CN108519612B - Network RTK switching method - Google Patents
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- CN108519612B CN108519612B CN201810173064.XA CN201810173064A CN108519612B CN 108519612 B CN108519612 B CN 108519612B CN 201810173064 A CN201810173064 A CN 201810173064A CN 108519612 B CN108519612 B CN 108519612B
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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]
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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
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
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Abstract
The invention provides a network RTK switching method, before the actual physical position of a terminal enters an adjacent VRS from a main VRS, a server side broadcasts differential data of the adjacent VRS to the terminal in advance (at the moment, the broadcasting of the differential data of the main VRS is not interrupted), the terminal carries out positioning calculation based on the differential data of the adjacent VRS in advance, and theoretically, the terminal is close to the adjacent VRS at the moment and can enter a fixed solution. When the actual physical location of the terminal enters the neighboring VRS, the terminal has entered a fixed solution state based on the differential data of the neighboring VRS and has obtained a higher accuracy. At this time, the server stops broadcasting the differential data of the main VRS. The invention is a better solution for solving the problem of cross-grid switching of high-speed motion equipment such as automobiles, unmanned aerial vehicles and the like, and has important significance for popularization of future consumer terminal high-speed dynamic scene application.
Description
Technical Field
The invention relates to the technical field of network RTK, in particular to a network RTK switching method and implementation.
Background
Network RTK (Real-time Kinematic), also known as reference station RTK, is a new technology established on the basis of conventional RTK and differential GPS. We generally refer to positioning methods for establishing multiple (typically three or more) GPS reference stations within an area, forming a mesh coverage of the area, and calculating and broadcasting GPS correction information based on one or more of the reference stations to correct GPS users in the area in real time, as GPS network RTK, also known as multi-reference RTK.
Virtual Reference Stations (VRS-Virtual Reference states). Firstly, a certain number of base stations are erected in a certain area, a base station receives satellite signals and then transmits the information to an information processing center, a mobile station firstly transmits the position information of a receiver to the data processing center, the data processing center can select the information of a plurality of base stations with good positions nearby according to the position of the mobile station, one reference station is virtually arranged, and then the virtually arranged reference station correction data are broadcasted to the mobile station.
The basic principle of network RTK is: the reference station (also called base station or reference station) with known precise coordinates calculates the distance correction number from itself to the satellite and uploads the distance correction number to the data center in a unified manner, and the ground augmentation system (differential broadcast platform) is formed by the reference station and the data center. And the differential broadcasting platform transmits the data to the terminal equipment needing positioning in real time. The terminal equipment receives the differential data sent by the differential broadcasting platform while carrying out satellite observation, and corrects the positioning result, thereby improving the positioning precision. Generally, a square grid is divided according to the actual position of the virtual reference station, the actual physical position of the terminal device is mapped into the grid, and the corresponding virtual reference station and differential data to be broadcast are judged.
The existing network RTK technology mainly aims at a static scene, terminal equipment is static from the beginning to the end of positioning resolving, a corresponding virtual reference station is also unchanged, and the problem of switching of the virtual reference station corresponding to the terminal equipment in the positioning process does not exist. When the network RTK technology is applied to consumer terminal devices and scenarios, such as automobiles, drones, and mobile phones, one problem faced is that the terminal devices are dynamic. Taking the network RTK technology based on the Virtual Reference Station (VRS) as an example, when a car is driving on a highway, the corresponding virtual reference station (generally a square grid) will change at the same time due to the change of the actual physical location of the car (terminal device). For dynamic scenarios, the general solution and implementation is as follows (as shown in fig. 1):
differential data of the virtual reference station 1(VRS1) is broadcast when the location of the terminal corresponds to the grid in which the virtual reference station 1(VRS1) is located;
the terminal performs positioning calculation according to the differential data of the grid where the virtual reference station 1(VRS1) is located;
differential data of the virtual reference station 2(VRS2) is broadcast after the terminal moves to the grid where the virtual reference station 2(VRS2) is located;
at this time, the terminal performs positioning calculation based on the differential data of the grid in which the virtual reference station 2(VRS2) is located.
We refer to the above solution as "hard handover".
The problems existing in the prior art are as follows: the virtual reference station 1 and the virtual reference station 2 are in different grids, and the corresponding differential corrections are also different. When the terminal moves within the range of the VRS1, the received differential data of the VRS1 can obtain a fixed solution and higher positioning solution precision. However, when the terminal just moves to the range of the VRS2 and receives the differential data corresponding to the VRS2, the terminal needs a certain time from the reception of the differential data to the entry of the fixed solution, and the time is likely to be a differential solution or a single-point solution (the corresponding accuracy is low). The method is unacceptable for scenes requiring high reliability, such as automobile automatic driving, unmanned aerial vehicle automatic flying and the like.
Disclosure of Invention
The invention provides a network RTK switching method, aiming at solving based on differential data of VRS2 before the actual physical position of a terminal device enters VRS2 and obtaining high precision, so that even short-time influence on the terminal device can not be caused by stopping the differential data broadcasting of VRS1 after the actual physical position enters VRS 2.
The invention provides a network RTK switching method, and also provides a concrete implementation mode of a corresponding server end system and a corresponding terminal device and a reconstruction implementation mode of an interactive protocol. The technical scheme adopted by the invention is as follows:
a network RTK switching method comprises the following steps:
step 1, a terminal initiates a positioning request and establishes connection with a server;
step 2, the terminal acquires the probability position of the terminal and reports the probability position to the server;
step 3, the server side carries out logic judgment according to the probability position reported by the terminal and a preset strategy;
step 4, the server side broadcasts the differential data of the main VRS grid;
step 5, according to the judgment of the step 3, the server side determines whether and when differential data of adjacent VRS grids are broadcast;
step 6, resolving by the terminal according to the received differential data;
step 7, the terminal continuously positions and reports the probability position to the server;
step 8, the server judges that the terminal enters an adjacent VRS grid according to the probability position reported by the terminal;
step 9, the server side notifies the terminal of switching between the main VRS grid and the adjacent VRS grid, stops broadcasting the differential data of the original main VRS grid, and starts broadcasting the differential data of the new main VRS grid, namely the differential data of the original adjacent VRS grid;
step 10, after receiving the switching message, the terminal executes the following steps:
step 10.1, firstly, taking the calculated alternative calculation result based on the original adjacent VRS grid as an actual use result;
step 10.2, resolving based on the new main VRS grid until a new fixed solution is obtained;
step 10.3, a fixed solution result obtained by calculation based on the new VRS grid is used as an actual use result;
and 11, the terminal continues to calculate and continuously reports the probability position of the terminal until the terminal does not need to be positioned and calculated, and the terminal is disconnected from the server.
Further, in the step 2, the terminal acquires its probability position by a single-point calculation.
Further, the terminal reports the probability position of the terminal to the server side in a GGA mode defined by NMEA.
Further, the step 3 specifically includes the following steps:
step 3.1, selecting a main VRS grid according to the longitude and latitude coordinates of the probability position;
and 3.2, selecting and determining when to broadcast the differential data of the adjacent VRS grids according to the longitude and latitude coordinates of the probability position and a preset strategy.
Further, the VRS grid in step 3.1 is square, and the longitude and latitude coordinates of the probability location are compared with the coordinates of the upper left corner and the lower right corner of the VRS grid, and the VRS grid where the probability location falls is used as the main VRS grid.
Further, the step 3.2 specifically comprises the following steps:
step 3.2.1, judging the moving direction of the terminal according to the change of the probability position at least twice;
step 3.2.2, judging which adjacent VRS grid the terminal can enter according to the moving direction of the terminal;
and 3.2.3, judging when to broadcast the differential data of the adjacent VRS grids according to a preset distance threshold value.
Further, if it cannot be determined which VRS mesh the terminal enters, differential data of the VRS mesh the terminal may enter is broadcast at the same time.
Further, in the step 6, the terminal calculates the result obtained according to the differential data of the main VRS grid, and the result is used as the finally selected positioning result; and (4) solving the obtained result according to the differential data of the adjacent VRS grids to serve as a positioning result for alternative use.
Further, the VRS grid in step 8 is square, and the longitude and latitude coordinates of the probability location are compared with the coordinates of the top left corner and the bottom right corner of the VRS grid, and the adjacent VRS grid where the probability location falls is used as the new primary VRS grid.
Further, the terminal includes any one or more of the following: survey surveying and mapping equipment, cell-phone, car, unmanned aerial vehicle, bicycle.
The invention is a better solution for solving the problem of cross-grid switching of high-speed motion equipment such as automobiles, unmanned aerial vehicles and the like, and has important significance for popularization of future consumer terminal high-speed dynamic scene application.
Drawings
FIG. 1 is a prior art schematic;
FIG. 2 is a flowchart illustrating interaction between a server and a terminal;
FIG. 3 is a flowchart illustrating a specific implementation of a server;
fig. 4 is a flowchart of a specific implementation of the terminal.
Detailed Description
The invention provides a network RTK switching method. Before the actual physical position of the terminal enters the adjacent VRS from the main VRS, the server broadcasts the differential data of the adjacent VRS to the terminal in advance (at the moment, the broadcasting of the differential data of the main VRS is not interrupted), the terminal performs positioning calculation based on the differential data of the adjacent VRS in advance, and theoretically, the terminal is close to the adjacent VRS at the moment and can enter a fixed solution. When the actual physical location of the terminal enters the neighboring VRS, the terminal has entered a fixed solution state based on the differential data of the neighboring VRS and has obtained a higher accuracy. At this time, the server stops broadcasting the differential data of the main VRS. The invention is further illustrated below with reference to the figures and examples.
Fig. 2 is a flowchart of the interaction between the server and the terminal of the present invention, which includes the following steps:
step 1, the terminal initiates a positioning request and establishes connection with a server.
A terminal: the access and use high accuracy positioning service's terminal equipment, like measuring mapping equipment, cell-phone, car, unmanned aerial vehicle, bicycle etc..
Server (cloud): a server platform (operating in a cloud environment) that provides high-precision location services.
The interaction between the general server and the terminal is based on the NTRIP Protocol (network Transport of RTCM via Internet Protocol, Protocol for performing RTCM network transmission through the Internet), and the interaction mode proposed in the present invention needs to be extended or a new Protocol is defined based on the NTRIP Protocol, and a specific interaction Protocol is not limited.
And 2, the terminal acquires the probability position of the terminal through single-point calculation or other modes and reports the probability position to the server.
The reporting mode is generally a GGA field defined by NMEA (National Marine Electronics Association, abbreviated as National Marine Electronics Association, and now, the unified RTCM standard protocol for GPS navigation equipment), and may be other modes without limiting the specific mode of reporting the probabilistic location.
Step 3, the server side performs logic judgment according to the probability position reported by the terminal and a preset strategy, and the logic judgment specifically comprises the following steps:
and 3.1, selecting a main VRS grid according to the longitude and latitude coordinates of the probability position. The preferred embodiment of the decision logic is as follows: the VRS grids are generally squares which are defined in advance, so that the longitude and latitude coordinates of the probability position are compared with the coordinates of the upper left corner and the lower right corner of the VRS grids, the probability position falls within the range of which VRS grid, and which VRS grid is used as the main VRS grid.
And 3.2, selecting and determining when to start broadcasting the differential data of the adjacent VRS grids according to the longitude and latitude coordinates of the probability position and a preset strategy. The preferred strategy examples are as follows:
step 3.2.1, judging the moving direction of the terminal equipment according to the change of the probability position at least twice;
step 3.2.2, judging which adjacent VRS grid the terminal equipment can enter according to the moving direction of the terminal equipment;
step 3.2.3, according to a preset distance threshold (for example, 100 meters, in practical application, the threshold may be determined according to the speed of the terminal moving and the time required for entering the fixed solution), it is determined when to start broadcasting the differential data of the adjacent VRS grids.
If the terminal is not determined to enter a specific VRS grid according to the judgment of the probability position reported by the terminal for many times, for example, the terminal may enter two or three adjacent VRS grids in a square boundary area, and the differential data of the two or three VRS grids can also be broadcast at the same time.
And 4, broadcasting the differential data of the main VRS grid.
And step 5, determining whether and when differential data of a certain adjacent VRS grid is broadcast according to the judgment of the step 3.
And 6, resolving by the terminal according to the received differential data. And calculating the obtained result according to the differential data of the main VRS grid to serve as a finally used positioning result. And (4) solving the obtained result according to the differential data of the adjacent VRS grids to serve as a positioning result for alternative use.
And 7, continuously positioning and reporting the probability position of the terminal by the terminal.
And step 8, the server judges that the terminal enters the adjacent VRS grid according to the probability position reported by the terminal. One specific example of the decision logic is as follows: the VRS grids are generally squares which are defined in advance, so that the longitude and latitude coordinates of the probability position are compared with the coordinates of the upper left corner and the lower right corner of the VRS grids, the probability position falls within the range of which adjacent VRS grid, and the adjacent VRS grid is used as a new main VRS grid.
And 9, the server notifies the terminal of switching between the main VRS grid and the adjacent VRS grid, stops broadcasting the differential data of the original main VRS grid, and starts broadcasting the differential data of the new main VRS grid (the original adjacent VRS grid).
Step 10, after receiving the switching message, the terminal executes the following steps:
step 10.1, firstly, taking the calculated alternative calculation result based on the original adjacent VRS grid as an actual use result;
step 10.2, resolving based on the new main VRS grid until a new fixed solution is obtained;
and step 10.3, taking the fixed solution result obtained by calculation based on the new main VRS grid as the result of actual use.
And 11, the terminal continues to calculate and continuously reports the probability position of the terminal until the terminal does not need to be positioned and calculated, and the terminal is disconnected from the server.
Fig. 3 shows a specific implementation flowchart of the server system, which includes the following specific steps:
step 101, the server side initializes and prepares to receive the positioning request and connection from the terminal.
Step 102, after receiving the request from the terminal, establishing connection and preparing to receive the probability position reported by the terminal.
And 103, selecting a main VRS grid according to the probability position reported by the terminal, and broadcasting differential data.
The preferred embodiment of the decision logic is as follows: the VRS grids are generally squares which are defined in advance, so that the longitude and latitude coordinates of the probability position are compared with the coordinates of the upper left corner and the lower right corner of the VRS grids, the probability position falls within the range of which VRS grid, and which VRS grid is used as the main VRS grid.
And 104, selecting and determining when to start broadcasting the differential data of the adjacent VRS grids according to the longitude and latitude coordinates of the probability position and a preset strategy.
Examples of preferred strategies are as follows: 1) judging the moving direction of the terminal equipment according to the change of the probability position at least twice; 2) judging which adjacent VRS grid the terminal equipment can enter according to the moving direction of the terminal equipment; 3) and judging when to start broadcasting the differential data of the adjacent VRS grids according to a preset distance threshold (for example, 100 meters, the threshold may be determined according to factors such as the moving speed of the terminal and the time required for entering a fixed solution in practical application).
The preconfigured policies further include: if the terminal is not determined to enter a specific VRS grid according to the judgment of the probability position reported by the terminal for many times, for example, the terminal may enter two or three adjacent VRS grids in a square boundary area, and the differential data of the two or three VRS grids can also be broadcast at the same time.
Step 105, broadcasting the differential data of the adjacent VRS grids.
And step 106, receiving the latest probability position uploaded by the terminal, judging again, and repeating the logic from the step 3 to the step 5.
And step 107, stopping positioning and disconnecting.
Fig. 4 shows a specific implementation flowchart of the terminal device (apparatus), which includes the following steps:
step 201, connecting the server and obtaining the probability position according to the single point or other modes.
Step 202, reporting the probability position of the user continuously.
And step 203, receiving the main VRS grid differential data issued by the server, and performing positioning calculation.
And step 204, receiving the adjacent VRS grid differential data issued by the server, and performing positioning calculation.
Step 205, receiving the switching message sent by the server, first taking the calculated alternative solution result based on the original adjacent VRS grid as the result of actual use until step 206 is completed. While stopping the solution based on the original neighboring VRS mesh.
And step 206, resolving based on the differential data of the new main VRS grid until a new fixed solution is obtained. And taking the fixed solution result obtained by calculation based on the new main VRS grid as an actually used result, and stopping using the calculation result based on the original adjacent VRS grid. Returning to step 202, continuously reporting the probability position of the user.
And step 207, stopping positioning and disconnecting.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make variations and modifications of the present invention without departing from the spirit and scope of the present invention by using the methods and technical contents disclosed above.
Claims (8)
1. A network RTK switching method is characterized by comprising the following steps:
step 1, a terminal initiates a positioning request and establishes connection with a server;
step 2, the terminal acquires the probability position of the terminal and reports the probability position to the server;
step 3, the server side carries out logic judgment according to the probability position reported by the terminal and a preset strategy;
step 4, the server side broadcasts the differential data of the main VRS grid;
step 5, according to the judgment of the step 3, the server side determines whether and when differential data of adjacent VRS grids are broadcast;
step 6, resolving by the terminal according to the received differential data;
step 7, the terminal continuously positions and reports the probability position to the server;
step 8, the server judges that the terminal enters an adjacent VRS grid according to the probability position reported by the terminal;
step 9, the server side notifies the terminal of switching between the main VRS grid and the adjacent VRS grid, stops broadcasting the differential data of the original main VRS grid, and starts broadcasting the differential data of the new main VRS grid, namely the differential data of the original adjacent VRS grid;
step 10, after receiving the switching message, the terminal executes the following steps:
step 10.1, firstly, taking the calculated alternative calculation result based on the original adjacent VRS grid as an actual use result;
step 10.2, resolving based on the new main VRS grid until a new fixed solution is obtained;
step 10.3, a fixed solution result obtained by calculation based on the new VRS grid is used as an actual use result;
step 11, the terminal continues to resolve and continuously reports the probability position of the terminal until the terminal does not need to resolve the position, and the terminal is disconnected from the server;
the step 3 specifically comprises the following steps:
step 3.1, selecting a main VRS grid according to the longitude and latitude coordinates of the probability position;
step 3.2, selecting and determining when to broadcast the differential data of the adjacent VRS grids according to the longitude and latitude coordinates of the probability position and a preset strategy;
the step 3.2 specifically comprises the following steps:
step 3.2.1, judging the moving direction of the terminal according to the change of the probability position at least twice;
step 3.2.2, judging which adjacent VRS grid the terminal can enter according to the moving direction of the terminal;
and 3.2.3, judging when to broadcast the differential data of the adjacent VRS grids according to a preset distance threshold value.
2. The method for switching RTK in a network according to claim 1, wherein in step 2, the terminal obtains its probability position by means of single-point calculation.
3. The method as claimed in claim 2, wherein the terminal reports its probabilistic location to the server via a GGA defined by NMEA.
4. The network RTK handoff method according to claim 1, wherein in step 3.1, the VRS grids are squares, and the longitude and latitude coordinates of the probability position are compared with the upper left corner and the lower right corner coordinates of the VRS grids, and the VRS grid where the probability position falls is taken as the main VRS grid.
5. A network RTK handover method according to claim 1, wherein if it cannot be determined which VRS trellis the terminal will enter, the differential data of the VRS trellis the terminal may enter is broadcasted at the same time.
6. The network RTK handoff method according to claim 1, wherein the terminal in step 6 resolves the obtained result according to the difference data of the master VRS grid as the final selected positioning result; and (4) solving the obtained result according to the differential data of the adjacent VRS grids to serve as a positioning result for alternative use.
7. The network RTK handoff method according to claim 1, wherein in step 8, the VRS grids are squares, and the longitude and latitude coordinates of the probability location are compared with the upper left corner and the lower right corner coordinates of the VRS grids, and the adjacent VRS grid where the probability location falls is used as the new primary VRS grid.
8. The method for network RTK handover as claimed in any of claims 1-7, wherein the terminal comprises any one or more of the following: survey surveying and mapping equipment, cell-phone, car, unmanned aerial vehicle, bicycle.
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| CN111142142B (en) * | 2018-11-06 | 2023-04-28 | 千寻位置网络有限公司 | RTK reference station switching processing method and device |
| CN109541660B (en) * | 2018-11-12 | 2020-06-02 | 广东星舆科技有限公司 | VRS switching method, receiver, readable medium and cloud server |
| CN112584454A (en) * | 2019-09-30 | 2021-03-30 | 苏州宝时得电动工具有限公司 | Base station switching method and device and readable storage medium |
| CN113484885B (en) * | 2021-06-21 | 2024-04-05 | 武汉长江通信智联技术有限公司 | Terminal positioning method adapting to CDR data broadcasting VRS technology application |
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| CN1832438A (en) * | 2005-03-08 | 2006-09-13 | 华为技术有限公司 | Service switchover system of next network and its method |
| CN100549720C (en) * | 2006-02-27 | 2009-10-14 | 华为技术有限公司 | A kind of virtual GPS ground receiver system and use the method for this system |
| CN102300274A (en) * | 2011-09-14 | 2011-12-28 | 北京邮电大学 | Geographical-position-information-based fast handover method for time-division duplex long term evolution (TD-LTE) system |
| CN102508270B (en) * | 2011-09-27 | 2013-05-08 | 山东大学 | VRS (Virtual Reference Station) information receiving terminal based on regional grid division mechanism and operating method of VRS information receiving terminal |
| CN102608632B (en) * | 2012-02-16 | 2017-01-04 | 厦门雅迅网络股份有限公司 | Beidou satellite GPS dual-mode cloud differential positioning method and system |
| CN105785410B (en) * | 2014-12-25 | 2019-05-24 | 中国移动通信集团公司 | It is a kind of that the method and system of location information is provided |
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| CN106569239B (en) * | 2015-10-09 | 2019-08-23 | 唐颖哲 | A kind of broadcast type network RTK location technology |
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| CN105606102B (en) * | 2016-01-27 | 2017-04-19 | 中国地质大学（武汉） | Grid model based PDR indoor positioning method and system |
| CN106371122B (en) * | 2016-08-23 | 2019-01-29 | 武汉羲和科技有限公司 | RTK base station search method based on cloud locating platform |
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| CN107071893B (en) * | 2017-01-19 | 2020-04-28 | 湖南北云科技有限公司 | Cellular network RTK positioning method and system |
| CN106814379B (en) * | 2017-01-19 | 2019-07-05 | 湖南北云科技有限公司 | A kind of cloud RTK localization method and system |
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