screen once for every 0.1 second.
9. a guider, it is characterised in that include a kind of alignment system as described in claim 1 to 8 is arbitrary.
10. a localization method, it is characterised in that including:
Obtain satellite-signal, obtain the first positioning result according to described satellite-signal；
Obtain ephemeris information, obtain the second positioning result according to described ephemeris information；
Obtain pseudorange update information, pseudo-range information and temporal information, believe according to described pseudorange update information, pseudo-range information and time
Breath obtains the 3rd positioning result；
Obtain RTK update information, carrier phase information and temporal information, according to described RTK update information, carrier phase information and
Temporal information obtains the 4th positioning result；
According to preset rules, from described first positioning result, the second positioning result, the 3rd positioning result and the 4th positioning result
Choose one or more as final positioning result.
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| CN107797127A (en) * | 2017-10-27 | 2018-03-13 | 千寻位置网络有限公司 | High accuracy positioning high in the clouds calculation method and system |
| CN107918138A (en) * | 2017-11-28 | 2018-04-17 | 千寻位置网络有限公司 | " cloud+end " comprehensive positioning terminal positioner and Differential positioning method |
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| CN108845339A (en) * | 2018-05-28 | 2018-11-20 | 广州吉欧电子科技有限公司 | A kind of GNSS localization method and GNSS positioning device |
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| CN111213070A (en) * | 2019-01-11 | 2020-05-29 | 深圳市大疆创新科技有限公司 | Information acquisition method and related equipment |
| CN111505683A (en) * | 2020-04-29 | 2020-08-07 | 中国北方工业有限公司 | Non-real-time pseudo-range differential high-precision positioning method |
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