CN106291609A - A kind of RTK precision assessment method - Google Patents
A kind of RTK precision assessment method Download PDFInfo
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- CN106291609A CN106291609A CN201610613043.6A CN201610613043A CN106291609A CN 106291609 A CN106291609 A CN 106291609A CN 201610613043 A CN201610613043 A CN 201610613043A CN 106291609 A CN106291609 A CN 106291609A
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- rtk
- board
- bar
- support bar
- precision
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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
- G01S19/01—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
- G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
-
- 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
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
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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 relates to equipment precision evaluation areas, particularly relate to a kind of RTK precision assessment method.A kind of RTK Accuracy Estimation of the open design of the present invention, compared with traditional RTK performance test methods by three kinds of skimulated motion unit simulation straight lines, sine and three kinds of motion modes of circle, the method for proposition is the easiest and Performance Evaluation is closer to Practical Performance；The method proposed can make people compare positioning precision and the superiority getting information about RTK, can be with the service precision (service precision under especially random motion state) of accurate evaluation RTK board, there is provided design reference for user in the combination property that the design initial stage grasps RTK board comprehensively, type selecting specific aim and the product combination property of RTK board can be effectively improved.
Description
Technical field
The present invention relates to equipment precision evaluation areas, particularly relate to a kind of RTK precision assessment method.
Background technology
In recent years, along with unmanned plane and the agrotechnical development of precision, all the positioning precision of its navigation system is proposed
Higher accuracy requirement, and RTK technology is more and more applied to unmanned plane with its high positioning precision and other are correlated with
Field.And the manufacturer of RTK board and broad categories, there is price superior performance preferably such as Tian Bao, the serial board of Novatel,
Also have domestic such as the serial board of the producer such as compass in ancient China, middle Haidah, for a user, the only property from the user's manual of businessman
Energy index and price are set out and are difficult to select most suitable RTK board.
Meanwhile, RTK board concentrates in quasistatic product at the application majority of survey field, although RTK is for technology
The most dynamically with static restriction, but the conventional RTK board in survey field accumulation uses and type selecting experience can not be complete
Instructing the RTK board type selecting in unmanned plane field, the relative surveying instrument field of applying of its reason mainly unmanned plane has bigger
Difference, the dynamic property of RTK is had higher requirement by it.
And the most preferably test the performance indications with relatively different RTK boards and become a problem demanding prompt solution, pass
The method of testing of system typically can carry out the static state of RTK board, linear motion, circulatory motion, straight line sinusoidal motion, and finally assesses
The performance of RTK board, these methods have two aspect problems, and first, these methods are required for a specific device, and this
A little devices also need to design the precision property reaching certain, and general user can not design this for the type selecting of certain RTK board
The system of sample, therefore, such method does not has practicality；It addition, the Three models of simulation can not be very in above-mentioned method of testing
Reflect that well RTK serviceability in unmanned plane, especially forms of motion and motion are the most all occurring making of change at random
By situation, therefore, such method is the most not accurate enough.
Summary of the invention
It is an object of the invention to provide a kind of RTK precision assessment method, in view of the above problems, it compensate for above-mentioned defect
And provide the advantage that
A kind of RTK precision assessment method, it is characterised in that including:
By RTK antenna installation at supporting bar top, and it is connected with RTK board by holding wire；
With described support bar bottom as initial point and rock described support bar, record described RTK antenna real-time position information also
Be converted to coordinate information；
Calculate positional information at the bottom of the bar of described support bar, and with described in positional information calculation at the bottom of the bar of described support bar
The space orientation residual error of RTK board, and then assess the measuring accuracy of described RTK board.
Above-mentioned method, it is characterised in that described method also includes:
Measure bottom described support bar to the distance of described RTK antenna phase center, according to bottom described support bar to institute
State the distance of RTK antenna phase center and described RTK antenna real-time position information calculates position at the bottom of the bar of described support bar
Coordinate.
Above-mentioned method, it is characterised in that calculated positional information at the bottom of the bar of described support bar by method of least square.
Above-mentioned method, it is characterised in that described method also includes:
Described RTK antenna is connected with central processing unit by described RTK board, in will be described in the data inputting of collection
Central processor calculates, and then assesses the measuring accuracy of described RTK board.
Above-mentioned method, it is characterised in that described RTK board is connected with described central processing unit by Serial Port Line.
Above-mentioned method, it is characterised in that gather the real-time location coordinates information more than or equal to RTK antenna described in 3 groups.
In sum, a kind of RTK Accuracy Estimation of the open design of the present invention, with traditional by three kinds of skimulated motions
The RTK performance test methods of unit simulation straight line, sine and three kinds of motion modes of circle is compared, and the method for proposition is the easiest
And Performance Evaluation is closer to Practical Performance；The method proposed can make people compare and get information about the positioning precision of RTK and superior
Property, can set for user with the service precision (service precision under especially random motion state) of accurate evaluation RTK board
The meter initial stage is grasped the combination property of RTK board comprehensively and provides design reference, can be effectively improved type selecting specific aim and the product of RTK board
Product combination property.
Accompanying drawing explanation
With reference to appended accompanying drawing, more fully to describe embodiments of the invention.But, appended accompanying drawing be merely to illustrate and
Illustrate, be not intended that limitation of the scope of the invention.
Fig. 1 is the flow chart of the present invention.
Detailed description of the invention
The present invention is further illustrated with specific embodiment below in conjunction with the accompanying drawings, but not as the present invention's
Limit.
The present invention proposes a kind of novel RTK dynamic accuracy appraisal procedure, and the method has only to RTK antenna is arranged on one
The mapping pole top of individual 2～5 meters long, then fixes bottom pole.By the way of pitch of the laps rocks mapping bar, RTK is defeated for record
The real time position gone out, then utilizes least-squares algorithm to try to achieve position at the bottom of bar, and then asks for the location residual error of RTK test.Contrast
Positional precision at the bottom of bar just can be with accurate quantification different RTK board under random motion dynamically uses environment with residual error size after matching
Precision index, thus carry out Technical Reference before the design that the type selecting work of RTK board provides valuable for designer.
Concrete, as it is shown in figure 1, be first the equipment connection of RTK board accuracy test, select the mapping of 2～5 meters
Bar, is fixed on RTK receiver antenna the top of mapping bar, is drawn respectively through deconcentrator by receiver signal by coaxial cable
In RTK board 1 and the RTK board 2 needing test；
Measure distance l to RTK antenna phase center bottom mapping baro；
Shake mapping bar, gathers the longitude and latitude high position information that exports in real time of RTK board, by serial ports connect two boards card with
Computer, gathers the longitude and latitude high position information that the RTK board during mapping bar shake exports in real time, if the longitude and latitude of record is high every time
Shown in coordinate such as formula (1), wherein n is the data amount check of surveying record.Shake process, for keeping mapping bar bottom position constant, is surveyed
Examination personnel shake mapping bar, then the movement locus of mapping bar top antenna will be always on a hemisphere face, its movement velocity with
The direction of motion surveys and draws the amplitude of bar along with tester shakes, speed is changing always；
[L(n),λ(n),h(n)] (1)
The RTK board longitude and latitude high position gathered is to the conversion of rectangular coordinate；
Utilize first group of position coordinates [L of record(1),λ(1),h(1)] as basis reference, the longitude and latitude height remaining put is sat
Mark is transformed into [x under rectangular coordinate system(n),y(n),z(n)], shown in transformation process such as formula (2), wherein, R is earth radius.
x(n)=(L(n)-L(1))×(R+H(1))
y(n)=(λ(n)-λ(1))×(R+H(1))×cos(L(1))
z(n)=(H(n)-H(1)) (2)
Method of least square is utilized to solve position at the bottom of surveying instrument bar, it is assumed that bottom pole in rectangular coordinate system defined above
Rectangular coordinate be [x, y, z], then the aerial position rectangular coordinate [x of a certain location point after conversion(n),y(n),z(n)] with bar at the bottom of
Shown in relation such as formula (3) between rectangular coordinate [x, y, z], wherein loFor bottom described mapping bar in RTK antenna phase
The distance of the heart.Nonlinear System of Equations (3) is carried out first order Taylor expansion, then its first order Taylor in-1 iterative process of kth
Shown in expansion such as formula (4).Formula (4) can obtain the expression formula as shown in formula (5) after arranging, whereinExpression such as formula (6) shown in.When the data gathered are counted and met n ＞ 3, i.e. can utilize
The calculating formula Δ X=(G of little square lawTG)-1GTB, and the primary iteration value [x preseto,yo,zo] and the minimum threshold of Δ X
(condition that i.e. iteration terminates), is iterated being calculated the optimum position under rectangular coordinate system bottom mapping bar by formula (5)
Put [x, y, z].
B=G Δ X
Position rectangular coordinate at the bottom of the bar solved is utilized to calculate the space orientation residual error of RTK board, the test of assessment RTK board
Precision.
When the data gathered are counted n ＞ ＞ 3, during such as n >=1000 or more points, obtain through least-squares algorithm matching
Bottom mapping bar, the optimal location [x, y, z] under rectangular coordinate system will be the most accurate.Therefore, it can obtain with this point for the centre of sphere
Shown in the volumetric position error such as formula (7) of RTK board outgoing position.
RTK outgoing position position deviation in the case of random motion can be accurately obtained, by this by formula (7)
The statistical analysis of position deviation sequence can effectively assess different RTK board positioning performance under random motion environment from contrast
Good and bad.
In sum, a kind of RTK Accuracy Estimation of the open design of the present invention, with traditional by three kinds of skimulated motions
The RTK performance test methods of unit simulation straight line, sine and three kinds of motion modes of circle is compared, and the method for proposition is the easiest
And Performance Evaluation is closer to Practical Performance；The method proposed can make people compare and get information about the positioning precision of RTK and superior
Property, can set for user with the service precision (service precision under especially random motion state) of accurate evaluation RTK board
The meter initial stage is grasped the combination property of RTK board comprehensively and provides design reference, can be effectively improved type selecting specific aim and the product of RTK board
Product combination property.
By explanation and accompanying drawing, give the exemplary embodiments of the ad hoc structure of detailed description of the invention, based on present invention essence
God, also can make other conversion.Although foregoing invention proposes existing preferred embodiment, but, these contents are not intended as
Limitation.
For a person skilled in the art, after reading described above, various changes and modifications will be apparent to undoubtedly.
Therefore, appending claims should regard whole variations and modifications of true intention and the scope containing the present invention as.In power
The scope of any and all equivalence and content in the range of profit claim, be all considered as still belonging to the intent and scope of the invention.
Claims (6)
1. a RTK precision assessment method, it is characterised in that including:
By RTK antenna installation at supporting bar top, and it is connected with RTK board by holding wire；
With described support bar bottom as initial point and rock described support bar, record described RTK antenna real-time position information and change
For coordinate information；
Calculate positional information at the bottom of the bar of described support bar, and with RTK described in positional information calculation at the bottom of the bar of described support bar
The space orientation residual error of board, and then assess the measuring accuracy of described RTK board.
Method the most according to claim 1, it is characterised in that described method also includes:
Measure the distance to described RTK antenna phase center bottom described support bar, according to extremely described RTK bottom described support bar
The distance of antenna phase center and described RTK antenna real-time position information calculate position coordinates at the bottom of the bar of described support bar.
Method the most according to claim 2, it is characterised in that calculated the bar of described support bar by method of least square
End positional information.
Method the most according to claim 1, it is characterised in that described method also includes:
Described RTK antenna is connected with central processing unit by described RTK board, with will centre described in the data inputting of collection
Reason device calculates, and then assesses the measuring accuracy of described RTK board.
Method the most according to claim 4, it is characterised in that described RTK board is processed with described central authorities by Serial Port Line
Device connects.
Method the most according to claim 1, it is characterised in that gather the real time position more than or equal to RTK antenna described in 3 groups
Coordinate information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201610613043.6A CN106291609A (en) | 2016-07-29 | 2016-07-29 | A kind of RTK precision assessment method |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2716360C1 (en) * | 2017-01-10 | 2020-03-11 | Шанхай Хуацэ Навигейшн Текнолоджи Лтд | Method of measuring tilt of measuring rtk receiver |
| CN111025342A (en) * | 2019-12-13 | 2020-04-17 | 航天神舟飞行器有限公司 | Method for testing performance and Align data precision of Beidou board card of unmanned aerial vehicle |
| CN111030880A (en) * | 2018-10-10 | 2020-04-17 | 千寻位置网络有限公司 | Network RTK positioning quality evaluation method and device and network RTK positioning system |
| CN111414004A (en) * | 2020-03-03 | 2020-07-14 | 桂林电子科技大学 | RTK (real time kinematic) positioning system for unmanned aerial vehicle formation |
| CN115164943A (en) * | 2022-09-08 | 2022-10-11 | 国网瑞嘉(天津)智能机器人有限公司 | Testing method and device for positioning equipment, electronic equipment and storage medium |
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| US5929807A (en) * | 1997-03-07 | 1999-07-27 | Trimble Navigation Limited | Method and apparatus for precision location of GPS survey tilt pole |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2716360C1 (en) * | 2017-01-10 | 2020-03-11 | Шанхай Хуацэ Навигейшн Текнолоджи Лтд | Method of measuring tilt of measuring rtk receiver |
| US10591295B2 (en) | 2017-01-10 | 2020-03-17 | Shanghai Huace Navigation Technology Ltd | Tilt measurement method for RTK measuring receiver |
| CN111030880A (en) * | 2018-10-10 | 2020-04-17 | 千寻位置网络有限公司 | Network RTK positioning quality evaluation method and device and network RTK positioning system |
| CN111025342A (en) * | 2019-12-13 | 2020-04-17 | 航天神舟飞行器有限公司 | Method for testing performance and Align data precision of Beidou board card of unmanned aerial vehicle |
| CN111414004A (en) * | 2020-03-03 | 2020-07-14 | 桂林电子科技大学 | RTK (real time kinematic) positioning system for unmanned aerial vehicle formation |
| CN115164943A (en) * | 2022-09-08 | 2022-10-11 | 国网瑞嘉(天津)智能机器人有限公司 | Testing method and device for positioning equipment, electronic equipment and storage medium |
| CN115164943B (en) * | 2022-09-08 | 2022-12-23 | 国网瑞嘉(天津)智能机器人有限公司 | Testing method and device for positioning equipment, electronic equipment and storage medium |
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