CN109932736B - Outdoor full-scene all-weather centimeter-level positioning system and method - Google Patents

Abstract

The invention discloses an outdoor full-scene all-weather centimeter-level positioning system, which comprises RAC equipment, RTK equipment, a core positioning module and a positioning information system, wherein the RAC equipment and the RTK equipment are connected to the core positioning module, and the core positioning module outputs positioning information.

Description

Outdoor full-scene all-weather centimeter-level positioning system and method

Technical Field

The invention relates to the technical field of positioning, in particular to an outdoor full-scene all-weather centimeter-level positioning system and method.

Background

In general, GNSS has poor positioning accuracy, and the positioning error of GNSS for civil use can be up to ten and several meters, and the error sources include: satellite-related errors including satellite orbit errors, satellite clock errors, relativistic effects, propagation path-related errors including ionospheric delay and tropospheric delay, reception equipment-related errors including receiver antenna phase center offset, receiver clock errors, and receiver internal noise, network RTK differencing techniques establishing a plurality of GNSS reference stations within an area, constructing a mesh coverage over the map, and correcting and positioning GNSS and users within the area in real time using one or more of the reference stations, techniques, and publishing GNSS correction information, typically network-based RTK techniques with positioning accuracy on the order of centimeters.

However, because the mobile receiving station is often affected by the environment, the view around the position of the mobile receiving station is not wide enough, and is blocked by trees and houses, it cannot be ensured that the receiver can receive enough satellites (at least 5 satellites) to perform differential solution calculation, and accurate positioning at centimeter level cannot be obtained.

Disclosure of Invention

The invention aims to provide an outdoor full-scene all-weather centimeter-level positioning system to solve the problems in the background technology.

In order to realize the purpose, the invention provides the following technical scheme:

an all-weather centimeter-level positioning system of an outdoor full scene comprises RAC equipment, RTK equipment, a core positioning module and a positioning information system, wherein the RAC equipment and the RTK equipment are connected to the core positioning module, and the core positioning module outputs positioning information to the positioning information system.

As a further technical scheme of the invention: the core positioning module comprises a collecting and measuring module, a measuring error calculating module, a statistic compensation quantity module and a positioning information feedback module.

As a further technical scheme of the invention: the collecting and measuring module, the measuring error calculating module, the statistical compensation quantity module and the positioning information feedback module are connected in sequence.

An all-weather centimeter-level positioning method for an outdoor full scene comprises the following steps:

A. installing RTK equipment and RAC equipment; for the RTK installed position (X0, Y0), two sets of positioning data are obtained by the RTK equipment and the RAC equipment: (X0, Y0) and [ X1 ═ m cos (a) ], Y1 ═ m sin (a) ], wherein a is an all-weather centimeter-level positioning system orientation angle of an outdoor full scene, and m is a distance between the RTK device and the RAC device;

B. setting the same frequency for data transmission of the RTK equipment and the RAC equipment;

C. an outdoor all-weather centimeter-level positioning system in a whole scene collects data according to a certain period in the moving process;

D. calculating the difference value of two groups of data of the RTK equipment and the RAC equipment for the data in the period, and summing and accumulating;

E. collecting data of a plurality of operation periods, summarizing, and calculating an average value according to the total number of samples, wherein the average value is a RAC equipment compensation value

As a further technical scheme of the invention: further comprising step F: when the RTK equipment can not acquire the satellite positioning system signals, the RAC is measured through the RAC (X1, Y1) according to the formula

And calculating to obtain positioning data.

Compared with the prior art, the invention has the beneficial effects that: the outdoor all-scene all-weather centimeter-level positioning system solves the problem that RTK cannot receive signals of a satellite positioning system under the shielding of high buildings and trees, so that equipment can receive data signals of the satellite positioning system, the accuracy of the signals is ensured, the average error in the aspect of dimensionality is 0.108 meter, and the precision is 0.235 meter.

Drawings

Fig. 1 is a circuit diagram of the present invention.

FIG. 2 is a flow chart of the method of the present invention.

Fig. 3 is a first schematic diagram of positioning of the RTK device and the RCK device.

Fig. 4 is a schematic positioning diagram two of the RTK device and the RCK device.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Example 1: referring to fig. 1-4, an outdoor all-weather centimeter-level positioning system with full scenes has the following function principle: under the blockage of some high-rise buildings and trees, the RTK GNSS differential technology cannot receive signals. The RAC technique can receive satellite signals under obstacles through an antenna array mode and a software algorithm, but the positioning accuracy is in the sub-meter level, namely the positioning accuracy of a static object is 1.5 meters, the positioning accuracy of a dynamic object is 0.6 meters, the advantages and the disadvantages of the RTK differential technique and the RAC technique are combined for integration, in a time period, the positioning data of the RTK receiver and the positioning data of the RAC receiver are counted under the environment without obstacles, the difference of the two positioning data is collected, when the RTK receiver is influenced by the obstacles, the difference compensation is carried out on the data in the RAC receiver, and the positioning data with the accuracy close to the centimeter level can be obtained.

Suppose that: RTK (i) represents position data measured by an RTK device at a sample point i, RAC (i) represents position data measured by an RAC device at a sample point, and assuming that d (i) -RTK (i) -RAC (i), we want to be able to minimize the cumulative square error Y between RTK and RAC + phi by compensating for the measured value of RAC.

This formula translates to the following mathematical model:

when in use

When the minimum (i.e. the square error is minimum after compensation of RTK and RAC), the calculation is carried out

The value is obtained.

According to the following steps:

the above formula is a typical quadratic equation of one dimension, according to the Weddar theorem, when

Namely, it is

After RAC is compensated, the measured value of RAC is X compensatedMay be closest to the RTK measurements.

Based on the principle, the hardware structure of the invention is shown in fig. 1, and comprises an RAC device, an RTK device, a core positioning module and a positioning information system, wherein the core positioning module internally comprises a collecting and measuring module, a measuring error calculating module, a statistical compensation quantity module and a positioning information feedback module, the collecting and measuring module, the measuring error calculating module, the statistical compensation quantity module and the positioning information feedback module are sequentially connected, the RAC device and the RTK device are both connected to the core positioning module, and the core positioning module is further connected to the positioning information system.

The specific positioning method comprises the following steps:

A. installing RTK equipment and RAC equipment; for the RTK installed position (X0, Y0), two sets of positioning data are obtained by the RTK equipment and the RAC equipment: (X0, Y0) and [ X1 ═ m cos (a) ], Y1 ═ m sin (a) ], wherein a is the orientation angle of the outdoor full-scene all-weather centimeter-level positioning system (the device shown in fig. 1);

B. setting the same frequency for data transmission of the RTK equipment and the RAC equipment;

C. an outdoor all-weather centimeter-level positioning system (the device shown in figure 1) in a whole scene collects data according to a certain period in the moving process;

D. calculating the difference value of the RTK data and the RAC data in the period, and summing and accumulating;

E. collecting data of a plurality of operation periods, summarizing, and calculating an average value according to the total number of samples, wherein the average value is a RAC equipment compensation value

F. When the RTK equipment can not acquire the satellite positioning system signals, the RAC is measured through the RAC (X1, Y1) according to the formula

And calculating to obtain positioning data. The work flow is shown in fig. 2.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims (1)

1. An all-weather centimeter-level positioning method for an outdoor full scene is characterized by comprising the following steps:

A. installing RTK equipment and RAC equipment; for the RTK installed position (X0, Y0), two sets of positioning data are obtained by the RTK equipment and the RAC equipment: (X0, Y0) and [ X1 ═ m cos (a) ], Y1 ═ m sin (a) ], wherein a is an all-weather centimeter-level positioning system orientation angle of an outdoor full scene, and m is a distance between the RTK device and the RAC device;

B. setting the same frequency for data transmission of the RTK equipment and the RAC equipment;

C. an outdoor all-weather centimeter-level positioning system in a whole scene collects data according to a certain period in the moving process;

D. calculating the difference value of two groups of data of the RTK equipment and the RAC equipment for the data in the period, and summing and accumulating;

E. collecting data of a plurality of operation periods, summarizing, and calculating an average value according to the total number of samples, wherein the average value is a RAC equipment compensation value

Further comprising step F: when the RTK equipment can not acquire the satellite positioning system signals, the measured values (X1, Y1) of the RAC equipment are obtained according to the formula

And calculating to obtain positioning data.

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