CN106851606B - A kind of cellular network RTK positioning charging method and system - Google Patents
A kind of cellular network RTK positioning charging method and system Download PDFInfo
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- CN106851606B CN106851606B CN201710037560.8A CN201710037560A CN106851606B CN 106851606 B CN106851606 B CN 106851606B CN 201710037560 A CN201710037560 A CN 201710037560A CN 106851606 B CN106851606 B CN 106851606B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/24—Accounting or billing
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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
- G01S19/44—Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
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Abstract
The invention discloses a kind of cellular network RTK to position charging method, including chooses fixed reference station, and standard coordinate is arranged, and obtains observation Data Concurrent and send centralized-control center；Centralized-control center assigned references station control centre；Fixed reference station calculates location data and sends reference station control centre；Rover station coarse positioning simultaneously sends centralized-control center；Centralized-control center assigned references station control centre；Reference station control centre matches reference station；Rover station simultaneously positions；Centralized-control center updates unpaired message；Rover station and instant reference station are mutually converted；Reference station control centre authenticates reference station and grades, and calculates reference station receipts and expenditures and reports centralized-control center；Centralized-control center integrated management.The invention also discloses the systems of application localization method positioning charging.Locating speed of the present invention is fast, precision is high, at low cost, large-scale application when data processing pressure it is small, and positioning terminal can obtain certain economic interests.
Description
Technical field
Present invention relates particularly to a kind of cellular network RTK positioning charging method and systems.
Background technique
In recent years, the application of high-precision satellite positioning and navigation system has extended to Driving Test from traditional survey field, intelligence
Control, unmanned, unmanned plane, the fields such as remote sensing, so as to cause high-precision satellite navigation terminal (rover station) quantity not
It is disconnected to increase.Ever-increasing high-precision satellite positioning navigation applies the need for making high-precision technology of network RTK with positioning terminal
It asks and is more and more obvious.
RTK (Real Time Kinematic) technology is a kind of real time kinematic survey system based on carrier phase difference part,
It is built upon on the basis of two survey station carrier phase observed quantities of processing in real time, provides 3 dimension positioning knots in specified coordinate system
Fruit, Real-Time Positioning can achieve Centimeter Level, and have many advantages, such as that real-time is good, speed is fast.The basic principle of RTK is to join
It examines station and rover station receives satellite-signal simultaneously, reference station will observe data (predominantly carrier phase, pseudorange) and reference station mark
Quasi coordinates position is transferred to rover station by data-link (modem, radio station or communication network), and rover station is logical using software
Difference Calculation is crossed, the observation error of rover station is reduced, the relative coordinate between rover station and reference station is calculated, according to reference station
Standard coordinate, realize precision positioning, positioning accuracy is up to Centimeter Level.RTK technology is widely used in outdoor high accuracy positioning and leads
It navigates relevant industry, for example, mapping, Driving Test, intelligent control is unmanned, unmanned plane, remote sensing etc..
The core of RTK technology is in view of observed data value has identical mainly three between reference station and rover station
Kind of error: atmosphere propagated error, satellite ephemeris error, star clock error and other forms common error, utilize the side of difference
Formula eliminates common error, and the integer ambiguity with real-time phase for calculating carrier phase between reference station and rover station are poor, in turn
Realize high accuracy positioning.However, RTK technology has the distance between reference station and rover station certain limitation.Typically,
The distance between reference station and rover station are no more than 20km, referred to as short baseline RTK.If between reference station and rover station
More than 20km, then the correlation that reference station and rover station receive ionospheric error existing for data will be greatly reduced distance, thus
It is unable to get effective RTK positioning result, so that Real-Time Positioning is greatly lowered.For between reference station and rover station
RTK technology of the distance more than 20km or more is referred to as Long baselines RTK.The key technology of Long baselines RTK precision positioning is solved at present
For technology of network RTK.The principle of technology of network RTK is as shown in Figure 1, specific as follows: firstly, there are in a network RTK data
The heart generates virtual reference station (VRS-Virtual under different location using the observation data of multiple reference stations
Reference Station) and the dummy observation of virtual reference station is calculated, and then establish a virtual reference station and void
The list of quasi-observation, and the data by collecting all RTK reference stations, the virtual reference of real-time update virtual reference station
Value.Secondly, rover station obtains the positioning result of precision within 10 meters by coarse positioning (pseudorange One-Point Location), its result is given
Network RTK data center, RTK data center calculate position and the observation of corresponding virtual reference station according to its positioning result
Value, and send the dummy observation of corresponding virtual reference station to rover station.Finally, rover station utilizes the void of virtual reference station
Quasi-observation and our station observation data do difference, and conventional fast ambiguity computation is recycled to obtain rover station and virtual ginseng
Integer ambiguity and the real-time phase for examining station are poor, further obtain the positioning result of Centimeter Level.
However, network RTK has some limitations.(1) firstly, it is necessary to establish a RTK data center, data center
It needs to consider with the position of all RTK reference stations.It can ensure between RTK data center and reference station and rover station logical in real time
Letter, and have certain requirement to traffic rate.And in some remote districts, temporarily without mobile communications network or when communication
When RTK observation data transmission rates demands are not achieved in rate, technology of network RTK cannot be used.(2) secondly as network RTK
There are the solutions that problem proposes mainly for Long baselines RTK for technology, and therefore, technology of network RTK can not pass through short distance electricity
The mode of platform realizes, can only be by way of cable network, wireless cellular network or WLAN by the observation of reference station
Information is aggregated into network RTK data center by internet, and there are certain transmission delays and processing to prolong for observation data
Late, there is certain limitation for the high accuracy positioning under dynamic environment.(3) then, technology of network RTK needs to build a large amount of
Reference station (station also referred to as CORS), the station CORS construction cost is high, and the station CORS needs to pay a large amount of maintenance cost every year.
(4) finally, RTK data center needs to maintain huge virtual reference station data to update and rover station data interaction.Also, network
The complexity and virtual reference observation of RTK technique algorithm are to increase with the increase of the quantity of rover station, and then give data
Central server processing and communication network transmission bring greatly burden and pressure.
Summary of the invention
That one of the objects of the present invention is to provide a kind of locating speeds is fast, positioning accuracy is high, low in cost, large-scale application
When data processing pressure it is small and also allow the terminal positioned using this localization method obtaining high accuracy positioning
The cellular network RTK positioning charging method of certain economic well-being of workers and staff is obtained simultaneously.
The second object of the present invention is to provide a kind of application cellular network RTK positioning charging method and carries out positioning meter
The system taken.
This cellular network RTK provided by the invention positions charging method, includes the following steps:
S1. fixed reference station is chosen, the High-precision standard coordinate position of fixed reference station itself is set；
S2. observation data needed for the fixed reference station that step S1 chooses is observed in real time and obtains RTK technology；
S3. the standard coordinate position of itself is sent to centralized-control center by fixed reference station；
S4. centralized-control center distributes fixed reference according to the standard coordinate position of the step S3 fixed reference station obtained
Reference station control centre belonging to standing；
S5. fixed reference station according to step S2 obtain observation data calculate itself pseudorange residuals and carrier phase it is residual
Difference；
S6. the standard of fixed reference station obtains step S5 pseudorange residuals, carrier phase residual error and step S1 setting
Coordinate position is sent to affiliated reference station control centre；
S7. itself current coarse positioning result is calculated by Pseudo-range Observations in rover station；
S8. rover station sends the coarse positioning result that step S7 is obtained to centralized-control center；
S9. centralized-control center reference according to belonging to the coarse positioning result of the step S8 rover station obtained distribution rover station
It stands control centre；
S10. pseudorange residuals of the reference station control centre according to reference station, carrier phase residual sum standard coordinate position, with
And the coarse positioning position result of rover station matches reference station corresponding to rover station；Reference station corresponding to the rover station
Including fixed reference station and instant reference station；
S11. the reference station unique identification that rover station is matched (is unique by reference station control centre in a communication network
IP address or MAC Address) it is sent to rover station；
S12. rover station receives the observation data and standard coordinate of corresponding reference station according to the unique identification of corresponding reference station
Position；
S13. rover station completes rover station according to the observation data and the observation data of itself of the correspondence reference station received
High accuracy positioning；
S14. centralized-control center receives the coarse positioning positioning of rover station, judges rover station position and the ginseng belonging to it
Relationship between the management region of the control centre Kao Zhan, and update rover station set belonging to reference station control centre；
S15. reference station control centre updates the unpaired message of reference station and rover station；
S16. the result of the Carrier Phase Ambiguity Resolution in rover station acquisition setting time, pseudorange residuals and carrier phase are residual
Difference, and combine and judge whether itself can become instant reference station: if judging successfully, rover station is converted to instant reference station；
S17. instant reference station obtains result, pseudorange residuals and the carrier phase of the Carrier Phase Ambiguity Resolution in certain time
Residual error, and combine and judge whether this instant reference station can continue to become instant reference station: if judgement is unsuccessful, this reference immediately
Station converts back rover station；
S18. reference station control centre authenticates the instant reference station of subordinate and power level is evaluated；
S19. reference station control centre is according to the power level of subordinate's reference station, the number of users of service and service time span, meter
Calculate the income of subordinate's reference station；Meanwhile reference station control centre is according to the service time length computation stream of the rover station serviced
The expenditure undertaken needed for dynamic station；
S20. reference station control centre calculates each reference station in affiliated reference according to the receipts and expenditures of each reference station
It stands the income of control centre, and reports centralized-control center；
S21. centralized-control center carries out integrated management to reference station according to the income of each reference station.
Specially fixed reference is arranged in the place of known exact position in the selection of fixed reference station described in step S1
It stands, or fixed reference station is set at an arbitrary position, and obtain the exact position of fixed reference station by location algorithm；And it is described
Fixed reference station can be compatible with the CORS in existing technology of network RTK station.
The exact position that fixed reference station is obtained by location algorithm, specifically by PPP Static Precise Point Positioning
Algorithm obtains the exact position of fixed reference station for a long time.
Calculating pseudorange residuals and carrier phase residual error described in step S5 are specially calculated using following formula:
In formula
Wherein, Δ ρcFor pseudorange residuals, Δ ρfFor carrier phase residual error, the pseudorange on every t frequency point of i-th satellite is seen
Single-point coarse positioning result and precision positioning result corresponding to measured value and carrier phase observation data be respectively
WithThe exact position of website is (Xf,Yf,Zf), the position of i-th satellite is (Xi,Yi,Zi)。
Centralized-control center described in step S9 distributes reference station control centre belonging to rover station, specially using nearest
The ginseng that distribution principle, i.e. centralized-control center select that reference station control centre nearest apart from rover station to belong to for rover station
The control centre Kao Zhan.
Reference station control centre described in step S10 matches reference station corresponding to rover station, specially using following rule
Then matched:
The reference station h that rover station is matchedjForArgmin () is is maximized in formula
Index, γ={ h=1 ..., 3, Δ Dj,h< SD }；Wherein
The precision positions of h-th of reference station arePseudorange residuals and carrier phase residual error areWithJ-th of stream
The coarse positioning position at dynamic station isThe value of SD is related with the precision of short baseline RTK, the more big then RTK of SD value
Positioning accuracy is smaller.
Described in step S14 update reference station control centre belonging to rover station set, specially using following steps into
Row updates:
A. reference station control centre receives the coarse positioning information of rover station, and reports centralized-control center；
B. centralized-control center according to rover station position and its belonging to reference station control centre management region it
Between relationship, using rover station set belonging to following Policy Updates reference station control centre:
If rover station has got over area and has been switched to the management region of other reference station control centres, update belonging to rover station
Reference station control centre information, and by more new information be sent to rover station and update front and back reference station control centre；
C. the reference station control centre before updating is concentrated from the rover station of subordinate deletes rover station information, and updated ginseng
Rover station information is added to the rover station collection of itself subordinate by the control centre Kao Zhan.
Reference station control centre described in step S15 updates the unpaired message of reference station and rover station, specially using such as
One of lower two ways is updated:
The request of mode A- rover station updates: when rover station is unable to get admittedly under the current reference station environment matched
Determine calculation result, then rover station request reference station control centre carries out reference station update；
The mode B- set time updates: in the fixed time period being previously set, the fixed time period timing is reached
The unpaired message of reference station and rover station is then updated immediately；The fixed time period is to be set according to the dynamic of environment
It sets, or is configured according to user behavior analysis.
Rover station described in step S16 judges whether itself can become instant reference station, specially using following rule
Judged:
If the continuous n times Carrier Phase Ambiguity Resolution success of rover station, and the pseudorange residuals value resolved every time is not more than 2 meters,
And carrier phase residual values are not more than 2 centimetres, then mobile station mode can become instant reference station.
Judge whether instant reference station can continue to become instant reference station described in step S17, if specially reference immediately
Station has continuous N time Carrier Phase Ambiguity Resolution unsuccessful, then instant reference station is converted to rover station.
Reference station control centre described in step S18 is authenticated to the instant reference station of subordinate and power level evaluation, specifically
To carry out authentication and power level evaluation using following rule:
1) precise position information of any reference station is periodically sent to all instant reference stations of subordinate with reference to control centre
And corresponding difference observes data；
2) location information and difference observe data and the exact position of itself and difference to reference station based on the received immediately
Data are observed, the exact position of reference station belonging to received observation data is resolved, and calculation result is sent to affiliated ginseng
The control centre Kao Zhan；
3) reference station control centre receives the calculation result that instant reference station is sent, in conjunction with being sent to the instant reference station
The precise position information for observing reference station belonging to data, authenticates the instant reference station；
4) be unable to get Carrier Phase Ambiguity Resolution according to the observation data of affiliated reference station if rover station as a result, if flow
It stands and the unique identification of the reference station is transferred to reference station control centre；
5) reference station control centre judges the type of the reference station according to the unique identification that the rover station of step 4) is sent, and
Adjust the power level of the reference station；
6) the adjustment number of reference station control centre reference station of adjustment power level according to step 5), forbids the website
Reference station function.
The instant reference station can only be low as the power level of reference station more instant than this rover station reference station.
Instant reference station is authenticated described in step 3), is specially authenticated using following rule:
If calculation result and be sent to reference belonging to the observation data of the instant reference station that the instant reference station is sent
The error between exact position stood is less than the threshold value A being previously set, then it is assumed that the instant reference station is normal reference immediately
It stands；
If the instant reference station does not feed back the solution that calculation result or the instant reference station are sent to reference station control centre
The error calculated between result and the exact position for being sent to reference station belonging to the observation data of the instant reference station is greater than in advance
The threshold value A of setting, and cumulative number reaches the threshold value B of setting, then assert that the instant reference station is the instant reference station forged, and
Cancel the instant reference station function of the website immediately.
The type of reference station is judged described in step 5) and adjusts the power level of the reference station, if specially the reference station is i.e.
When reference station, and the reference station reported by rover station the number for being unable to get Carrier Phase Ambiguity Resolution result be greater than be previously set
Threshold value C, then reference station control centre reduces by one power level of instant reference station.
Reference station control centre described in step 6) adjusts the reference station that number forbids the website according to the power level of reference station
Function, specially reference station control centre judge the degraded reference station degraded number in total: if the reference station is in total
Degraded number reaches the threshold value D being previously set, then reference station control centre forbids the reference station function of the website, then should
Reference station can only work as mobile station mode.
Reference station control centre described in step S19 calculates the income of subordinate's reference station, specially counts in the following way
Calculate income:
In in formulaiFor the service income of i-th of reference station；αuCorresponding to service power level for u-th of the rover station serviced
Coefficient, wherein αu=1+0.1D, D are the power level of the rover station of service；TuFor the service time of u-th of the rover station serviced
Length；C is atomic charge unit.
Reference station control centre described in step S19 calculates the expenditure undertaken needed for rover station, specially using such as mode
Calculate expenditure:
OUTu=αuTuC
OUT in formulauFor the expenditure of u-th of rover station；αuCorresponding to service power level for u-th of the rover station serviced
Coefficient, wherein αu=1+0.1D, D are the power level of rover station；TuFor the service time length of u-th of rover station；C is minimum charging
Unit.
Integrated management is carried out to reference station described in step S21, specially centralized-control center defines any reference station
Total payment and referring to the sum of the income at station be the website remaining sum；When the remaining sum of certain reference station is negative, remind the reference station and
When pay the fees, and the reference station be more than the payment time limit of setting and when not paying the fees yet, stop the positioning service of the reference station until
The remaining sum of the reference station is positive number.
The system that charging method carries out positioning charging is positioned using the cellular network RTK the present invention also provides a kind of,
Data friendship is carried out including a centralized-control center, several cellular cells RTK and centralized-control center and the cellular cell RTK
Mutual communication link；One cellular cell RTK includes a reference station control centre, several fixed reference stations and several
The communication link of data exchange is carried out between a rover station and reference station control centre, fixed reference station and rover station；It is described
Centralized-control center is used to receive the location information of fixed reference station, judges rover station and the position pass of reference station control centre
Reference station control centre belonging to system, distribution rover station and update rover station and reference station control centre data information and
It calculates the income of reference station and reference station is managed；Reference station control centre is for matching reference station corresponding to rover station
The match information is sent rover station by communication link, the instant reference station of subordinate is authenticated and graded, and is counted by information
Calculate the receipts and expenditures of subordinate's reference station；Rover station is to need to carry out pinpoint rover station；Fixed reference station is for obtaining
The exact position of itself position calculates the pseudorange residuals of itself and carrier phase residual error and sends reference station control centre,
It is also used to be matched and positioned with rover station the position of rover station；Reference station corresponding to the rover station includes fixed reference
It stands and instant reference station, the instant reference station is converted by the rover station after high accuracy positioning.
This cellular network RTK positioning charging method and positioning charge system provided by the invention, using based on rover station/
Reference station can switching at runtime mode, a kind of charging method for sharing economic formula is provided, so that being linked into this cellular network RTK
Terminal can obtain certain economic well-being of workers and staff while obtaining high accuracy positioning position.The present invention needs a centralized control
Center and multiple reference station control centres, centralized-control center are joined for distributing reference station control centre belonging to rover station
The effect of the control centre Kao Zhan is to execute reference station dispatching algorithm according to the coarse positioning result of rover station, realizes and refers to rover station
It stands distribution, the reference station of distribution is belonging to this reference station control centre, each reference station belongs to a reference station scheduling
Center will lead to affiliated reference station control centre and also change when certain change occurs for the position of reference station.It completes
Reference station pairing to rover station, reference station send data to all rover stations of pairing, so that rover station realization is high-precision fixed
Position.One rover station is only matched with a reference station.Secondly, rover station receive candidate reference station group unique identification with
Afterwards, it is cooperated using the data of candidate reference station group, chooses optimal reference station, execute positioning calculation algorithm, finally
Realize the precision positioning of rover station.Finally, each rover station by certain authentication and is sentenced after completing high accuracy positioning
Certainly criterion can become candidate reference station so that other rover stations make reference.The present invention is to provide a kind of cellular network RTK
Based on the charging method of shared economic model, the CORS station network construction for carrying out large-scale centralization is not needed, is not needed yet
Powerful and complicated RTK data center, can use existing wireless cellular network framework, and composition cellular network RTK's is basic
Framework.At the same time, more using high accuracy positioning terminal provided by the invention, the robustness of network is stronger, can be effectively
Critical issue existing for the technology of network RTK based on virtual reference station is solved, and can also be to be linked into this cellular network RTK
In terminal can also obtain certain income while obtaining high accuracy positioning result, be very beneficial for high accuracy positioning navigation
Large-scale application.
Detailed description of the invention
Fig. 1 is the positioning principle schematic diagram of existing technology of network RTK.
Fig. 2 is positioning charge system operation schematic diagram of the invention.
Fig. 3 is flow chart of the method for the present invention.
Specific embodiment
It is illustrated in figure 2 positioning charge system operation schematic diagram of the invention: this application bee provided by the invention
The positioning charge system that nest network RTK positioning charging method is positioned, including a centralized-control center, several RTK bees
Nest cell and centralized-control center and the cellular cell RTK carry out the communication link of data interaction；One cellular cell RTK
Including a reference station control centre, several fixed reference stations and several rover stations and reference station control centre, fixation
The communication link of data exchange is carried out between reference station and rover station；The centralized-control center is for receiving fixed reference station
Location information, distributes reference station control centre belonging to rover station at the positional relationship for judging rover station and reference station control centre
With the data information for updating rover station and reference station control centre and calculates the income of reference station and pipe is carried out to reference station
Reason；The match information is passed through communication link for matching reference station information corresponding to rover station by reference station control centre
Rover station is sent, the instant reference station of subordinate is authenticated and graded, and calculates the receipts and expenditures of subordinate's reference station；Rover station
To need to carry out pinpoint rover station；Fixed reference station is used to obtain the exact position of itself position, calculates itself
Pseudorange residuals and carrier phase residual error and send reference station control centre, be also used to that flowing is matched and positioned with rover station
The position stood；Reference station corresponding to the rover station includes fixed reference station and instant reference station, the instant reference station by
Rover station after high accuracy positioning converts.
It is illustrated in figure 3 flow chart of the method for the present invention: this cellular network RTK positioning charged party provided by the invention
Method includes the following steps:
S1. fixed reference station is chosen, the High-precision standard coordinate position of fixed reference station itself is set；Specially known
Fixed reference station is arranged in the place of exact position, or fixed reference station is arranged at an arbitrary position, and fixed by PPP accurate one-point
Position algorithm obtains the exact position of fixed reference station for a long time；And the fixed reference station can be compatible with existing network RTK
The station CORS in technology；
S2. observation data needed for the fixed reference station that step S1 chooses is observed in real time and obtains RTK technology；
S3. the standard coordinate position of itself is sent to centralized-control center by fixed reference station；
S4. centralized-control center distributes fixed reference according to the standard coordinate position of the step S3 fixed reference station obtained
Reference station control centre belonging to standing；
S5. fixed reference station according to step S2 obtain observation data calculate itself pseudorange residuals and carrier phase it is residual
Difference；The calculating pseudorange residuals and carrier phase residual error are specially calculated using following formula:
In formula
Wherein, Δ ρcFor pseudorange residuals, Δ ρfFor carrier phase residual error, the pseudorange on every t frequency point of i-th satellite is seen
Single-point coarse positioning result and precision positioning result corresponding to measured value and carrier phase observation data be respectively
WithThe exact position of website is (Xf,Yf,Zf), the position of i-th satellite is (Xi,Yi,Zi)；
S6. the standard of fixed reference station obtains step S5 pseudorange residuals, carrier phase residual error and step S1 setting
Coordinate position is sent to affiliated reference station control centre；
S7. itself current coarse positioning result is calculated by Pseudo-range Observations in rover station；
S8. rover station sends the coarse positioning result that step S7 is obtained to centralized-control center；
S9. centralized-control center reference according to belonging to the coarse positioning result of the step S8 rover station obtained distribution rover station
It stands control centre；Specially use nearest distribution principle, i.e. centralized-control center selection that reference nearest apart from rover station
Stand control centre be rover station ownership reference station control centre；
S10. pseudorange residuals of the reference station control centre according to reference station, carrier phase residual sum standard coordinate position, with
And the coarse positioning position result of rover station matches reference station corresponding to rover station；Reference station corresponding to the rover station
Including fixed reference station and instant reference station；Specially matched using following rule:
The reference station h that rover station is matchedjForArgmin () is is maximized in formula
Index, γ={ h=1 ..., 3, Δ Dj,h< SD }；Wherein
The precision positions of h-th of reference station arePseudorange residuals and carrier phase residual error areWithJ-th
The coarse positioning position of rover station isWherein the value of SD determines that the precision of short baseline RTK, SD value are excessive
Meeting is so that the decline of RTK positioning accuracy even cannot get calculation result.SD value is too small, which to be will lead to, may be not present and now thereof
Stand pairing reference station；A kind of proper mode is to set 5km for SD first, if discovery has reference station, is matched,
If not finding the reference station that can be matched, then SD is increased into 5km, until discovery has the reference station of pairing, wherein SD is most
It is added to 20km more；
S11. the reference station unique identification that rover station is matched (is unique by reference station control centre in a communication network
IP address or MAC Address) it is sent to rover station；
S12. rover station receives the observation data and standard coordinate of corresponding reference station according to the unique identification of corresponding reference station
Position；
S13. rover station completes rover station according to the observation data and the observation data of itself of the correspondence reference station received
High accuracy positioning；
S14. centralized-control center receives the coarse positioning positioning of rover station, judges rover station position and the ginseng belonging to it
Relationship between the management region of the control centre Kao Zhan, and update rover station set belonging to reference station control centre；Specially
It is updated using following steps:
A. reference station control centre receives the coarse positioning information of rover station, and reports centralized-control center；
B. centralized-control center according to rover station position and its belonging to reference station control centre management region it
Between relationship, using rover station set belonging to following Policy Updates reference station control centre:
If rover station has got over area and has been switched to the management region of other reference station control centres, update belonging to rover station
Reference station control centre information, and by more new information be sent to rover station and update front and back reference station control centre；
C. the reference station control centre before updating is concentrated from the rover station of subordinate deletes rover station information, and updated ginseng
Rover station information is added to the rover station collection of itself subordinate by the control centre Kao Zhan；
S15. reference station control centre updates the unpaired message of reference station and rover station；Specially use the following two kinds mode
One of be updated:
The request of mode A- rover station updates: when rover station is unable to get admittedly under the current reference station environment matched
Determine calculation result, then rover station request reference station control centre carries out reference station update；
The mode B- set time updates: in the fixed time period being previously set, the fixed time period timing is reached
The unpaired message of reference station and rover station is then updated immediately；The fixed time period is to be set according to the dynamic of environment
It sets, or is configured according to user behavior analysis, the general fixed time period that is arranged is 5~30 minutes；
S16. the result of the Carrier Phase Ambiguity Resolution in rover station acquisition setting time, pseudorange residuals and carrier phase are residual
Difference, and combine and judge whether itself can become instant reference station: if judging successfully, rover station is converted to instant reference station；
Specially judged using following rule:
If the continuous n times Carrier Phase Ambiguity Resolution success of rover station, and the pseudorange residuals value resolved every time is not more than 2 meters,
And carrier phase residual values are not more than 2 centimetres, then mobile station mode can become instant reference station；Wherein, N can use arbitrary integer
Value.N value is too small, be easy to cause the false-alarm of instant reference station to judge by accident, and then lead to error accumulation, so that changing instant reference station institute
The rover station of pairing all generates positioning mistake, causes the sprawling formula of mistake to spread on entire RTK network.N value is excessive, is easy to make
Reference station can be become at only a few rover station, so that the instant reference station that can be used in RTK network is very few.Therefore, the value of N
There is different selection modes according to different scenes.For example, under unmanned environment, needing sub_meter position smart in unmanned plane
It spends under environment, N value can be 100-200 or so, it is assumed that 1 second renewal frequency, then rover station is needed as instant reference station
By 2-3 minutes time decisions.In the case where surveying and drawing environment, centimeter-level positioning precision is needed, the value of N can be 1000-3000
Left and right, it is assumed that 1 second renewal frequency, then rover station needs the time decision by 20-60 minutes or so as instant reference station；
S17. instant reference station obtains result, pseudorange residuals and the carrier phase of the Carrier Phase Ambiguity Resolution in certain time
Residual error, and combine and judge whether this instant reference station can continue to become instant reference station: if judgement is unsuccessful, this reference immediately
Station converts back rover station；If specially reference station has continuous N time Carrier Phase Ambiguity Resolution unsuccessful immediately, instant reference station turns
Be changed to rover station, in the specific implementation, M be set as 10~20 times or so it is proper；
S18. reference station control centre authenticates the instant reference station of subordinate and power level is evaluated；Specially using as follows
Rule carries out authentication and power level evaluation:
1) precise position information of any reference station is periodically sent to all instant reference stations of subordinate with reference to control centre
And corresponding difference observes data；
2) location information and difference observe data and the exact position of itself and difference to reference station based on the received immediately
Data are observed, the exact position of reference station belonging to received observation data is resolved, and calculation result is sent to affiliated ginseng
The control centre Kao Zhan；
3) reference station control centre receives the calculation result that instant reference station is sent, in conjunction with being sent to the instant reference station
The precise position information for observing reference station belonging to data, authenticates the instant reference station；Specially using following rule
It is authenticated:
If calculation result and be sent to reference belonging to the observation data of the instant reference station that the instant reference station is sent
The error between exact position stood is less than the threshold value A (such as 2 centimetres) being previously set, then it is assumed that the instant reference station is normal
Instant reference station；
If the instant reference station does not feed back the solution that calculation result or the instant reference station are sent to reference station control centre
The error calculated between result and the exact position for being sent to reference station belonging to the observation data of the instant reference station is greater than in advance
The threshold value A of setting, and cumulative number reaches the threshold value B (such as 10 times) of setting, then assert the instant reference station be forge i.e.
When reference station, and cancel the instant reference station function of the website immediately；
4) be unable to get Carrier Phase Ambiguity Resolution according to the observation data of affiliated reference station if rover station as a result, if flow
It stands and the unique identification of the reference station is transferred to reference station control centre；
5) reference station control centre judges the type of the reference station according to the unique identification that the rover station of step 4) is sent, and
Adjust the power level of the reference station；If specially the reference station is instant reference station, and reported by rover station can not for the reference station
The number for obtaining Carrier Phase Ambiguity Resolution result is greater than the threshold value C (such as 10 times) being previously set, then reference station control centre drops
Low one power level of instant reference station；
6) the adjustment number of reference station control centre reference station of adjustment power level according to step 5), forbids the website
Reference station function；Specially reference station control centre judges the degraded reference station degraded number in total: if the ginseng
Examining station, degraded number reaches the threshold value D (such as 10 times) being previously set in total, then reference station control centre is by the website
Reference station function is forbidden, then the reference station can only work as mobile station mode；
S19. reference station control centre is according to the power level of subordinate's reference station, the number of users of service and service time span, meter
Calculate the income of subordinate's reference station；Income is specially calculated in the following way:
In in formulaiFor the service income of i-th of reference station；αuCorresponding to service power level for u-th of the rover station serviced
Coefficient, wherein αu=1+0.1D, D are the power level of the rover station of service；TuFor the service time of u-th of the rover station serviced
Length；C is atomic charge unit；
Meanwhile reference station control centre undertakes according to needed for the service time length computation rover station of the rover station serviced
Expenditure；Expenditure is specially calculated using such as mode:
OUTu=αuTuC
OUT in formulauFor the expenditure of u-th of rover station；αuCorresponding to service power level for u-th of the rover station serviced
Coefficient, wherein αu=1+0.1D, D are the power level of rover station；TuFor the service time length of u-th of rover station；C is minimum charging
Unit；
S20. reference station control centre calculates each reference station in affiliated reference according to the receipts and expenditures of each reference station
It stands the income of control centre, and reports centralized-control center；
S21. centralized-control center carries out integrated management to reference station according to the income of each reference station, specially concentrates control
Center processed defines total payment of any reference station and the remaining sum referring to the sum of the income at station for the website；When the remaining sum of certain reference station
When being negative, the reference station is reminded to pay the fees in time, and when the reference station is more than the payment time limit of setting and does not pay the fees yet, stopping should
The positioning service of reference station is until the remaining sum of the reference station is positive number.
Claims (11)
1. a kind of cellular network RTK positions charging method, include the following steps:
S1. fixed reference station is chosen, the High-precision standard coordinate position of fixed reference station itself is set；
S2. observation data needed for the fixed reference station that step S1 chooses is observed in real time and obtains RTK technology；
S3. the standard coordinate position of itself is sent to centralized-control center by fixed reference station；
S4. centralized-control center distributes fixed reference station institute according to the standard coordinate position of the step S3 fixed reference station obtained
The reference station control centre of category；
S5. fixed reference station calculates the pseudorange residuals and carrier phase residual error of itself according to the step S2 observation data obtained；
S6. the standard coordinate of fixed reference station obtains step S5 pseudorange residuals, carrier phase residual error and step S1 setting
Position is sent to affiliated reference station control centre；
S7. itself current coarse positioning result is calculated by Pseudo-range Observations in rover station；
S8. rover station sends the coarse positioning result that step S7 is obtained to centralized-control center；
S9. centralized-control center reference station tune according to belonging to the coarse positioning result of the step S8 rover station obtained distribution rover station
Degree center；
S10. pseudorange residuals of the reference station control centre according to reference station, carrier phase residual sum standard coordinate position, Yi Jiliu
The coarse positioning position result at dynamic station matches reference station corresponding to rover station；Reference station corresponding to the rover station includes
Fixed reference station and instant reference station；
S11. the reference station unique identification that rover station is matched in reference station control centre is (in a communication network for unique IP
Location or MAC Address) it is sent to rover station；
S12. rover station receives observation data and the standard coordinate position of corresponding reference station according to the unique identification of corresponding reference station
It sets；
S13. rover station completes the height of rover station according to the observation data and the observation data of itself of the correspondence reference station received
Precision positioning；
S14. centralized-control center receives the coarse positioning positioning of rover station, judges rover station position and the reference station belonging to it
Relationship between the management region of control centre, and update rover station set belonging to reference station control centre；
S15. reference station control centre updates the unpaired message of reference station and rover station；
S16. rover station obtains result, pseudorange residuals and the carrier phase residual error of the Carrier Phase Ambiguity Resolution in setting time, and
Joint judges whether itself can become instant reference station: if judging successfully, rover station is converted to instant reference station；
S17. the result of the Carrier Phase Ambiguity Resolution in instant reference station acquisition certain time, pseudorange residuals and carrier phase are residual
Difference, and combine and judge whether this instant reference station can continue to become instant reference station: if judgement is unsuccessful, this instant reference station
Convert back rover station；
S18. reference station control centre authenticates the instant reference station of subordinate and power level is evaluated；
S19. reference station control centre is according to the power level of subordinate's reference station, the number of users of service and service time span, under calculating
Belong to the income of reference station；Meanwhile reference station control centre is according to the service time length computation rover station of the rover station serviced
The required expenditure undertaken；
S20. reference station control centre calculates each reference station in affiliated reference station tune according to the receipts and expenditures of each reference station
The income at degree center, and report centralized-control center；
S21. centralized-control center carries out integrated management to reference station according to the income of each reference station.
2. cellular network RTK according to claim 1 positions charging method, it is characterised in that calculating described in step S5 is pseudo-
Away from residual sum carrier phase residual error, specially calculated using following formula:
In formula
Wherein, Δ ρcFor pseudorange residuals, Δ ρfPseudo-range Observations for carrier phase residual error, on every t frequency point of i-th satellite
It is respectively with single-point coarse positioning result corresponding to carrier phase observation data and precision positioning resultWithThe exact position of website is (Xf,Yf,Zf), the position of i-th satellite is (Xi,Yi,Zi)；The definition of I is
The population of satellite；The frequency point sum for defining every satellite of T.
3. cellular network RTK according to claim 1 positions charging method, it is characterised in that reference described in step S10
It stands reference station corresponding to control centre's matching rover station, is specially matched using following rule:
The reference station h that rover station is matchedjForArgmin () is is maximized in formula
Index, γ={ h=1 ..., 3, Δ Dj,h< SD }；WhereinThe precision positions of h-th of reference station arePseudorange residuals and carrier phase residual error areWithThe coarse positioning position of j-th of rover station isThe value of SD is related with the precision of short baseline RTK, and the more big then RTK positioning accuracy of SD value is smaller.
4. cellular network RTK according to claim 1 positions charging method, it is characterised in that update described in step S14
Rover station set belonging to reference station control centre, is specially updated using following steps:
A. reference station control centre receives the coarse positioning information of rover station, and reports centralized-control center；
B. between the management region of reference station control centre of the centralized-control center according to rover station position and belonging to it
Relationship, using rover station set belonging to following Policy Updates reference station control centre:
If rover station has got over area and has been switched to the management region of other reference station control centres, ginseng belonging to rover station is updated
The control centre Kao Zhan information, and more new information is sent to rover station and updates the reference station control centre of front and back；
C. the reference station control centre before updating is concentrated from the rover station of subordinate deletes rover station information, and updated reference station
Rover station information is added to the rover station collection of itself subordinate by control centre.
5. cellular network RTK according to claim 1 positions charging method, it is characterised in that flowing described in step S16
It stands and judges whether itself can become instant reference station, specially judged using following rule:
If the continuous n times Carrier Phase Ambiguity Resolution success of rover station, and the pseudorange residuals value resolved every time is not more than 2 meters, and carries
Wave phase residual values are not more than 2 centimetres, then mobile station mode can become instant reference station.
6. cellular network RTK according to claim 1 positions charging method, it is characterised in that judgement described in step S17
Whether instant reference station can continue to become instant reference station, if specially reference station has continuous N time Carrier Phase Ambiguity Resolution immediately
Unsuccessful, then instant reference station is converted to rover station.
7. cellular network RTK according to claim 1 positions charging method, it is characterised in that reference described in step S18
Control centre of standing authenticates the instant reference station of subordinate and power level evaluation, is specially authenticated and is weighed using following rule
Grade evaluation:
1) with reference to control centre periodically to all instant reference stations of subordinate send any reference station precise position information and
Corresponding difference observes data；
2) reference station location information and difference observation data and the exact position of itself and difference observation based on the received immediately
Data, resolve the exact position of reference station belonging to received observation data, and calculation result is sent to affiliated reference station
Control centre；
3) reference station control centre receives the calculation result that instant reference station is sent, in conjunction with the observation for being sent to the instant reference station
The precise position information of reference station belonging to data authenticates the instant reference station；
4) be unable to get Carrier Phase Ambiguity Resolution according to the observation data of affiliated reference station if rover station as a result, if rover station will
The unique identification of the reference station is transferred to reference station control centre；
5) reference station control centre judges the type of the reference station according to the unique identification that the rover station of step 4) is sent, and adjusts
The power level of the reference station；
6) the adjustment number of reference station control centre reference station of adjustment power level according to step 5), forbids the ginseng of the website
Examine station function.
8. cellular network RTK according to claim 7 positions charging method, it is characterised in that instant described in step 3)
Reference station is authenticated, and is specially authenticated using following rule:
If calculation result and be sent to reference station belonging to the observation data of the instant reference station that the instant reference station is sent
Error between exact position is less than the threshold value A being previously set, then it is assumed that the instant reference station is normal instant reference station；
If the instant reference station does not feed back the resolving knot that calculation result or the instant reference station are sent to reference station control centre
Error between fruit and the exact position for being sent to reference station belonging to the observation data of the instant reference station, which is greater than, to be previously set
Threshold value A, and cumulative number reaches the threshold value B of setting, then assert that the instant reference station is the instant reference station forged, and immediately
Cancel the instant reference station function of the website.
9. cellular network RTK according to claim 8 positions charging method, it is characterised in that the ginseng of judgement described in step 5)
It examines the type at station and adjusts the power level of the reference station, if specially the reference station is instant reference station, and the reference station is flowed
Dynamic station reports the number for being unable to get Carrier Phase Ambiguity Resolution result to be greater than the threshold value C being previously set, then reference station control centre
Reduce by one power level of instant reference station；And reference station control centre described in step 6) adjusts number according to the power level of reference station
Forbid the reference station function of the website, specially reference station control centre judges the degraded reference station degraded time in total
Number: if degraded number reaches the threshold value D being previously set to the reference station in total, reference station control centre is by the ginseng of the website
It examines station function to forbid, then the reference station can only work as mobile station mode.
10. cellular network RTK described according to claim 1~one of 9 positions charging method, it is characterised in that step S19 institute
The reference station control centre stated calculates the income of subordinate's reference station, specially calculates income in the following way:
In in formulaiFor the service income of i-th of reference station；αuIt is corresponding to service power level for u-th of the rover station serviced
It counts, wherein αu=1+0.1D, D are the power level of the rover station of service；TuService time length for u-th of the rover station serviced；
C is atomic charge unit；The definition of U is the sum of rover station；
The reference station control centre calculates the expenditure undertaken needed for rover station, specially calculates expenditure using such as mode:
OUTu=αuTuC
OUT in formulauFor the expenditure of u-th of rover station；αuCoefficient corresponding to service power level for u-th of the rover station serviced,
Wherein αu=1+0.1D, D are the power level of rover station；TuFor the service time length of u-th of rover station；C is atomic charge unit；
And integrated management is carried out to reference station described in step S21, specially centralized-control center defines the total of any reference station
Payment and referring to the sum of the income at station be the website remaining sum；When the remaining sum of certain reference station is negative, remind the reference station timely
Payment, and when the reference station is more than the payment time limit of setting and does not pay the fees yet, stop the positioning service of the reference station until should
The remaining sum of reference station is positive number.
11. a kind of be using what the positioning of cellular network RTK described in one of claim 1~10 charging method carried out positioning charging
System, it is characterised in that including a centralized-control center, several cellular cells RTK and centralized-control center and RTK honeycomb
The communication link of cell progress data interaction；One cellular cell RTK includes a reference station control centre, several are solid
Determine to carry out data exchange between reference station and several rover stations and reference station control centre, fixed reference station and rover station
Communication link；The centralized-control center is used to receive the location information of fixed reference station, judges rover station and reference station tune
Reference station control centre belonging to the positional relationship at degree center, distribution rover station and update rover station and reference station control centre
The income of data information and calculating reference station is simultaneously managed reference station；Reference station control centre is for matching rover station
The match information is sent rover station by communication link, carried out to the instant reference station of subordinate by corresponding reference station information
Authentication and grading, and calculate the receipts and expenditures of subordinate's reference station；Rover station is to need to carry out pinpoint rover station；It is fixed
Reference station is used to obtain the exact position of itself position, calculates the pseudorange residuals of itself and carrier phase residual error and sends ginseng
The control centre Kao Zhan is also used to be matched and positioned with rover station the position of rover station；Reference corresponding to the rover station
It stands including fixed reference station and instant reference station, the instant reference station is converted by the rover station after high accuracy positioning.
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| CN110334787B (en) * | 2019-07-01 | 2023-06-16 | 百度在线网络技术（北京）有限公司 | Unmanned vehicle shopping method and system, unmanned vehicle management platform and unmanned vehicle |
| EP4057031A4 (en) * | 2019-11-06 | 2023-11-08 | Positec Power Tools (Suzhou) Co., Ltd. | Positioning network establishing method and device |
| CN110988916A (en) * | 2019-12-06 | 2020-04-10 | 长沙海格北斗信息技术有限公司 | Method and system for constructing satellite navigation mobile acquisition station network |
| CN110988914A (en) * | 2019-12-06 | 2020-04-10 | 长沙海格北斗信息技术有限公司 | Semi-distributed satellite navigation acquisition monitoring charging method and system |
| CN110988938B (en) * | 2019-12-06 | 2022-08-12 | 长沙海格北斗信息技术有限公司 | Low-power-consumption satellite navigation mobile acquisition system and method in cross-region scene |
| CN110988939A (en) * | 2019-12-06 | 2020-04-10 | 长沙海格北斗信息技术有限公司 | Semi-distributed satellite navigation acquisition monitoring system and method |
| CN110988940A (en) * | 2019-12-06 | 2020-04-10 | 长沙海格北斗信息技术有限公司 | Satellite navigation station working mode switching method and monitoring system |
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