CN108333607A - Mobile intelligent terminal differential position system based on CORS enhancings - Google Patents
Mobile intelligent terminal differential position system based on CORS enhancings Download PDFInfo
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- CN108333607A CN108333607A CN201810124749.5A CN201810124749A CN108333607A CN 108333607 A CN108333607 A CN 108333607A CN 201810124749 A CN201810124749 A CN 201810124749A CN 108333607 A CN108333607 A CN 108333607A
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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
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/1853—Satellite systems for providing telephony service to a mobile station, i.e. mobile satellite service
- H04B7/18545—Arrangements for managing station mobility, i.e. for station registration or localisation
- H04B7/18547—Arrangements for managing station mobility, i.e. for station registration or localisation for geolocalisation of a station
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/50—Network services
- H04L67/52—Network services specially adapted for the location of the user terminal
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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)
- Signal Processing (AREA)
- Astronomy & Astrophysics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a kind of mobile intelligent terminal differential position systems based on CORS enhancings, including intelligent mobile terminal, CORS base station nets, server, the first data transmit-receive and coding/decoding module that the intelligent mobile terminal is provided with data acquisition module and is connected on data acquisition module, the server is provided with the second data transmit-receive and coding/decoding module and the data processing module being connected on second data transmit-receive and coding/decoding module, difference resolves module, data interaction can be wherein carried out between the first data transmit-receive and coding/decoding module and the second data transmit-receive and coding/decoding module.Its remarkable result is：Data processing and resolving are placed in server end, the data process load of intelligent mobile terminal is alleviated, reduces the hardware performance requirements to intelligent mobile terminal；It solves the problems, such as that smart mobile phone mobile terminal can not access CORS services, breaks the high expense limitation of traditional measurement type receiver.
Description
Technical field
The present invention relates to technical fields, specifically, being that a kind of mobile intelligent terminal difference enhanced based on CORS is fixed
Position system.
Background technology
U.S. that Global Satellite Navigation System (GNSS, Global Navigation Satellite System) includes mainly
Four David's star systems such as state GPS, Russia GLANESS, European Union GALILEO and Chinese Beidou satellite navigation system, at present GNSS
Positioning, time service, navigation feature have obtained great application, but individually GNSS positioning accuracies (10 meters or so) cannot meet it is high-precision
Spend the application of industry.
The most of provinces and cities in the whole nation are completed perfect continuous operation frame of reference (Continuously Operation at present
Reference System, CORS) infrastructure, for measurement, type professional user provides location enhanced services, becomes city GNSS
One of Hot spots for development of application.But the service ability of CORS and application potential be far above measurement type professional user grade with centimetre
The subsequent and real-time location requirement of grade, extensive masses navigator fix user are real in the grade navigation of such as track, pedestrian navigation, logistics
When tracking etc. in scenes real-time sub-meter grade, the decimeter grade positioning of demand can fully open up the application potential and service range of CORS.
Currently, the public requirement to positioning accuracy is higher and higher, and regular handset GNSS positioning accuracies are relatively low, generally exist
10m~20m or so cannot meet the requirement of public's location-based service precision navigation and sector application.And obtain CORS differential signals
Need expensive professional data operation processing equipment, masses that can not directly utilize the acquisition for mobile terminal such as mobile phone, tablet
High-precision CORS differential signals.
Invention content
In view of the deficiencies of the prior art, the object of the present invention is to provide a kind of mobile intelligent terminal based on CORS enhancings is poor
Positioning system, user terminal is divided to can get reliable sub-meter grade, decimeter grade high accuracy positioning service using smart mobile phone, can solve
The high expense limitation that intelligent mobile intelligent terminal can not access the problem of CORS services, break traditional measurement type receiver.
In order to achieve the above objectives, the technical solution adopted by the present invention is as follows：
A kind of mobile intelligent terminal differential position system based on CORS enhancings, including intelligent mobile terminal, CORS benchmark
It stands net, server, key is：The intelligent mobile terminal is provided with data acquisition module, the first data transmit-receive and compiles solution
Code module, the server are provided with the second data transmit-receive and resolve module with coding/decoding module, data processing module, difference,
In：
The data acquisition module is sent to the first data receipts for acquiring GNSS observation data and navigation message data
Hair and coding/decoding module；
Data friendship is carried out between second data transmit-receive and coding/decoding module and the first data transmit-receive and coding/decoding module
Mutually；
The data processing module is used to obtain regional space according to the real-time observed data of the CORS base station nets of reception
Error model is calculated in combination with the observation data of the second data transmit-receive and the intelligent mobile terminal of coding/decoding module forwarding
The differential corrections of intelligent mobile terminal position are broadcast together to second data transmit-receive and coding/decoding module；
It is whole that the difference resolves the intelligent mobile that module is used to forward according to second data transmit-receive and coding/decoding module
The GNSS observation data and VRS at end observe data, the exact position of computational intelligence mobile terminal, and location information is fed back to institute
State intelligent mobile terminal.
Further, the unprocessed form that first data transmit-receive is used to acquire intelligent mobile terminal with coding/decoding module
GNSS data decodes, and is encoded with message format as defined in RTCM, by the GNSS observation data and navigation message after coding
Data are sent to second data transmit-receive and coding/decoding module.
Further, the unprocessed form GNSS data from the intelligent mobile terminal built-in positioning chip or
The external GNSS device being connected with intelligent mobile terminal.
Further, the difference resolve the method that module calculates the location information be pseudorange standard One-Point Location method,
One kind in the real-time dynamic code phase difference positioning mode of short baseline, the real-time carrier phase differential positioning method of short baseline.
Further, the CORS base stations net is made of equally distributed CORS base stations in region.
Further, it is adopted between first data transmit-receive and coding/decoding module and the second data transmit-receive and coding/decoding module
Data interaction is carried out at least one of GPRS, 4G wireless telecommunication system.
Further, the intelligent mobile terminal is mobile phone, tablet computer, PDA intelligent terminals, vehicle intelligent terminal or can
Wearable device.
The present invention carries out network by the way that data processing and resolving are placed in server end based on virtual reference station technology
RTK Real-time Errors model, application end using the intelligent mobile terminals such as cheap smart mobile phone, tablet computer, wearable device or
It the multiple hardwares integrated mode such as combines with consumer level receiver, implements single-frequency multisystem RTD algorithms and calculated with single-frequency multisystem RTK
Method alleviates to provide the location-based service solution of sub-meter grade, decimeter grade precision grade for public navigator fix user
The data process load of intelligent mobile terminal reduces the hardware performance requirements to intelligent mobile terminal.
The present invention remarkable result be：
1, data processing and resolving are placed in server end, alleviate the data process load of intelligent mobile terminal, dropped
The low hardware performance requirements to intelligent mobile terminal；
2, it solves the problems, such as that smart mobile phone mobile terminal can not access CORS services, has broken traditional measurement type receiver
The limitation of high expense；
3, the customized demand for meeting the numerous individual character scenes in public field reduces application end receiver cost, developing
The application potential and service range of multisystem CORS infrastructure.
Description of the drawings
Fig. 1 is the system structure diagram of the present invention.
Specific implementation mode
Specific embodiment and working principle of the present invention will be described in further detail below in conjunction with the accompanying drawings.
As shown in Figure 1, a kind of mobile intelligent terminal differential position system based on CORS enhancings, including intelligent mobile are whole
End, CORS base stations net, server, wherein the intelligent mobile terminal is provided with data acquisition module, in the data acquisition mould
The data output end of block is connected with the first data transmit-receive and coding/decoding module；The server is provided with the second data transmit-receive and compiles
Decoder module and the data processing module being connected on second data transmit-receive and coding/decoding module, difference resolve module；Institute
CORS base stations net is stated to be made of equally distributed CORS base stations in region；Second data transmit-receive and coding/decoding module and first
Data transmit-receive carries out data interaction with coding/decoding module, and the data processing module carries out data interaction with CORS base station nets.
The data acquisition module is sent to the first data receipts for acquiring GNSS observation data and navigation message data
Hair and coding/decoding module；
Data friendship is carried out between second data transmit-receive and coding/decoding module and the first data transmit-receive and coding/decoding module
Mutually；
The data processing module is used to obtain regional space according to the real-time observed data of the CORS base station nets of reception
Error model is calculated in combination with the observation data of the second data transmit-receive and the intelligent mobile terminal of coding/decoding module forwarding
The differential corrections of intelligent mobile terminal position are broadcast together to second data transmit-receive and coding/decoding module；
It is whole that the difference resolves the intelligent mobile that module is used to forward according to second data transmit-receive and coding/decoding module
The GNSS observation data and VRS at end observe data, the exact position of computational intelligence mobile terminal, and location information is fed back to institute
State intelligent mobile terminal.
In this example, unprocessed form of first data transmit-receive with coding/decoding module for being acquired to intelligent mobile terminal
GNSS data decodes, and is encoded with message format as defined in RTCM, by the GNSS observation data and navigation message after coding
Data are sent to second data transmit-receive and coding/decoding module.And the unprocessed form GNSS data derives from the intelligent sliding
The built-in positioning chip of dynamic terminal or the external GNSS device being connected with intelligent mobile terminal.
It is real-time for pseudorange standard One-Point Location method, short baseline that the difference resolving module calculates the method for the location information
One kind in the real-time carrier phase differential positioning method of dynamic code phase difference positioning mode, short baseline.
When it is implemented, between first data transmit-receive and coding/decoding module and the second data transmit-receive and coding/decoding module
Data interaction is carried out using at least one of GPRS, 4G wireless telecommunication system.The intelligent mobile terminal is mobile phone, tablet electricity
Brain, PDA intelligent terminals, vehicle intelligent terminal or wearable device.
Specifically, this example illustrates the operation principle of this system by taking smart mobile phone as an example：
The data acquisition module obtains original GNSS by the positioning chip built in smart mobile phone and observes data and navigation
Telegraph text data, and it is sent to the first data transmit-receive and coding/decoding module；
First data transmit-receive will be obtained original with coding/decoding module by smart mobile phone APP from data acquisition module
GNSS observe data, navigation message data, and with NMEA-0183 message formats encode after, rely on smart mobile phone 4G networks send
To the second data transmit-receive and coding/decoding module of the server end；
Second data transmit-receive is with coding/decoding module according to the intelligence of first data transmit-receive and coding/decoding module forwarding
The data that energy cell phone application is sent, computational intelligence mobile phone terminal rough coordinates are sent to the data processing module；
The data processing module combination satellite ephemeris carries out cycle slip spy to the GNSS observation data of base station acquisition in real time
Survey, stand between double difference integer ambiguity the calculating such as fix, after initial complete cycle integer ambiguity is fixed, calculating double difference ionosphere is prolonged
Late, double difference tropospheric delay, satellite clock correction etc., then establish spatial error model, using VRS technologies, are uniformly autonomously generated one
The fixation grid virtual reference point of fixed number amount simultaneously provides VRS observation data (the virtual reference station number nearest away from user's rough coordinates
According to), in combination with the rough coordinates data and ephemeris number of the second data transmit-receive and the intelligent mobile terminal of coding/decoding module forwarding
According to calculating the differential corrections of smart mobile phone position, broadcast together to second data transmit-receive and coding/decoding module；
Second data transmit-receive sees at the virtual reference station that the data processing module is sent with coding/decoding module in real time
The decoded GNSS that measured data, that is, VRS observations data, coordinate and cell phone application is sent observes data, almanac data is forwarded to institute
The Difference Calculation module stated；
The difference resolves mobile phone end GNSS of the module according to second data transmit-receive and coding/decoding module forwarding
It observes data and VRS observes data, according to strategies such as mobile phone terminal accuracy requirement, mobile phone hardwares, due to virtual reference station and intelligence
Mobile phone terminal distance is relatively close (being usually several meters to tens meters), therefore after establishing virtual reference station, using the real-time carrier wave of short baseline
Phase difference positions (Real-time kinematic, RTK) technology, and threshold method is detected, is based on before being tested solution process
The IGG-III robusts of studentized residuals survey the quality controls such as robust by talent scout, you can more accurate positioning result is obtained, and
Feed back to the second data transmit-receive and coding/decoding module；
Difference is resolved the location information of module feedback with coding/decoding module by second data transmit-receive, via the first data
Transmitting-receiving is sent to the smart mobile phone with coding/decoding module, and is shown in cell phone application.
The embodiment of the present invention by the way that data processing and resolving are placed in server end, and based on virtual reference station technology into
Row network RTK Real-time Errors model, and application end implements single-frequency multisystem RTD algorithms and single-frequency polyphyly using cheap smart mobile phone
System RTK algorithms, to not be only that public navigator fix user provides sub-meter grade, the location-based service of decimeter grade precision grade solves
Scheme, and the data process load of smart mobile phone is also reduced, reduce the hardware performance requirements to smart mobile phone.
Claims (7)
1. a kind of mobile intelligent terminal differential position system based on CORS enhancings, including intelligent mobile terminal, CORS base stations
Net, server, it is characterised in that：The intelligent mobile terminal is provided with data acquisition module, the first data transmit-receive and encoding and decoding
Module, the server are provided with the second data transmit-receive and resolve module with coding/decoding module, data processing module, difference, wherein：
The data acquisition module for acquiring GNSS observation data and navigation message data, and be sent to the first data transmit-receive with
Coding/decoding module；
Data interaction is carried out between second data transmit-receive and coding/decoding module and the first data transmit-receive and coding/decoding module；
The data processing module is used to obtain regional space error according to the real-time observed data of the CORS base station nets of reception
Model calculates intelligence in combination with the observation data of the second data transmit-receive and the intelligent mobile terminal of coding/decoding module forwarding
The differential corrections of mobile terminal position are broadcast together to second data transmit-receive and coding/decoding module；
The difference resolves the intelligent mobile terminal that module is used to forward according to second data transmit-receive and coding/decoding module
GNSS observes data and VRS observes data, the exact position of computational intelligence mobile terminal, and location information is fed back to the intelligence
It can mobile terminal.
2. the mobile intelligent terminal differential position system according to claim 1 based on CORS enhancings, it is characterised in that：Institute
The first data transmit-receive is stated to be used to decode the unprocessed form GNSS data that intelligent mobile terminal acquires with coding/decoding module, and with
Message format as defined in RTCM is encoded, and the GNSS observation data after coding are sent to described second with navigation message data
Data transmit-receive and coding/decoding module.
3. the mobile intelligent terminal differential position system according to claim 2 based on CORS enhancings, it is characterised in that：Institute
Unprocessed form GNSS data is stated from the built-in positioning chip of the intelligent mobile terminal or is connected with intelligent mobile terminal
External GNSS device.
4. the mobile intelligent terminal differential position system according to claim 1 based on CORS enhancings, it is characterised in that：Institute
It is pseudorange standard One-Point Location method, the real-time dynamic code phase of short baseline to state difference and resolve the method that module calculates the location information
One kind in the real-time carrier phase differential positioning method of Differential positioning method, short baseline.
5. the mobile intelligent terminal differential position system according to claim 1 based on CORS enhancings, it is characterised in that：Institute
CORS base stations net is stated to be made of equally distributed CORS base stations in region.
6. the mobile intelligent terminal differential position system according to claim 1 based on CORS enhancings, it is characterised in that：Institute
It states between the first data transmit-receive and coding/decoding module and the second data transmit-receive and coding/decoding module using at least one in GPRS, 4G
Kind wireless telecommunication system carries out data interaction.
7. special according to the mobile intelligent terminal differential position system that claim 1~6 any one of them is enhanced based on CORS
Sign is：The intelligent mobile terminal is mobile phone, tablet computer, PDA intelligent terminals, vehicle intelligent terminal or wearable device.
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| CN201810124749.5A CN108333607A (en) | 2018-02-07 | 2018-02-07 | Mobile intelligent terminal differential position system based on CORS enhancings |
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Cited By (8)
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| CN109283560A (en) * | 2018-09-26 | 2019-01-29 | 哈尔滨铁路科研所科技有限公司 | The positioning system and localization method of server end progress RTK resolving |
| CN110082803A (en) * | 2019-05-10 | 2019-08-02 | 广东星舆科技有限公司 | Method, system and the mobile device of multiterminal co-located |
| CN110456399A (en) * | 2019-08-16 | 2019-11-15 | 阜阳市测绘院有限责任公司 | A kind of continuous operational reference station and its operation method |
| CN111121610A (en) * | 2018-10-31 | 2020-05-08 | 千寻位置网络有限公司 | RTK positioning deformation monitoring method, device and system and analysis server group |
| CN111596330A (en) * | 2020-05-22 | 2020-08-28 | 深圳思凯微电子有限公司 | Positioning method, positioning device, terminal and storage medium |
| CN112153697A (en) * | 2020-09-03 | 2020-12-29 | 南方电网数字电网研究院有限公司 | CORS resolving method, broadcasting method and system and CORS system under multi-base-station and high-concurrency scene |
| CN113079455A (en) * | 2020-05-22 | 2021-07-06 | 中移(上海)信息通信科技有限公司 | Wireless positioning method, terminal, server, system and computer storage medium |
| WO2024007512A1 (en) * | 2022-07-08 | 2024-01-11 | 中交第二航务工程勘察设计院有限公司 | Positioning measurement and monitoring system |
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| CN113079455A (en) * | 2020-05-22 | 2021-07-06 | 中移(上海)信息通信科技有限公司 | Wireless positioning method, terminal, server, system and computer storage medium |
| CN113079455B (en) * | 2020-05-22 | 2022-01-21 | 中移(上海)信息通信科技有限公司 | Wireless positioning method, terminal, server, system and computer storage medium |
| CN112153697A (en) * | 2020-09-03 | 2020-12-29 | 南方电网数字电网研究院有限公司 | CORS resolving method, broadcasting method and system and CORS system under multi-base-station and high-concurrency scene |
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| WO2024007512A1 (en) * | 2022-07-08 | 2024-01-11 | 中交第二航务工程勘察设计院有限公司 | Positioning measurement and monitoring system |
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