CN113031011A - Beidou high-precision satellite navigation and position service system - Google Patents
Beidou high-precision satellite navigation and position service system Download PDFInfo
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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
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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
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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
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
- G01S19/44—Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
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Abstract
The invention provides a Beidou high-precision satellite navigation and position service system which comprises a satellite navigation positioning resolving module, a user management platform, a terminal user and an operating state monitoring module, wherein the satellite navigation positioning resolving module is used for resolving data of a reference station to acquire regional enhanced data information; the user management platform is used for managing and authenticating the terminal user, selecting a corresponding virtual observation quantity of a certain grid point from the regional enhanced data information as the differential information of the user according to the information uploaded by the terminal user, and sending the differential information and the position coordinates of the grid point to the terminal user; the operation state monitoring module is in data communication with the satellite navigation positioning resolving module and is used for monitoring the operation state of the reference station and the regional enhanced data information. According to the invention, only a fixed number of grid point virtual reference stations are calculated by the satellite navigation positioning resolving module, and are not related to the number of terminal users, so that the consumed resources are fixed, and therefore, the resource cost can be greatly saved.
Description
Technical Field
The invention relates to the technical field of satellite positioning, in particular to a Beidou high-precision satellite navigation and position service system.
Background
The implementation steps of the network RTK positioning technology can be summarized as the following three points:
firstly, baseline calculation is carried out based on the observation data of the CORS network, and ambiguity parameters on each baseline are fixed. The exact fixation of the ambiguity parameters determines the computational accuracy of the various spatial correlation errors. The distance between the current CORS network reference stations is generally long, and the fixation of long-distance baseline ambiguity is a key technology of network RTK.
And secondly, calculating to obtain each coefficient of the correction model after the ambiguity parameters and the like are accurately and timely fixed.
And finally, the data processing center simulates according to the approximate position of the user to obtain the optimal observation value at the VRS position, model correction is carried out on space related errors, other technical means and measures are adopted for eliminating non-space error sources, error correction numbers and position results are accurately obtained, the virtual observation value of the VRS is obtained, a short base line is formed between the VRS and the user, and accurate coordinate information at the user position is finally obtained through relative positioning calculation.
In recent years, as high-precision real-time positioning technology is increasingly developed in various fields, more demands are made, sufficient attention is paid to the construction of CORS infrastructure all over the world, a large amount of capital is invested for development, and a CORS-based multifunctional system oriented to real-time positioning service and classical geodetic measurement application is developed.
In view of the great advantages in practicality and feasibility, the network RTK technology has been fully validated and improved by the existing CORS system.
The VRS (virtual reference station) system is actually a multi-base station technology, the positioning process is effective fusion of data of a plurality of reference stations in a CORS network, and the positioning steps are as follows:
(1) all reference stations in the CORS network transmit observed original data to a satellite navigation positioning resolving module in real time;
(2) the user sends the probability coordinates to a satellite navigation positioning resolving module in the form of NMEA GGA, and the satellite navigation positioning resolving module generates a virtual reference station according to the probability coordinates;
(3) the satellite navigation positioning resolving module selects a group of reference stations according to the position of a user;
(4) according to the selected reference station baseline resolving result, the satellite navigation positioning resolving module carries out classified modeling calculation on the error sources, and various error corrections at the VRS position are obtained through interpolation;
(5) and sending the calculated differential correction number to a user by using a standard RTCM protocol, and finishing differential positioning after the user receives correction information.
The above-mentioned VRS (virtual reference station) system has the following technical defects: (1) the user needs to send the NMEA-form coordinates to the satellite navigation positioning calculation module, and the satellite navigation positioning calculation module generates a virtual reference station according to the NMEA-form coordinates and sends the difference correction number to the user. In the method, because the satellite navigation positioning resolving module calculates the virtual reference station according to the position of the user, the larger the user amount is, the larger the resource consumed by the satellite navigation positioning resolving module is; (2) distributed deployment is not facilitated; (3) the number of supported users is about two thousand, and then the number is expanded, so that a single software cannot support the users; (4) the original data of all reference stations in the CORS network are transmitted to a satellite navigation positioning resolving module in real time, more than 3 original data of the reference stations are confidential data and need to be transmitted to a confidential environment, and the satellite navigation positioning resolving module in the scheme needs to interact with a user at the same time, is a bidirectional interaction environment connected with the Internet and does not meet the safety level protection design.
Therefore, there is a need in the art to develop a location service system that can overcome the above-mentioned technical problems in the prior art.
Disclosure of Invention
The invention aims to provide a Beidou high-precision satellite navigation and position service system which can solve the technical problems that the existing precise positioning service is limited by hardware resources, the bearing capacity of users is limited and the safety level protection design is not met.
The invention provides a Beidou high-precision satellite navigation and position service system which comprises a satellite navigation positioning resolving module, a user management platform, a terminal user and an operating state monitoring module,
the satellite navigation positioning resolving module is used for accessing datum station data and resolving the datum station data so as to acquire regional enhanced data information;
the system comprises a user management platform, a user management platform and a terminal user, wherein the user management platform is used for managing and authenticating the terminal user, the authenticated terminal user sends a request for enhancing data information to the user management platform, meanwhile, the terminal user sends approximate position and elevation information of the terminal user, the user management platform selects a certain grid point virtual observed quantity corresponding to the approximate position from the regional enhanced data information as differential information of the user according to the approximate position and elevation information uploaded by the terminal user, and sends the differential information and position coordinates of the grid points to the terminal user;
the running state monitoring module is in data communication with the satellite navigation positioning resolving module and is used for monitoring the running state of a reference station and regional enhanced data information;
the satellite navigation positioning resolving module is arranged in an intranet, and reference station data are accessed into the satellite navigation positioning resolving module through a reference station special line and a one-way optical gate;
and the regional enhanced data information is pushed to an external network environment through a one-way optical gate, and then the enhanced data information requested by the user is pushed to the authenticated terminal user through a mobile communication network or the internet.
Preferably, the operation status monitoring module includes a reference station network status monitoring module and an enhanced service performance monitoring module, wherein,
the reference station network state monitoring module is used for monitoring the running state of a reference station in real time;
the enhanced service performance monitoring module is used for monitoring the coverage area and time delay of the regional enhanced data information service and displaying the service providing capability in the coverage area in real time.
Preferably, the satellite navigation positioning calculation module comprises a reference station data access module, a reference station data preprocessing module, a reference station data storage module, an area grid virtual point division module and an area grid virtual observation calculation module,
the reference station data access module is used for being responsible for accessing regional reference station data;
the reference station data preprocessing module is used for checking, analyzing and reducing a data protocol and data content in the reference station data;
the reference station data storage module is used for subscribing real-time data or cache data processed by the reference station data preprocessing module and storing an original data stream file of the reference station data;
the area grid virtual point dividing module is used for dividing virtual points of the coverage area grid to complete the division of the area virtual grid points;
the area grid virtual observation quantity calculating module is used for calculating the datum station data based on the area virtual grid points to generate area enhanced data information.
Preferably, the area grid virtual point dividing module comprises a first step grid virtual point dividing module, a second step grid virtual point dividing module and a third step grid virtual point dividing module,
the first step grid virtual point dividing module is used for dividing a coverage area into a plurality of polygons according to the distribution of the reference station grid, the service area range and the preset grid distance, and the intersection points of the polygons are the first step grid virtual points;
the second-step grid virtual point dividing module is used for encrypting the area with higher user density according to the area user distribution density to form second-step grid virtual points;
and the third step of grid virtual point division module is used for analyzing the terrain of the area, encrypting the area with sharp elevation change according to the elevation change of the terrain to form the third step of grid virtual points.
Preferably, the area grid virtual observation resolving module comprises an algorithm load balancing module, a data processing module, an area correction information processing module and an area enhancement data packaging module,
the algorithm load balancing module is used for combing and preprocessing the data of the reference station and monitoring the node state of the core algorithm through the core algorithm;
the data processing module is used for performing data processing, ambiguity fixing and regional error modeling on the data of the reference station;
the area correction information processing module is used for generating area grid virtual point information;
the regional enhancement data encapsulation module is used for encapsulating the regional grid virtual point information generated by the regional correction information processing module into a standard RTCM message format, pushing the encapsulated regional enhancement information service message to the user management platform, and broadcasting service for the terminal user through data through the user management platform.
Preferably, the user management platform comprises a user authentication module and an enhanced data information broadcasting module,
the user authentication module is used for receiving authentication request information of a terminal user, distinguishing the request information according to different user types, auditing and feeding back the authentication information, and maintaining and managing the terminal user information;
the enhanced data information broadcasting module is used for verifying the enhanced data sent to the terminal user, sending the verified regional enhanced service information to the terminal user, and establishing a distribution interface management mechanism to realize control of the distribution interface information.
The Beidou high-precision satellite navigation and location services system according to claim 6, wherein the user authentication module comprises an authentication operation module and an authentication management module, wherein,
the authentication operation module comprises an authentication information receiving module, an authentication information auditing module and an authentication information feedback module,
the authentication information receiving module is used for receiving authentication request information of a terminal user, distinguishing the request information according to different user types and sending the received authentication information to authentication information auditing;
the authentication information auditing module is used for authenticating the request information of the terminal user 3, extracting the user information of the high-precision user comprehensive service management system, comparing and auditing the user information and generating auditing and authenticating result information;
the authentication information feedback module is used for feeding back the verification authentication result to the user and the enhanced information distribution subsystem, and the enhanced information distribution subsystem judges whether to send enhanced information to the user or not according to the verification result of the authentication information;
the authentication management module comprises a user information maintenance module and an abnormal user management module,
the user information maintenance module is used for maintaining the terminal user information, and comprises terminal user information updating, abnormal user recording and log information maintenance;
the abnormal user management module is used for intervening the behavior of the abnormal user and taking corresponding measures for the abnormal login user to ensure the safety of the broadcasting system.
Preferably, the enhanced data information broadcasting module comprises a data distribution service module and a distribution control module, wherein,
the data distribution service module is used for checking the enhanced service data sent to the terminal user, checking the correctness, timeliness and rationality of the data, and sending the data to the terminal user after checking so that the terminal user receives the enhanced service information of the area passing the checking and simultaneously prompts and displays the enhanced information not passing the checking on an interface;
the distribution control module comprises a newly-built interface module, a management interface module, a distribution interface display module, a log recording module and a log auditing module; the new interface module is used for newly building and distributing interface information; the management interface module is used for establishing a distribution interface management mechanism and editing, deleting, forbidding and enabling distribution interface information; the distribution interface display module is used for displaying distribution interface information, and the inquired information comprises the distribution object name, the distribution IP, the port and the data request type information of the distribution interface; the log recording module is used for recording the operation log of the enhanced information distribution subsystem; the log auditing module is used for the log recording function of an application layer and checking auditing log information through system logs.
Preferably, the system further comprises a user integrated service management module, wherein the user integrated service management module is connected with the user management platform and is used for performing role assignment and management on terminal user accounts, and terminal users with different roles assign different system permissions.
Preferably, the user integrated service management module comprises a user management module, a role management module and a high-precision account management module,
the user management module is used for managing the terminal user;
the role management module is used for supporting various terminal user roles and supporting role authorization;
and the high-precision account management module is used for managing the terminal account.
Compared with the prior art, the Beidou high-precision satellite navigation and position service system has the following beneficial effects:
1. the satellite navigation positioning resolving module only calculates a fixed number of grid point virtual reference stations, is not related to the number of terminal users any more, consumes fixed resources, and can greatly save resource cost.
2. According to the method, the area virtual grid points are divided, the satellite navigation positioning resolving module generates a virtual reference station according to the grid, and grid differential correction data are sent to an external grid broadcasting platform. The broadcasting platform is deployed in an external network, is designed in a sub-module mode, can be deployed in a distributed mode, and can calculate resource requirements according to service requirements, so that access of hundreds of thousands of levels and more users can be supported.
3. According to the scheme, the satellite navigation positioning resolving module is deployed in the confidential environment and is isolated from an external network through one-way network safety equipment, the external network cannot access an internal confidential area, and data interaction is realized with a terminal user through the external network, so that the security level protection design can be met.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of a frame structure of a Beidou high-precision satellite navigation and location service system of the invention;
FIG. 2 is a schematic diagram of a frame structure of a satellite navigation positioning solution module according to the present invention;
FIG. 3 is a schematic diagram of a framework structure of a virtual observation calculation module of a regional grid according to the present invention;
FIG. 4 is a block diagram of a framework of a user management platform according to the present invention;
FIG. 5 is a schematic diagram of a framework of an operation status monitoring module according to the present invention;
FIG. 6 is a schematic diagram of a framework structure of the integrated service management module for users according to the present invention.
Summary of reference numerals:
1. satellite navigation positioning resolving module 11 and reference station data access module
12. Reference station data preprocessing module 13 and reference station data storage module
14. Regional grid virtual point dividing module 15 and regional grid virtual observation calculating module
151. Algorithm load balancing module 152 and data processing module
153. Area correction information processing module 154 and area enhanced data encapsulation module
2. User management platform 21 and user authentication module
22. Enhanced data information broadcasting module 3 and terminal user
4. Running state monitoring module 41 and reference station network state monitoring module
42. Enhanced service performance monitoring module 5 and user integrated service management module
51. User management module 52, role management module
53. High-precision account management module
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings in conjunction with the following detailed description. It should be understood that the description is intended to be exemplary only, and is not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
As shown in fig. 1, the invention provides a Beidou high-precision satellite navigation and position service system, which comprises a satellite navigation positioning resolving module 1, a user management platform 2, a terminal user 3 and an operating state monitoring module 4. The satellite navigation positioning resolving module 1 is used for accessing datum station data and resolving the datum station data so as to acquire regional enhanced data information; the user management platform 2 is used for managing and authenticating the terminal user 3, the authenticated terminal user 3 sends a request for enhancing data information to the user management platform 2, meanwhile, the terminal user 3 sends the approximate position and elevation information of the terminal user 3, the user management platform 2 selects a certain grid point virtual observation amount corresponding to the approximate position from the regional enhanced data information as the difference information of the user according to the approximate position and elevation information uploaded by the terminal user 3, and the difference information and the position coordinates of the grid point are sent to the terminal user 3 together. The running state monitoring module 4 is in data communication with the satellite navigation positioning resolving module 1 and is used for monitoring the running state of the reference station and the regional enhanced data information.
Specifically, the terminal user 3 sends its approximate position and elevation information, the user management platform 2 selects a certain grid point virtual observed quantity corresponding to the approximate position sent by the terminal user from all grid point virtual observed quantities as the difference information of the user according to the information such as the approximate position and elevation uploaded by the terminal user 3, specifically selects a certain grid point virtual observed quantity which is most suitable, that is, the shortest distance or the proper distance and the smallest elevation difference from all grid point virtual observed quantities as the difference information of the user, and then sends the difference information and the position coordinates of the grid points to the terminal user.
The satellite navigation positioning resolving module 1 is arranged in an intranet, and reference station data are accessed into the satellite navigation positioning resolving module 1 through a reference station special line and a one-way optical gate; the regional enhanced data information is pushed to the external network environment through the one-way optical gate, and then the enhanced data information requested by the user is pushed to the authenticated terminal user 3 through the mobile communication network or the internet.
According to the scheme, the satellite navigation positioning calculation module 1 is deployed in a confidential environment and is isolated from an external network through one-way network safety equipment, the external network cannot access an internal confidential area, and data interaction is realized with a terminal user 3 through the external network, so that the security level protection design can be met.
The Beidou high-precision satellite navigation and position service system further comprises an operating state monitoring module 4, the operating state monitoring module 4 is in data communication with the satellite navigation positioning resolving module 1, and the operating state monitoring module 4 comprises a reference station network state monitoring module 41 and a service performance enhancing monitoring module 42. Wherein the content of the first and second substances,
the reference station network state monitoring module 41 is used for monitoring the running state of the reference station in real time. The reference station network state monitoring module 41 includes a reference station data quality monitoring module and a reference station management module.
The reference station data quality monitoring module comprises functions of reference station quality analysis, a star-sky plot and the like; the reference station management module is composed of functions of reference station import, reference station information editing, reference station running state monitoring and the like. The reference station data quality monitoring module is used for performing reference station data quality analysis, cycle slip detection, star-sky-map calculation and display, and displaying the position of the air navigation satellite at the current moment of the reference station through the altitude angle and the azimuth angle of the satellite.
The reference station management module comprises a reference station importing module, a reference station information editing module and a reference station running state monitoring module, wherein the reference station importing module is used for importing reference station information comprising information such as a reference station name, a reference station coordinate, a receiver type, a receiver antenna type, a communication mode and an IP (Internet protocol); the reference station information editing module is used for editing the information of the reference station, including addition, deletion, modification, query and the like of the information of the reference station; the reference station running state monitoring module is used for monitoring the real-time running state of the reference station, whether the reference station is on line or not and the like
The enhanced service performance monitoring module 42 is configured to monitor a coverage area and a time delay of the regional enhanced data information service, and display a service capability provided in the coverage area in real time.
In a further embodiment of the present invention, the satellite navigation positioning calculation module 1 includes a reference station data access module 11, a reference station data preprocessing module 12, a reference station data storage module 13, an area grid virtual point division module 14, and an area grid virtual observation calculation module 15. Wherein the content of the first and second substances,
the reference station data access module 11 is responsible for accessing regional reference station data, and its main functions include a data source list establishing module, a reference station basic information recording module, a communication protocol configuration module, and the like. The data source list establishing module needs to establish a data source list of regional reference stations, and each data source list corresponds to one reference station; the basic information input module of the reference station inputs the basic information of the reference station through a data source list, and mainly comprises the following components: reference station name, reference station code, reference station spatial rectangular or geodetic coordinates, supported satellite system, receiver type, antenna height information, etc. The reference station data access module also comprises a reference station configuration information management module, wherein the reference station configuration information management module is used for modifying and inquiring basic information, specifically used for modifying the static basic information of the reference station except the name and the ID of the base station and capable of inquiring the static basic data of a single reference station. The reference station static base data includes: base station name, base station code, base station longitude, base station latitude, base station geodetic height, base station coordinates X/Y/Z, support satellite system, receiver type, antenna height, network communication protocol, data format protocol information.
The reference station data preprocessing module 12 is used for checking, analyzing and reducing the data protocol and the data content in the reference station data. The datum station data preprocessing module comprises a data protocol checking module, a data content checking module, a data cleaning module and a data reduction module, and particularly,
1) data protocol checking module
Checking a network communication protocol, checking an agreed transmission protocol, wherein the network communication protocol is based on an NTRIP protocol, accesses a real-time data stream into a system through TCP/IP communication, and distinguishes two modes of single-station data access and multi-station data stream access. Checking a network communication protocol, wherein the server needs to check an HTTP request header of the client and check an agreed transmission protocol;
and checking the data format protocol, and checking the agreed format protocol.
2) Data content inspection module
Analyzing data content, wherein the data content needs to be analyzed, a data format analyzing function which is matched with the data content to pass is preferentially selected to analyze the data content, and the analyzing flow prompts that the data content passes the analyzing and does not pass the analyzing;
performing analysis and inspection on single-station data of the RTCM, performing received message list inspection on the single-station data adopting an RTCM protocol, determining whether the received message list is consistent with a message list appointed by a data access system, if not, establishing a new message list, and feeding back the message list and a warning state to a data cleaning module;
and analyzing and checking RAW single-station data, checking a received message list of the single-station data adopting an RAW protocol, determining whether the received message list is consistent with a message list appointed by a data access system, if not, establishing a new message list, and feeding back the message list and the warning state to a data cleaning module.
3) Data cleaning module
The data cleaning module mainly comprises functions of normal data cleaning, alarm data cleaning, error data cleaning and the like.
Normal data cleaning, namely receiving the normal state of a data content inspection module, wherein specific state information is that data format content is matched with a data format protocol, can be analyzed, the data format is an agreed data format protocol, and indicates that the data of a current data source passes content inspection;
and clearing alarm data, wherein the data clearing module processes the alarm and modifies a data format protocol of the real-time data stream of the data source appointed by the data access module. After the warning information is processed, the real-time data stream can be normally sent to the next module, but before the warning information is sent to the next module, the repeatability inspection is needed, namely, a plurality of repeated data should not appear in the data stream sent by the previous module at the same moment, and if the plurality of repeated data appear, only one piece of health data needs to be screened and sent to the next module;
and (3) error data cleaning, namely data analysis is passed in the data analysis process, verification and check errors of the packaged data, data length verification errors, splitting errors of the packaged data, loss of RTCM messages and repetition of RTCM messages occur, the real-time data stream of the data source needs to be interrupted to flow to the next module, and an error report is generated. When data is analyzed in a data analysis process, and error state information that data format content is not matched with a data format protocol, cannot be analyzed and the data format is wrong occurs, the real-time data stream of the data source needs to be interrupted to flow to the next module, and an error report is generated.
4) Data reduction module
The data reduction module mainly comprises the functions of original observation data stream reduction and internal format data stream reduction.
The original observation data flow is reduced, and the original observation data flow is mainly used for data distribution;
and (4) reducing the internal format data flow, and analyzing and splitting the original observed data flow to obtain a data flow conversion format defined in the system, wherein the data flow conversion format is mainly used for processing and converting internal services.
The reference station data storage module 13 is configured to subscribe to the real-time data or the cache data processed by the reference station data preprocessing module 12, and store an original data stream file of the reference station data. The reference station data storage module 13 includes a data conversion storage module and a data storage management module. The data conversion storage module subscribes real-time data or cache data of the data reduction module of the data preprocessing subsystem, takes out the data in the message queue, explains the document according to a RINEX 3.X format, and converts the data from an internal circulation format into a file form of different RINEX versions. The naming mode of the RINEX file is according to the naming rule appointed by the corresponding RINEX version, wherein the station-measuring name in the file name adopts the base station code (four-digit English letter) appointed by the static information of the reference station in the data access system. The data storage management module supports an original data stream file for storing data of a reference station, wherein a survey station name in a file name adopts a base station code (four-digit English letter) agreed by static information of the reference station in a data access system.
The area grid virtual point dividing module 14 is configured to divide virtual points of a coverage area grid to complete area virtual grid point division. The area grid virtual point dividing module 14 includes a first step grid virtual point dividing module, a second step grid virtual point dividing module and a third step grid virtual point dividing module, the first step grid virtual point dividing module is used for dividing a coverage area into a plurality of polygons according to the distribution of the base station grid, the service area range and the preset grid distance, and the intersection point of the polygons is the first step grid virtual point; the second-step grid virtual point dividing module is used for encrypting the area with higher user density according to the area user distribution density to form second-step grid virtual points; and the third step of grid virtual point division module is used for analyzing the terrain of the area, encrypting the area with sharp elevation change according to the elevation change of the terrain to form the third step of grid virtual points.
The area grid virtual observation quantity calculating module 15 is used for calculating the datum station data based on the area virtual grid points, generating area enhanced data information and meeting the requirements of area decimeter-level and centimeter-level enhanced positioning. Preferably, the area grid virtual observation solving module 15 includes an algorithm load balancing module 151, a data processing module 152, an area correction information processing module 153 and an area enhancement data packaging module 154.
The algorithm load balancing module 151 is configured to comb and preprocess data of the reference station, and monitor a core algorithm node state through a core algorithm. The algorithm load balancing module comprises a data preprocessing module, a load balancing algorithm and a core algorithm node supervision module. The data preprocessing module is used for combing the data of the reference station and simultaneously finishing the preprocessing requirement of the core algorithm on the data; the load balancing algorithm module is used for establishing a core algorithm node list and distributing the received original data to a core algorithm in a balanced manner; the core algorithm node monitoring module is used for monitoring the state of the core algorithm nodes, removing the core algorithm list after the core algorithm is down, and not distributing data to the down nodes.
The data processing module 152 is configured to perform data processing, ambiguity fixing, and regional error modeling on the reference station data. The data processing comprises time conversion, satellite calculation, residual error generation, cycle slip detection and observation variance estimation; time translation is used to implement the translation between different time systems (BD, GPS, GLONASS, UTC, etc.). The ambiguity fixing realizes the ambiguity fixing of the reference station; the regional error modeling comprises an ionosphere delay error, a troposphere delay error and an orbit error, and a corresponding error model is required to be constructed to weaken the influence of the errors.
The area correction information processing module 153 is configured to generate information of virtual points of the area grid, including various correction information required by the network RTK and RTD users, where the correction information required by the users is observation information of a virtual reference station, mainly GNSS pseudorange, carrier phase observation, carrier-to-interference ratio, and the like.
The regional enhanced data encapsulation module 154 is configured to encapsulate the regional grid virtual point information generated by the regional correction information processing module into a standard RTCM message format, push the encapsulated regional enhanced information service message to the user management platform 2, and send a data broadcast service to the end user 3 through the user management platform 2.
The user management platform 2 of the present invention includes a user authentication module 21 and an enhanced data information dissemination module 22.
The user authentication module 21 is configured to receive authentication request information of the terminal user 3, distinguish the request information according to different user types, perform authentication information verification and feedback, and perform maintenance management on information of the terminal user 3.
Specifically, the user authentication module 21 includes an authentication operation module and an authentication management module. The authentication operation module comprises an authentication information receiving module, an authentication information auditing module and an authentication information feedback module, wherein the authentication information receiving module is used for receiving authentication request information of the terminal user 3, distinguishing the request information according to different user types and sending the received authentication information to the authentication information auditing module; the authentication information auditing module is used for authenticating the request information of the terminal user 3, extracting the user information of the high-precision user comprehensive service management system, comparing and auditing and generating auditing authentication result information; the authentication information feedback module is used for feeding back the verification and authentication result to the user and the enhanced information distribution subsystem. And the enhancement information distribution subsystem judges whether to send enhancement information to the user according to the verification result of the authentication information. The authentication management module comprises a user information maintenance module and an abnormal user management module, wherein the user information maintenance module is used for maintaining the information of the terminal user 3 and mainly comprises the steps of updating the information of the terminal user 3, recording abnormal users and maintaining log information; the abnormal user management module is used for intervening the behavior of the abnormal user, and taking corresponding measures (shielding and the like) for the abnormal login user to ensure the safety of the broadcasting system.
The enhanced data information broadcasting module 22 is configured to verify the enhanced data sent to the end user 3, send the verified regional enhanced service information to the end user 3, and establish a distribution interface management mechanism to control the distribution interface information. The enhanced data information broadcasting module comprises a data distribution service module and a distribution control module. The data distribution service module is used for checking the enhanced service data sent by the terminal user 3, checking the correctness, timeliness and rationality of the data, and sending the data to the terminal user 3 after checking, so that the terminal user 3 receives the region enhanced service information passing the checking, and simultaneously prompts and displays the enhanced information not passing the checking on an interface. The distribution control module comprises a new interface module, a management interface module, a distribution interface display module, a log recording module and a log auditing module. The new interface module is used for newly building distribution interface information (background control); the management interface module is used for establishing a distribution interface management mechanism and can edit, delete, disable and enable (background control) distribution interface information; the distribution interface display module is used for displaying distribution interface information, and the inquired information comprises information such as a distribution object name, a distribution IP, a port, a data request type and the like of the distribution interface; the log recording module is used for recording the operation log (background control) of the enhanced information distribution subsystem; the log auditing module is used for having a relatively perfect application layer log recording function, and auditing the audit log information through the system log, wherein the audit log information comprises a serial number, a distribution system name, a distribution category, a distribution date, a distribution description and the like (background control).
In a further embodiment of the present invention, the satellite navigation positioning calculation module 1 calculates the virtual observation data of the virtual grid points according to a fixed frequency. Preferably, the satellite navigation positioning calculation module 1 performs area grid virtual observation calculation according to three or more reference stations near each virtual grid point.
The Beidou high-precision satellite navigation and position service system further comprises a user comprehensive service management module 5, wherein the user comprehensive service management module 5 is connected with the user management platform 2 and is used for carrying out role distribution and management on the account number of the terminal user 3, and the terminal users 3 with different roles distribute different system authorities. The user integrated service management module 5 includes a user management module 51, a role management module 52, and a high-precision account management module 53, where the user management module 51 is configured to manage the terminal user 3, the role management module 52 is configured to support various terminal user 3 roles and support role authorization, and the high-precision account management module 53 is configured to manage the terminal account.
The user management module 51 manages the end user 3, including modifying information and deleting an account of the existing end user 3, and may add another end user 3. The user management module 51 comprises a user list module, a user management module and a user password modification module, wherein the user list module supports inquiry and management of account information, including information such as account name, telephone, account state and the like, and supports service push of alarm information; the user management module supports operations such as adding, editing and deleting to a management user; the user password modification module supports resetting and modifying of passwords of management users.
The role management module 52 supports managing various end user 3 roles, e.g., hypervisor, general administrator, etc., and supports the hypervisor to have all privileges, the system general administrator to have all privileges except for the assignment of system users.
The high-precision account management module 53 manages the terminal accounts, can edit the static information of the terminal accounts, and can add new terminal accounts. The high-precision account management module comprises an account list module, an account management module and an account password modification module, wherein the account list module supports display of all account information including user numbers, user names, user telephones, service time and the like; the account management module supports new establishment of accounts, completes account establishment by setting user names, contacts and contact phones of the applicants, and also supports editing and deleting of the newly established accounts; the account password modification module supports the functions of password resetting and modification of the user account.
According to the method, the area virtual grid points are divided, the satellite navigation positioning resolving module 1 generates a virtual reference station according to the grid, and grid differential correction data are sent to an external grid broadcasting platform. The broadcasting platform is deployed in an external network, is designed in a sub-module mode, can be deployed in a distributed mode, and can calculate resource requirements according to service requirements, so that access of hundreds of thousands of levels and more users can be supported.
In addition, the satellite navigation positioning resolving module only calculates a fixed number of grid point virtual reference stations, is not related to the number of terminal users any more, consumes fixed resources, and can greatly save resource cost.
It is to be understood that the above-described embodiments of the present invention are merely illustrative of or explaining the principles of the invention and are not to be construed as limiting the invention. Therefore, any modification, equivalent replacement, improvement and the like made without departing from the spirit and scope of the present invention should be included in the protection scope of the present invention. Further, it is intended that the appended claims cover all such variations and modifications as fall within the scope and boundaries of the appended claims or the equivalents of such scope and boundaries.
Claims (10)
1. A Beidou high-precision satellite navigation and position service system is characterized by comprising a satellite navigation positioning resolving module, a user management platform, a terminal user and an operating state monitoring module,
the satellite navigation positioning resolving module is used for accessing datum station data and resolving the datum station data so as to acquire regional enhanced data information;
the user management platform is used for managing and authenticating a terminal user, the authenticated terminal user sends a request for enhancing data information to the user management platform, meanwhile, the terminal user sends approximate position and elevation information of the terminal user, the user management platform selects a certain grid point virtual observed quantity corresponding to the approximate position from the regional enhanced data information as differential information of the user according to the approximate position uploaded by the terminal user, and the differential information and the position coordinates of the grid points are sent to the terminal user together;
the running state monitoring module is in data communication with the satellite navigation positioning resolving module and is used for monitoring the running state of a reference station and regional enhanced data information;
the satellite navigation positioning resolving module is arranged in an intranet, and reference station data are accessed into the satellite navigation positioning resolving module through a reference station special line and a one-way optical gate;
and the regional enhanced data information is pushed to an external network environment through a one-way optical gate, and then the enhanced data information requested by the user is pushed to the authenticated terminal user through a mobile communication network or the internet.
2. The Beidou high-precision satellite navigation and location services system of claim 1, wherein the operational status monitoring module comprises a reference station network status monitoring module and an enhanced service performance monitoring module, wherein,
the reference station network state monitoring module is used for monitoring the running state of a reference station in real time;
the enhanced service performance monitoring module is used for monitoring the coverage area and time delay of the regional enhanced data information service and displaying the service providing capability in the coverage area in real time.
3. The Beidou high-precision satellite navigation and location service system according to claim 1, wherein the satellite navigation positioning calculation module comprises a reference station data access module, a reference station data preprocessing module, a reference station data storage module, an area grid virtual point division module and an area grid virtual observation calculation module,
the reference station data access module is used for being responsible for accessing regional reference station data;
the reference station data preprocessing module is used for checking, analyzing and reducing a data protocol and data content in the reference station data;
the reference station data storage module is used for subscribing real-time data or cache data processed by the reference station data preprocessing module and storing an original data stream file of the reference station data;
the area grid virtual point dividing module is used for dividing virtual points of the coverage area grid to complete the division of the area virtual grid points;
the area grid virtual observation quantity calculating module is used for calculating the datum station data based on the area virtual grid points to generate area enhanced data information.
4. The Beidou high-precision satellite navigation and location services system of claim 3, wherein said area grid virtual point partitioning module comprises a first step grid virtual point partitioning module, a second step grid virtual point partitioning module and a third step grid virtual point partitioning module,
the first step grid virtual point dividing module is used for dividing a coverage area into a plurality of polygons according to the distribution of the reference station grid, the service area range and the preset grid distance, and the intersection points of the polygons are the first step grid virtual points;
the second-step grid virtual point dividing module is used for encrypting the area with higher user density according to the area user distribution density to form second-step grid virtual points;
and the third step of grid virtual point division module is used for analyzing the terrain of the area, encrypting the area with sharp elevation change according to the elevation change of the terrain to form the third step of grid virtual points.
5. The Beidou high-precision satellite navigation and location services system according to claim 3, wherein the area grid virtual observation solution module comprises an algorithm load balancing module, a data processing module, an area correction information processing module and an area enhancement data encapsulation module,
the algorithm load balancing module is used for combing and preprocessing the data of the reference station and monitoring the node state of the core algorithm through the core algorithm;
the data processing module is used for performing data processing, ambiguity fixing and regional error modeling on the data of the reference station;
the area correction information processing module is used for generating area grid virtual point information;
the regional enhancement data encapsulation module is used for encapsulating the regional grid virtual point information generated by the regional correction information processing module into a standard RTCM message format, pushing the encapsulated regional enhancement information service message to the user management platform, and broadcasting service for the terminal user through data through the user management platform.
6. The Beidou high-precision satellite navigation and location services system according to claim 1, wherein the user management platform comprises a user authentication module and an enhanced data information dissemination module,
the user authentication module is used for receiving authentication request information of a terminal user, distinguishing the request information according to different user types, auditing and feeding back the authentication information, and maintaining and managing the terminal user information;
the enhanced data information broadcasting module is used for verifying the enhanced data sent to the terminal user, sending the verified regional enhanced service information to the terminal user, and establishing a distribution interface management mechanism to realize control of the distribution interface information.
7. The Beidou high-precision satellite navigation and location services system according to claim 6, wherein the user authentication module comprises an authentication operation module and an authentication management module, wherein,
the authentication operation module comprises an authentication information receiving module, an authentication information auditing module and an authentication information feedback module,
the authentication information receiving module is used for receiving authentication request information of a terminal user, distinguishing the request information according to different user types and sending the received authentication information to authentication information auditing;
the authentication information auditing module is used for authenticating the request information of the terminal user 3, extracting the user information of the high-precision user comprehensive service management system, comparing and auditing the user information and generating auditing and authenticating result information;
the authentication information feedback module is used for feeding back the verification authentication result to the user and the enhanced information distribution subsystem, and the enhanced information distribution subsystem judges whether to send enhanced information to the user or not according to the verification result of the authentication information;
the authentication management module comprises a user information maintenance module and an abnormal user management module,
the user information maintenance module is used for maintaining the terminal user information, and comprises terminal user information updating, abnormal user recording and log information maintenance;
the abnormal user management module is used for intervening the behavior of the abnormal user and taking corresponding measures for the abnormal login user to ensure the safety of the broadcasting system.
8. The Beidou high-precision satellite navigation and location services system of claim 6, wherein the enhanced data information dissemination module comprises a data dissemination service module and a dissemination control module, wherein,
the data distribution service module is used for checking the enhanced service data sent to the terminal user, checking the correctness, timeliness and rationality of the data, and sending the data to the terminal user after checking so that the terminal user receives the enhanced service information of the area passing the checking and simultaneously prompts and displays the enhanced information not passing the checking on an interface;
the distribution control module comprises a newly-built interface module, a management interface module, a distribution interface display module, a log recording module and a log auditing module; the new interface module is used for newly building and distributing interface information; the management interface module is used for establishing a distribution interface management mechanism and editing, deleting, forbidding and enabling distribution interface information; the distribution interface display module is used for displaying distribution interface information, and the inquired information comprises the distribution object name, the distribution IP, the port and the data request type information of the distribution interface; the log recording module is used for recording the operation log of the enhanced information distribution subsystem; the log auditing module is used for the log recording function of an application layer and checking auditing log information through system logs.
9. The Beidou high-precision satellite navigation and location services system according to claim 1, further comprising a user integrated service management module, wherein the user integrated service management module is connected with the user management platform and is used for role assignment and management of terminal user accounts, and terminal users with different roles assign different system permissions.
10. The Beidou high-precision satellite navigation and location services system of claim 9, wherein the user integrated services management module comprises a user management module, a role management module and a high-precision account management module,
the user management module is used for managing the terminal user;
the role management module is used for supporting various terminal user roles and supporting role authorization;
and the high-precision account management module is used for managing the terminal account.
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