CN111812697A - Combined positioning and attitude measurement data processing method based on multi-mode precision positioning - Google Patents
Combined positioning and attitude measurement data processing method based on multi-mode precision positioning Download PDFInfo
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- 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
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Abstract
The invention discloses a combined positioning and attitude measurement data processing method based on multi-mode precision positioning, which comprises the following steps: loading position and attitude measurement system data, checking and configuring a precision positioning mode and a coordinate conversion relation, preprocessing GNSS data, preprocessing inertial navigation data, performing data fusion on the preprocessed GNSS data and the preprocessed inertial navigation data to obtain a measurement system integration result and an attached file, outputting a position and attitude measurement system integration result and an attached file, outputting an engineering processing inspection data inspection result, and checking and confirming the engineering processing data inspection result and the position and attitude measurement system integration result. On the premise of ensuring high positioning precision, the method does not need to know a control point and erect a reference station receiver on the control point, does not need to consider the longest distance between the reference station and the mobile station, is flexible and convenient to operate, does not need to wait for GNSS data of the reference station, does not need to manually input parameters of the reference station, and is easy to operate and process in a one-key mode.
Description
Technical Field
The invention belongs to the technical field of data processing of position and attitude measurement systems, and particularly relates to a combined positioning and attitude measurement data processing method based on multi-mode precision positioning.
Background
The position and attitude measurement System integrates a GNSS (Global Navigation Satellite System) technology and an Inertial Navigation (Inertial Navigation System) technology, and the combined Navigation positioning System which combines the long-term high-precision characteristic of the GNSS technology and the short-term high-precision characteristic of the Inertial Navigation technology can well make up the defects of the two technologies and form advantage complementation.
Due to the influence of many factors such as satellite ephemeris error, clock error, troposphere error and ionosphere error, the positioning longitude of the GNSS single-point positioning mode is generally in the meter level, which is difficult to meet the requirement of high-precision positioning, and the application range and depth of the GNSS single-point positioning mode are limited. In order to improve the system performance, a GNSS reference station is usually erected within 30-50 km of a working area, and two or more receivers are adopted to obtain centimeter-level positioning results after the fact by utilizing carrier phase observation values. However, in this method, it is necessary to know the coordinates of the control point, and to erect a reference station at the control point before each operation, and it is necessary to take into account the maximum base line length between the reference station and the rover.
With the development of real-time precision positioning technology, real-time dynamic centimeter-level positioning has become a reality, such as: thousand seek position FindCM service, CORS service, RTK, and real-time PPP. Compared with the carrier difference afterwards, the real-time precise positioning mode is adopted, the operation is more flexible, a reference station does not need to be erected at a known point, and the constraint of the maximum base length of the reference station and the rover station is avoided.
Searching positions repeatedly: based on the basic positioning data of the Beidou satellite system (compatible with GPS, GLONASS and Galileo), the positioning algorithm which is more than 2200 foundation enhancement stations and independently researched and developed across the whole country is utilized, various positioning technologies are fused, the big data operation is carried out through the internet technology, the high-availability differential broadcasting service of 7 x 24 hours is provided, the positioning capability of up to dynamic centimeter level and static millimeter level is provided for various terminals and application systems in the 32 provincial and commercial scope across the country, and the accurate positioning and extension service is provided for users across the whole country.
CORS service: a continuous operation reference station network (CORS) based on GNSS positioning is one of modern information infrastructures for acquiring spatial data and geographic features in real time, rapidly and with high precision. The core of the CORS technology is that a navigation satellite data tracking reference station network is formed by a plurality of permanent GNSS reference stations and is connected with a corresponding data communication network, and various high-precision space positioning and diversified information services CORS are provided according to the real-time requirements of users.
RTK positioning technique: two or more receivers are used to determine the location of the user bearer in real time or afterwards using the carrier phase observations. The device has the advantages of low operation cost, all-weather observation, more discrete positioning precision and the like, and is widely applied to the research fields of geodetic surveying, engineering surveying, geospatial science and the like.
Precision point positioning technique PPP: the method is a positioning method which utilizes precision satellite orbit and precision satellite clock error products issued by organizations such as IGS and the like or obtained by self-resolving, comprehensively considers the precise correction of each error model, carries out non-differential positioning resolving on phase and pseudo-range observation values acquired by a single receiver and obtains high-precision frame coordinates. The user does not need to erect a ground reference station by himself, is not limited by the operation distance, is flexible, operates by a single machine, is low in use cost, and can directly obtain the high-precision survey station coordinate which is consistent with the international earth reference frame.
The four approaches described above each have disadvantages: the thousand seek position service and the CORS service cannot realize comprehensive coverage at present; RTK needs to erect a base station receiver and radio station equipment at a known control point, and needs to consider the longest base line distance between a mobile station and a base station; the thousand searching position service and the CORS service need to purchase precise positioning service in advance; the CORS service does not realize comprehensive unified networking, each region operates independently, at least one service account needs to be purchased according to the distribution of operation regions, and the problems of non-unified coordinate frames and disordered results of each service region exist.
Therefore, it is important that the position and attitude measurement system hardware equipment and data post-processing are compatible with the four modes of hit/CORS/RTK/PPP.
Disclosure of Invention
The invention aims to provide a combined positioning and attitude measurement data processing method based on multi-mode precision positioning, aiming at the defects of the prior art, and the combined positioning and attitude measurement data processing method has high precision, convenience, stability, reliability and excellent economy.
In order to achieve the purpose, the invention adopts the following technical scheme:
the combined positioning and attitude measurement data processing method based on multi-mode precision positioning comprises the following steps:
the first step is as follows: the position and attitude measurement system data is loaded,
the second step is that: the precise positioning mode is checked and configured,
the third step: the coordinate conversion relationship is viewed and configured,
the fourth step: the GNSS data is pre-processed and,
the fifth step: the inertial navigation data is preprocessed, and then,
and a sixth step: performing data fusion on the GNSS data preprocessed in the fourth step and the inertial navigation data preprocessed in the fifth step to obtain a measurement system integration result and an attached file,
the seventh step: outputting the integrated result of the position and attitude measurement system and the attached file in the sixth step,
eighth step: outputting the inspection result of the engineering processing inspection data,
the ninth step: and checking and confirming the engineering processing data checking result and the position and attitude measurement system integration result.
Further, the data of the position and attitude measurement system loaded in the first step includes rover GNSS observation data, inertial navigation raw observation data and configuration information files.
Furthermore, the checking and configuring precise positioning modes in the second step comprise thousand-searching position service positioning, CORS service positioning, RTK positioning and real-time PPP positioning.
Further, the coordinate transformation relationship viewed and configured in the third step includes default transformation parameter settings or custom transformation parameter settings.
Further, the preprocessing of the GNSS data in the fourth step includes extracting positioning result information, such as extracting time, position, speed, medium error, positioning quality, satellite number, and the like, checking a positioning result, and removing abnormal data.
Further, the preprocessing of the inertial navigation data in the fifth step includes analyzing the inertial navigation raw data, such as analyzing time, a three-axis gyroscope, a three-axis adding table, temperature and the like, checking the inertial navigation data, eliminating abnormal data and repairing lost data.
Further, the data fusion of the GNSS and the inertial navigation in the sixth step includes data synchronization of the GNSS and the inertial navigation, combined solution of the GNSS and the inertial navigation, and combined inspection of the GNSS and the inertial navigation. The GNSS and inertial navigation combined solution is established through a Kalman filtering equation, and according to the error in the positioning quality of a precision positioning result, the inertial navigation precision and the filtering parameter setting, error parameter estimation, forward and backward filtering solution and forward direction solution result fusion.
Further, in the seventh step, the integrated result of the position and attitude measurement system and the attached file are output, including the data of the precision positioning result, the output of the inertial navigation resolving result and the output of the combined resolving result of the GNSS and the inertial navigation.
And further, in the eighth step, the data inspection result is output, which includes a precision positioning result inspection report, an inertial navigation data inspection report, a GNSS and inertial navigation combination inspection report, and summary and output of each inspection result.
By adopting the technical scheme of the invention, the invention has the beneficial effects that: compared with a common mode, the one-click high-precision post-incident integrated navigation application mode suitable for the thousand search/CORS/RTK/PPP provided by the invention has the following advantages and effects:
(1) the real-time precision positioning technology is adopted:
on the premise of ensuring high positioning precision, a reference station receiver does not need to be erected on a known control point and the longest distance between the reference station and the mobile station does not need to be considered, and the operation is flexible and convenient.
(2) One-click post-incident integrated navigation:
the real-time precise positioning technology is benefited from being applied, the post integrated navigation resolving only needs to load the position and attitude measurement system data files, the post resolving of the position and attitude measurement system data can be immediately carried out after the engineering data acquisition is finished, the reference station GNSS data does not need to be waited, the reference station parameters do not need to be manually input, and the one-click operation processing is easy.
Drawings
FIG. 1 is a flow chart of a combined positioning and attitude measurement data processing method based on multi-mode precision positioning provided by the invention.
Detailed Description
Specific embodiments of the present invention will be further described with reference to the accompanying drawings.
As shown in the figure, the combined positioning and attitude measurement data processing method based on multi-mode precision positioning comprises the following steps:
the first step is as follows: and loading position and attitude measurement system data, including rover GNSS observation data, inertial navigation original observation data and configuration information files.
The second step is that: and checking and configuring a precise positioning mode, which comprises a thousand-searching position service positioning mode, a CORS service positioning mode, an RTK positioning mode and a real-time PPP positioning mode.
The third step: and viewing and configuring the coordinate conversion relation, wherein the coordinate conversion relation comprises default conversion parameter setting or custom conversion parameter setting.
The fourth step: the GNSS data is preprocessed, and positioning result information is extracted, such as time, position, speed, medium error, positioning quality, satellite number and the like, and the positioning result is checked and abnormal data is eliminated.
The fifth step: the method comprises the steps of preprocessing inertial navigation data, including analyzing original inertial navigation data such as time, a three-axis gyroscope, a three-axis adding table, temperature and the like, checking the inertial navigation data, eliminating abnormal data and repairing lost data.
And a sixth step: and performing data fusion on the GNSS data preprocessed in the fourth step and the inertial navigation data preprocessed in the fifth step to obtain a measurement system integration result and an attached file, wherein the measurement system integration result and the attached file comprise GNSS and inertial navigation data synchronization, GNSS and inertial navigation combined resolving and GNSS and inertial navigation combined checking. The GNSS and inertial navigation combined solution is established through a Kalman filtering equation, and according to the error in the positioning quality of a precision positioning result, the inertial navigation precision and the filtering parameter setting, error parameter estimation, forward and backward filtering solution and forward direction solution result fusion.
The seventh step: and outputting the position and attitude measurement system integration result and the attached file in the sixth step, wherein the position and attitude measurement system integration result and the attached file comprise data of a precision positioning result, output of an inertial navigation analysis result and output of a GNSS and inertial navigation combined resolving result.
Eighth step: and outputting the inspection results of the engineering processing inspection data, including a precision positioning result inspection report, an inertial navigation data inspection report, a GNSS and inertial navigation combined inspection report, and summarizing and outputting all the inspection results.
The ninth step: and checking and confirming the engineering processing data checking result and the position and attitude measurement system integration result.
As shown in the figure, during the specific operation, data and configuration information, including data of the position and attitude measurement system, are loaded first, specifically, the step one is described above.
And then judging whether the configuration information is consistent with the acquisition state, if not, checking, modifying and confirming the configuration information, namely the second step and the third step.
And if the judgment result is consistent, directly performing one-click processing, namely performing preprocessing on GNSS data, performing preprocessing on inertial navigation data, performing data fusion on the GNSS and the inertial navigation, outputting the inheritance structure and the attached file, and outputting the data inspection result.
And finally, checking and confirming the engineering processing inspection result and the position and attitude measurement system integration result.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (9)
1. The combined positioning and attitude measurement data processing method based on multi-mode precision positioning is characterized by comprising the following steps of:
the first step is as follows: the position and attitude measurement system data is loaded,
the second step is that: the precise positioning mode is checked and configured,
the third step: the coordinate conversion relationship is viewed and configured,
the fourth step: the GNSS data is pre-processed and,
the fifth step: the inertial navigation data is preprocessed, and then,
and a sixth step: performing data fusion on the GNSS data preprocessed in the fourth step and the inertial navigation data preprocessed in the fifth step to obtain a measurement system integration result and an attached file,
the seventh step: outputting the integrated result of the position and attitude measurement system and the attached file in the sixth step,
eighth step: outputting the inspection result of the engineering processing inspection data,
the ninth step: and checking and confirming the engineering processing data checking result and the position and attitude measurement system integration result.
2. The combined positioning and attitude measurement data processing method based on multi-mode precision positioning as claimed in claim 1, wherein the data loaded with the position and attitude measurement system in the first step comprises rover GNSS observation data, inertial navigation raw observation data and configuration information files.
3. A combined positioning and attitude determination data processing method based on multi-mode precision positioning as claimed in claim 1, wherein the viewing and configuring precision positioning modes in step two include a thousand search position service positioning, a CORS service positioning, an RTK positioning and a real-time PPP positioning.
4. The combined positioning and attitude determination data processing method based on multi-mode precision positioning as claimed in claim 1, wherein the coordinate transformation relationship viewed and configured in the third step includes default transformation parameter settings or custom transformation parameter settings.
5. The combined positioning and attitude determination data processing method according to claim 1, wherein the preprocessing of GNSS data in step four includes extracting positioning result information, positioning result checking and abnormal data elimination.
6. The combined positioning and attitude determination data processing method based on multi-mode precision positioning as claimed in claim 1, wherein the preprocessing of the inertial navigation data in the fifth step includes parsing of inertial navigation raw data, inertial navigation data inspection, abnormal data elimination and lost data recovery.
7. The combined positioning and attitude determination data processing method based on multi-mode precision positioning as claimed in claim 1, wherein the data fusion of GNSS and inertial navigation in the sixth step includes GNSS and inertial navigation data synchronization, GNSS and inertial navigation combined solution and GNSS and inertial navigation combined inspection.
8. The combined positioning and attitude measurement data processing method based on multi-mode precision positioning according to claim 1, wherein the position and attitude measurement system integration result and the attached file are output in the seventh step, and the output includes data of precision positioning result, output of inertial navigation solution result and output of GNSS and inertial navigation combined solution result.
9. The combined positioning and attitude determination data processing method based on multi-mode precision positioning according to claim 1, wherein the data inspection results in step eight are output, and include a precision positioning result inspection report, an inertial navigation data inspection report, a GNSS and inertial navigation combined inspection report, and summary and output of each inspection result.
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