CN109669194B - GNSS virtual reference station intelligent station setting method and system - Google Patents

GNSS virtual reference station intelligent station setting method and system Download PDF

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CN109669194B
CN109669194B CN201910153359.5A CN201910153359A CN109669194B CN 109669194 B CN109669194 B CN 109669194B CN 201910153359 A CN201910153359 A CN 201910153359A CN 109669194 B CN109669194 B CN 109669194B
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virtual reference
reference station
data
coordinate information
gnss
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CN109669194A (en
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冯威
刘玺
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Liu Xi
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Chengdu Beidou Yixun Technology Co ltd
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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
    • G01S19/07—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/40—Correcting position, velocity or attitude
    • G01S19/41—Differential correction, e.g. DGPS [differential GPS]

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Mobile Radio Communication Systems (AREA)

Abstract

The invention discloses an intelligent station setting method for a GNSS virtual reference station, which comprises the following steps: s1, selecting a plurality of mobile stations, acquiring coordinate information of the selected mobile stations, determining a center position, performing format conversion on the coordinate information of the center position, and sending the coordinate information to a server; and S2, receiving the GNSS virtual reference station differential data returned by the server side, and sending the GNSS virtual reference station differential data to the rover stations around the central position. The system comprises: the central point calculation module is used for acquiring coordinate information of the selected multiple mobile stations and determining the central position; the format conversion module is used for carrying out format conversion on the coordinate information of the central position; and the data transmission module is used for sending the data to the server, receiving the GNSS virtual reference station differential data returned by the server and sending the data to the mobile stations around the central position. The method can realize the function that one GNSS virtual reference station provides service for a plurality of users at short distance, fully utilizes the differential data resources of the GNSS virtual reference station, and is beneficial to reducing the cost of enhancing the position service.

Description

GNSS virtual reference station intelligent station setting method and system
Technical Field
The invention relates to the technical field of GNSS/Beidou CORS network enhanced position service, in particular to an intelligent station setting method and system for a GNSS virtual reference station. The invention determines the optimal position of the GNSS virtual reference station according to the position of the rover station.
Background
The high-precision satellite navigation position service is rapidly developed in China, and particularly after a Beidou navigation satellite system in China starts to provide position service for the global scope, more high-precision position service demands can emerge in various industries. Virtual Reference Station (VRS) technology is a widely used GNSS ground-based enhanced location service technology. The VRS technology has good universality and can be almost suitable for terminals with differential positioning functions of all manufacturers.
The core idea of the VRS is that in the process of location service, a location server generates a virtual reference station around the location server according to the location information of a certain rover (a terminal that needs to be located), calculates differential data of the virtual reference station, then sends the differential data information of the virtual reference station to the rover, and the rover combines its own location module to implement enhanced location service after receiving the differential data of the virtual reference station. It can be seen that the set-up of the virtual reference station only takes into account the position of a certain rover. This approach can provide effective differential positioning data to the corresponding rover station, but does not fully take into account the characteristics of the virtual reference station's differential data as being able to satisfy a range of enhanced location services. The conventional virtual reference station setting mode has the following defects in providing the enhanced location service: when a plurality of rover users at a short distance (for example, a distance less than 20 km) need to perform enhanced differential positioning, a plurality of virtual reference stations exist in the conventional service mode, and sharing, sharing and cooperative work among the virtual reference stations are not considered, so that the virtual reference stations are under-utilized.
Disclosure of Invention
The invention aims to provide a GNSS virtual reference station intelligent station setting method and system, aiming at solving the technical problem that the optimal position setting cannot be realized according to the positions of a plurality of rover stations in the prior art, so as to determine the station setting position of the virtual reference station according to the positions of the plurality of rover stations in a small area range and realize that the plurality of rover stations share one virtual reference station for position enhancement service.
The technical scheme adopted by the invention is as follows:
the intelligent station setting method of the GNSS virtual reference station comprises the following steps:
s1, selecting a plurality of mobile stations, acquiring coordinate information of the selected mobile stations, determining a central position according to the acquired coordinate information of the mobile stations, converting the coordinate information of the central position into data in a format required by a server side for establishing a GNSS virtual reference station, and sending the converted data to the server side;
and S2, receiving the GNSS virtual reference station differential data returned by the server, and sending the received GNSS virtual reference station differential data to the mobile stations around the central position.
On the basis of the technical scheme, the intelligent GNSS virtual reference station setting method further comprises the following steps: and the server generates a GNSS virtual reference station according to the received data and returns the differential data of the GNSS virtual reference station.
On the basis of the above technical solution, in S1, determining the center position according to the obtained coordinate information of the mobile station includes: and calculating the central coordinate value according to the coordinate information of all the selected mobile stations by adopting an average value calculation method.
On the basis of the foregoing technical solution, in S1, determining the center position according to the obtained coordinate information of the mobile station includes: and calculating the central coordinate value according to the coordinate information of all the selected mobile stations by adopting a weighted average value calculation method.
On the basis of the above technical solution, in S1, converting the coordinate information of the central position into data in a format required by the server for establishing the GNSS virtual reference station includes: and converting the coordinate information into data in a format required by the server side for establishing the GNSS virtual reference station.
The system of the GNSS virtual reference station intelligent station setting method comprises a central point calculation module, a format conversion module and a data transmission module;
the central point calculation module is used for acquiring the coordinate information of the selected multiple mobile stations and determining the central position according to the acquired coordinate information of the mobile stations;
the format conversion module is used for converting the coordinate information of the central position into data in a format required by the server side for establishing the GNSS virtual reference station;
and the data transmission module is used for sending the data after the data format conversion to the server, receiving the differential data of the GNSS virtual reference station returned by the server, and sending the received differential data of the GNSS virtual reference station to the mobile stations around the central position.
On the basis of the above technical solution, the system of the GNSS virtual reference station intelligent station setting method further includes: and the server is used for receiving the data after the data format conversion transmitted by the data transmission module, generating a GNSS virtual reference station according to the received data, and returning differential data of the GNSS virtual reference station to the data transmission module.
On the basis of the technical scheme, determining the central position according to the acquired coordinate information of the mobile station comprises the following steps: and calculating the central coordinate value according to the coordinate information of all the selected mobile stations by adopting an average value calculation method or a weighted average value calculation method.
The invention has the beneficial effects that:
the method comprises the steps of setting stations intelligently, calculating the central position according to a plurality of mobile stations which are relatively close to each other, generating the GNSS virtual reference station at the central position, and obtaining the differential data of the position. The invention is particularly suitable for providing GNSS enhanced location services shared by GNSS virtual reference stations for a plurality of rover stations when the plurality of rover stations are not far apart.
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FIG. 1 is a flow chart of a method of an embodiment of the present invention.
Fig. 2 is a schematic diagram of intelligent station setting of a virtual reference station according to an embodiment of the invention.
Detailed Description
The invention is further described with reference to the following figures and specific embodiments.
Example 1:
as shown in fig. 1, the intelligent GNSS virtual reference station setting method of the present embodiment includes the following steps:
the method comprises the steps of firstly, selecting a plurality of moving stations which are relatively close to each other, obtaining coordinate information of the selected moving stations, determining a central position according to the obtained coordinate information of the moving stations, converting the coordinate information of the central position into data in a format required by a server side for establishing a GNSS virtual reference station, and sending the converted data to the server side.
Determining the center position according to the acquired coordinate information of the mobile station includes: and calculating a central coordinate value according to the coordinate information of all the selected mobile stations by adopting an average value calculation method.
Another implementation is: and calculating the central coordinate value according to the coordinate information of all the selected mobile stations by adopting a weighted average value calculation method.
Converting the coordinate information of the central position into data in a format required by a server side to establish a GNSS virtual reference station comprises the following steps: and converting the coordinate information into coordinate system conversion to obtain coordinate information of a coordinate system supported by the server, and converting the coordinate information into data in a format required by the server for establishing the GNSS virtual reference station.
And secondly, the server side generates a GNSS virtual reference station according to the received data and returns the differential data of the GNSS virtual reference station.
In this embodiment, the server is a network RTK server.
And thirdly, receiving the GNSS virtual reference station differential data returned by the server side, and sending the received GNSS virtual reference station differential data to the rover stations around the central position.
The embodiment takes the CORS network RTK virtual reference station location service as an example to describe the technical solution related to the present invention, but is not limited to the CORS network RTK virtual reference station location service.
In a traditional network RTK virtual reference station position service mode, each rover station directly sends own position information to a server side in an NMEA format, the server side provides virtual reference station difference data corresponding to each rover station according to the position of each rover station, and the position of the virtual reference station used by the rover station is determined by the server side according to the position information of the rover station. It can be seen that in the conventional mode, the position of the virtual reference station only takes into account a certain corresponding rover station.
The invention determines the center position of a plurality of rover stations which are not far away from each other and sets the GNSS virtual reference station at the center position. Rather than determining the GNSS virtual reference station position from a single rover position.
For example, 5 rovers with close distance need network RTK positioning services as shown in fig. 2. The method comprises the steps of firstly selecting the number 1, 2 and 3 rover stations (or other selection modes), obtaining coordinate information of the three selected rover stations, determining a central position according to the obtained coordinate information of the three rover stations, converting the coordinate information of the central position into data in an NMEA (N-network real time architecture) format required by a network RTK server for establishing a GNSS (global navigation satellite system) virtual reference station as shown by a solid circle in figure 2, and sending the converted data to the network RTK server. And the network RTK server generates a GNSS virtual reference station according to the received NMEA format data and returns the differential data of the GNSS virtual reference station. And receiving differential data of the GNSS virtual reference station returned by the network RTK server, and sending the received differential data of the GNSS virtual reference station to number 1, 2, 3, 4 and 5 rover stations around the central position, thereby realizing network RTK positioning of sharing one GNSS virtual reference station by a plurality of rover stations.
According to the technical scheme disclosed by the embodiment, the position service of the traditional network RTK virtual reference station can be realized, the differential data of one GNSS virtual reference station shared by a plurality of rover stations can be realized, and the utilization rate of the GNSS virtual reference station is improved; the position of the GNSS virtual reference station is referenced to the central positions of the plurality of rover stations, so that the distance between each rover station and the GNSS virtual reference station is kept in a short range, and the positioning accuracy of the rover station network RTK is guaranteed.
Example 2:
as shown in fig. 1, the intelligent GNSS virtual reference station setting method of the present embodiment includes the following steps:
the method comprises the steps of firstly, selecting a plurality of mobile stations which are relatively close to each other, obtaining coordinate information of the selected mobile stations, determining a central position according to the obtained coordinate information of the mobile stations, converting the coordinate information of the central position into data in a format required by a server side for establishing a GNSS virtual reference station, and sending the converted data to the server side.
Determining the center position according to the acquired coordinate information of the mobile station includes: and calculating the central coordinate value according to the coordinate information of all the selected mobile stations by adopting an average value calculation method.
Another implementation is: and calculating the central coordinate value according to the coordinate information of all the selected mobile stations by adopting a weighted average value calculation method.
Converting the coordinate information of the central position into data in a format required by a server side to establish a GNSS virtual reference station comprises the following steps: and converting the coordinate information into data in a format required by the server side for establishing the GNSS virtual reference station.
And secondly, the server side generates a GNSS virtual reference station according to the received data and returns the differential data of the GNSS virtual reference station.
In this embodiment, the server is a network RTK server.
And thirdly, receiving the GNSS virtual reference station differential data returned by the server side, and sending the received GNSS virtual reference station differential data to the rover stations around the central position.
The GNSS virtual reference station intelligent station setting system comprises a central point calculation module, a format conversion module and a data transmission module;
the central point calculation module is used for acquiring the coordinate information of the selected multiple mobile stations and determining the central position according to the acquired coordinate information of the mobile stations;
the format conversion module is used for converting the coordinate information of the central position into data in a format required by the server side for establishing the GNSS virtual reference station;
the data transmission module is used for sending the data after the data format conversion to the server, receiving the differential data of the GNSS virtual reference station returned by the server, and sending the received differential data of the GNSS virtual reference station to the mobile stations around the central position;
and the server is used for receiving the data after the data format conversion transmitted by the data transmission module, generating a GNSS virtual reference station according to the received data, and returning differential data of the GNSS virtual reference station to the data transmission module.
Determining the center position according to the acquired coordinate information of the mobile station includes: and calculating a central coordinate value according to the coordinate information of all selected mobile stations by adopting an average value calculation method or a weighted average value calculation method.
The invention is not limited to the above alternative embodiments, and any other various forms of products can be obtained by anyone in the light of the present invention, but any changes in shape or structure thereof, which fall within the scope of the present invention as defined in the claims, fall within the scope of the present invention.

Claims (8)

  1. The intelligent station setting method of the GNSS virtual reference station is characterized by comprising the following steps: the method comprises the following steps:
    s1, selecting a plurality of moving stations, acquiring coordinate information of the selected moving stations, determining a central position according to the acquired coordinate information of the moving stations, converting the coordinate information of the central position into data in a format required by a server for establishing a GNSS virtual reference station, and sending the converted data to the server;
    and S2, receiving the GNSS virtual reference station differential data returned by the server, and sending the received GNSS virtual reference station differential data to the mobile stations around the central position.
  2. 2. The GNSS virtual reference station intelligent station setting method of claim 1, wherein: the GNSS virtual reference station intelligent station setting method further comprises the following steps: and the server generates a GNSS virtual reference station according to the received data and returns the differential data of the GNSS virtual reference station.
  3. 3. The GNSS virtual reference station intelligent station setting method of claim 1, wherein: in S1, determining the center position according to the obtained coordinate information of the mobile station includes: and calculating the central coordinate value according to the coordinate information of all the selected mobile stations by adopting an average value calculation method.
  4. 4. The GNSS virtual reference station intelligent station setting method of claim 1, wherein: in S1, determining the center position according to the obtained coordinate information of the mobile station includes: and calculating the central coordinate value according to the coordinate information of all the selected mobile stations by adopting a weighted average value calculation method.
  5. 5. The GNSS virtual reference station intelligent station setting method according to claim 3 or 4, wherein: in S1, converting the coordinate information of the central position into data in a format required by the server to establish the GNSS virtual reference station includes: and converting the coordinate information into data in a format required by the server side for establishing the GNSS virtual reference station.
  6. 6. The system of the GNSS virtual reference station intelligent station setting method according to any of claims 1-5, characterized in that: the system comprises a central point calculation module, a format conversion module and a data transmission module;
    the central point calculation module is used for acquiring the coordinate information of the selected multiple mobile stations and determining the central position according to the acquired coordinate information of the mobile stations;
    the format conversion module is used for converting the coordinate information of the central position into data in a format required by the server side for establishing the GNSS virtual reference station;
    and the data transmission module is used for sending the data after the data format conversion to the server, receiving the differential data of the GNSS virtual reference station returned by the server, and sending the received differential data of the GNSS virtual reference station to the mobile stations around the central position.
  7. 7. The system of the GNSS virtual reference station intelligent station setting method of claim 6, wherein: the system of the GNSS virtual reference station intelligent station setting method further comprises: and the server is used for receiving the data after the data format conversion transmitted by the data transmission module, generating a GNSS virtual reference station according to the received data, and returning differential data of the GNSS virtual reference station to the data transmission module.
  8. 8. The system of the GNSS virtual reference station intelligent station setting method of claim 6, wherein: determining the center position according to the acquired coordinate information of the mobile station includes: and calculating the central coordinate value according to the coordinate information of all the selected mobile stations by adopting an average value calculation method or a weighted average value calculation method.
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CN110261879B (en) * 2019-07-31 2020-03-10 西南交通大学 Grid virtual reference station method for wide area ground based enhanced location service
CN110809317B (en) * 2019-10-09 2021-02-26 北京讯腾智慧科技股份有限公司 Multi-source dynamic grid network RTK positioning method, system, terminal and storage medium
CN113075707B (en) * 2021-04-02 2022-12-27 广州极飞科技股份有限公司 Information processing method, device, central station and system of global navigation positioning system

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US7227496B2 (en) * 2005-05-26 2007-06-05 Trimble Navigation Limited GPS rover station having position dithering for controlling accuracy of secure positions
CN101799525B (en) * 2009-07-10 2012-10-24 中国测绘科学研究院 Method for autonomously monitoring integrity of monitoring stations of global navigation satellite system augmentation system
CN106772511B (en) * 2017-01-19 2019-06-14 湖南北云科技有限公司 A kind of distribution cloud RTK localization method and system

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Address after: No. 12, 6th Floor, Unit 2, Building 10, No. 66 Qingyuan Road, Xindu District, Chengdu City, Sichuan Province, 610500

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