CN113552596A - Novel GNSS measurement system and measurement method based on cloud edge combination - Google Patents
Novel GNSS measurement system and measurement method based on cloud edge combination Download PDFInfo
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- CN113552596A CN113552596A CN202110828977.2A CN202110828977A CN113552596A CN 113552596 A CN113552596 A CN 113552596A CN 202110828977 A CN202110828977 A CN 202110828977A CN 113552596 A CN113552596 A CN 113552596A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
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Abstract
The invention provides a novel GNSS measurement system and a measurement method based on cloud edge combination, and belongs to the technical field of GNSS measurement. The GNSS measurement cloud service system is additionally provided with a communication unit and is used for GNSS measurement equipment of edge end calculation, the GNSS measurement equipment is used for collecting GNSS measurement courtyard data, and the GNSS subjected to edge end calculation processing transmits the data to the cloud service system for storage and calculation through the communication unit. The measuring method mainly comprises the steps of establishing a GNSS measuring cloud service system, preparing in the early stage of measurement, collecting and primarily processing measuring data and cloud computing processing of the measuring data. The measurement system and the measurement method provided by the invention are adopted for measurement, so that the local computing resources are greatly expanded, the data security is ensured, and the related service system of operation can be fully utilized, so that the full utilization of the local resources and the cloud service is realized.
Description
Technical Field
The invention relates to the technical field of GNSS measurement and measurement, in particular to a novel GNSS measurement system and a measurement method based on cloud edge combination.
Background
The conventional GNSS measurement workflow is generally: the method comprises the steps that a surveyor carries a GNSS terminal to arrive at the field for surveying operation, GNSS survey data are stored in the GNSS terminal, then the surveyor returns to a working place for data local export, then different data resolving software is adopted according to different terminals or the data are converted into data with a uniform format for data resolving, and finally surveying operation is finished. The method can not process the data in time, and can not realize the safe control of the GNSS data.
The conventional GNSS measurement method mainly has the following disadvantages:
(1) the GNSS terminal is limited by the influence of self computing resources and power consumption, and cannot perform excessively complicated computation;
(2) after field data acquisition is completed, the field data resolving work is delayed, and different commercial resolving software needs to be adapted according to the type of the receiver, so that the operation is complicated;
(3) the GNSS measurement work cannot be managed and controlled in real time;
(4) with the upgrade of the satellite navigation system, the updated satellite and the new available frequency point both need to upgrade the hardware of the receiver, and the design and upgrade cost of the hardware of the GNSS receiver is higher;
(5) in the operation process, the GNSS data resources need to be collected by field workers, and the field workers export and arrange, so that the GNSS data resources cannot be safely controlled.
At present, cloud computing and network communication technologies are rapidly developing, and cloud computing can coordinate a large number of computer resources together, so that a user can obtain unlimited resources through a network, and the obtained resources are not limited by time and space. For example, chinese patent application No.: 201210161184.0, filing date: on day 5 and 23 of 2012, the name of invention creation is: a design method of an integrated Internet of things cloud computing satellite positioning and navigation SAAS system based on Beidou. The strong sensing capability of the Internet of things and the strong online service capability of cloud computing are combined in the application to form an earphone distributed SOA framework of a module for analyzing information and a module for sensing and judging information, and the earphone distributed SOA framework completely depends on the computing service capability of the cloud. However, the method of the application has a high requirement on network real-time performance, is limited by the complexity of the mapping and positioning environment, has high measurement difficulty, and is difficult to be effectively applied to mapping and positioning.
For another example, the chinese patent application No. 201510641479.1, application date 2015, 9 and 30, the inventive name is: a satellite navigation receiver based on cloud services. The early warning device of this application is used for solving and provides intelligent early warning scheduling problem based on historical accident information, current speed and road environmental information before the road traffic accident takes place. Through many modules and many data model advantages, improve prediction result and degree of accuracy, show and voice broadcast through on-vehicle terminal forecast information, through the analysis of starting out to the vehicle and people and the environment of driving, realize intelligent early warning. According to the method, the vehicle-end equipment and the cloud resources are fully combined through a cloud-edge combination method, the convenience of traffic accident early warning is greatly improved, however, the method also has a high requirement on the real-time performance of a network, and if network delay and network interruption exist in the using process of the device, the device cannot play a role.
Disclosure of Invention
1. Problems to be solved
The invention aims to solve the problems that field data acquisition and field data processing are completely independent and the data whole flow is uncontrollable in the traditional GNSS measurement method, and provides a novel GNSS measurement system and a measurement method based on cloud edge combination. By adopting the technical scheme of the invention, the problems can be effectively solved, and the fast and convenient service of GNSS measurement can be realized.
2. Technical scheme
In order to solve the problems, the technical scheme adopted by the invention is as follows:
the invention discloses a novel GNSS measurement system based on cloud edge combination, which comprises a GNSS measurement cloud service system and GNSS measurement equipment additionally provided with a communication unit, wherein the GNSS measurement equipment is used for collecting mapping data and transmitting the data to the cloud service system for storage and calculation; the cloud service system comprises a database service system, a file service system, a web service system and an FTP service system, wherein the database service system is used for managing user accounts and managing results; the file service system is used for managing the returned data files; the web service system is used for carrying out configuration and management on login and data transmission of cloud services; the FTP service system is used for sorting and storing the historical data files and the historical result files.
Furthermore, the communication unit adopts a WL-4030/WL-4031 wireless data transmission module of Commay, uses a 2G/4G network of a sim card/Internet of things card, and performs data interaction with a cloud terminal based on an Ntrip protocol.
Still further, the GNSS surveying apparatus further includes a GNSS antenna, a GNSS surveying type receiver, a GNSS surveying handbook, and a surveying tripod.
The invention relates to a novel GNSS measurement method based on cloud edge combination, which adopts the measurement system to carry out measurement and mainly comprises the following steps:
step one, establishing a GNSS measurement cloud service system
Establishing a cloud space for storage and calculation according to the GNSS measurement task, and configuring different GNSS resolving software and methods;
step two, preparation work in early stage of measurement
The surveying personnel performs corresponding GNSS surveying operation mode configuration work and data port transmission configuration work, and enters surveying work after the configuration is completed;
step three, acquisition and primary processing of edge end measurement data
After the GNSS antenna of the edge terminal receives satellite signals, GNSS measurement original observation data acquired by the edge terminal are simply calculated and then are transmitted back to a corresponding cloud terminal in near real time, and the cloud terminal performs real-time calculation and storage work;
step four, cloud computing processing of measured data
And after the field work is finished, the measuring personnel logs in the cloud to check the resolving result and perform related processing.
Further, in the first step, the configured solution software includes HGO, Gamit and Bernese data solution software.
Furthermore, in the second step, aiming at the basic requirements of the users, the unified configuration includes configuration files, observation data return, auxiliary data downloading, data trial solution and data uploading.
Furthermore, in the second step, personalized data calculation software and personalized storage configuration are selected according to the personalized requirements of the user.
Furthermore, in the third step, when performing real-time positioning, the method is mainly used for sending part of data calculated by the local microprocessor to the cloud, and returning part of feedback results of the cloud to the local GNSS receiver.
Furthermore, in the third step, when performing post-positioning, the method is mainly used for sending the original observation data calculated by the local microprocessor to the cloud, and storing and processing the original observation data in the cloud.
3. Advantageous effects
Compared with the prior art, the invention has the beneficial effects that:
(1) the novel GNSS measurement system based on cloud-side combination comprises a GNSS measurement cloud service system and GNSS measurement equipment additionally provided with a communication unit, and the composition structure of the GNSS measurement cloud service system is optimally designed, so that the measured data can be partially transmitted to a cloud end to be processed. Meanwhile, the system of the invention can effectively reduce the high requirement on the real-time performance of network signals when in use, and can be normally used even in severe environment.
(2) According to the novel GNSS measurement system based on cloud-edge combination, the cloud service system is subjected to modular design and mainly comprises the database service system, the file service system, the web service system and the FTP service system, rich computing resources of a cloud end can be fully called during work, various computing operations are realized, tedious data exporting work is not needed, measurement data are transmitted back to the cloud end in real time, and the novel GNSS measurement system based on cloud-edge combination is excellent in convenience. Meanwhile, a receiver (namely an edge end) of the GNSS measuring equipment can return GNSS observation data in near real time, the requirement of measuring and surveying tasks is well met, and the GNSS receiving and resolving module in the measuring equipment is in a software mode and is convenient to upgrade and use.
(3) According to the novel GNSS measurement method based on cloud-edge combination, by adopting the measurement system disclosed by the invention, the GNSS measurement task is carried out by combining cloud computing and edge computing, so that the cost can be effectively reduced, the edge end can simply calculate part of original data, most of the data are not returned, and the pressure of cloud computing is remarkably reduced. Compared with the traditional GNSS measurement work flow, the measurement method can realize the real-time integration of GNSS field measurement and GNSS field data processing, is convenient and quick, and manages and controls the whole-flow GNSS data.
(4) According to the novel GNSS measurement method based on cloud edge combination, at the cloud end, the configuration can be unified for each user or personalized according to different requirements of the user, the selection and storage configuration of software can be resolved by personalized configuration data, and therefore various measurement requirements can be met.
Drawings
FIG. 1 is a diagram illustrating a conventional GNSS measurement method;
FIG. 2 is a flow chart of the edge calculation of the system of the present invention; compared with a traditional GNSS receiver, the edge computing end in the graph can be divided into two parts, wherein one part comprises a radio frequency front end, a microprocessor, a memory and a display unit, the other part is a traditional GNSS receiver part, the second part is a communication unit, and the communication unit is mainly used for sending data computed by part of the local microprocessor to a cloud end and returning the feedback result of part of the cloud end to the local GNSS receiver;
FIG. 3 is a general flowchart of a GNSS measurement method of the present invention; the whole process comprises the relevant operations of the edge end and the cloud end. The method mainly comprises the steps that data acquisition and data part application processes are mainly completed at an edge end, unified configuration and personalized configuration can be included for each user at a cloud end, the unified configuration comprises configuration files, observation data return, resolving and auxiliary data downloading, data trial resolving and data uploading, and the personalized configuration comprises personalized data resolving software selection, storage configuration and the like.
FIG. 4 is a diagram of the overall architecture of a cloud-edge combined GNSS measurement system according to the present invention; the edge nodes refer to GNSS receivers, and the cloud center is used for collecting each edge node and providing personalized services for each edge node.
FIG. 5 is a flowchart of a GNSS measurement technique of the present invention.
Detailed Description
The invention is further described with reference to specific examples.
Example 1
As shown in fig. 1, the conventional GNSS measurement process is generally: the field working staff need to carry the GNSS terminal to reach the field for measurement operation, GNSS measurement data are stored in the GNSS terminal, then the field working staff return to the working place to conduct data local export, then different data resolving software is adopted according to different terminals or the data are converted into data with a uniform format to conduct data resolving, and finally the measurement work is completed. Meanwhile, in the GNSS measurement process, a GNSS equipment supplier only provides equipment, field workers only carry out field data acquisition work, field workers only carry out field data processing work, and field work are completely independent parts. The traditional measurement method cannot process data in time and cannot safely master GNSS data.
The invention provides a novel GNSS measurement system based on cloud edge combination, which comprises a GNSS measurement cloud service system and GNSS measurement equipment which is additionally provided with a communication unit and is used for edge-end calculation, wherein the communication unit can adopt a communication module which can support the network RTK function, the communication unit can adopt a Commway WL-4030/WL-4031 wireless data transmission module, a sim card/Internet of things card and other 2G/4G network can be used, and data interaction is carried out with the cloud service system based on a Ntrip Protocol, wherein the Ntrip (network transported of RTCM via Internet Protocol, the Protocol for carrying out RTCM network transmission through the Internet) is a Protocol for carrying out GNSS-RTK data transmission on the Internet. All GNSS-RTK data formats (NCT, RTCM, CMR +, etc.) can be transmitted as well as the same common GNSS measurement data. Through carrying out optimal design to its component structure, can handle the data portion transmission of measurement to the high in the clouds, more traditional GNSS is measured, not only can expand local computational resource, guarantee data safety, but also can make full use of the relevant service system of operation, realizes the make full use of local resource and high in the clouds service.
Specifically, as shown in fig. 2 to 5, the GNSS measurement apparatus is configured to acquire raw GNSS measurement data, and transmit, by using a communication unit, the GNSS data after being processed by edge-side computation to a cloud service system for storage and computation; the GNSS data demodulation, decoding and other works needing simple calculation are mainly carried out at the edge end, and the GNSS measurement cloud service system mainly carries out more complex post-processing resolving work. The GNSS measuring equipment
As shown in fig. 3, the cloud service system is mainly used for completing user management, data management, and GNSS measurement task management, and includes a real-time internal work data processing portion after "external work data acquisition" in GNSS measurement, a database service system, a file service system, a Web service system, an FTP service system, and an application service system, and the main operations include functions of configuration file entry, observation data return, solution software configuration, data solution, solution data download, data upload, and the like. The database service system is used for managing user accounts and managing results; the file service system is used for managing the returned data files; the web service system is used for carrying out configuration and management on login and data transmission of cloud services; the FTP service system is used for sorting and storing the historical data files and the historical result files.
The overall technical flow of the measuring method provided by the invention is shown in fig. 5, and the measuring system is adopted for measurement, and the method mainly comprises the following steps:
step one, establishing a GNSS measurement cloud service system
And establishing a cloud space according to each measurement task, transmitting real-time observation data back to the corresponding cloud space after the GNSS measurement equipment is configured, configuring general GNSS data resolving software such as HGO, Gamit, Bernese and the like in the cloud space, and then resolving data and storing data results according to configuration parameters.
Step two, preparation work in early stage of measurement
And the surveying personnel performs corresponding GNSS surveying operation mode configuration work and data port transmission configuration work, and can start surveying work after the configuration is finished. Meanwhile, aiming at the basic requirements of users, the unified configuration comprises configuration files, observation data return, calculation auxiliary data downloading, data trial calculation and data uploading. In addition, personalized data resolving software and personalized configuration can be selected according to personalized requirements of users.
Step three, acquisition and primary processing of edge end measurement data
After the GNSS antenna at the edge receives the satellite signals, GNSS measurement original observation data acquired by the edge is simply calculated and then is transmitted back to the corresponding cloud in near real time, and the cloud performs real-time calculation and storage. When the real-time positioning is carried out, the method is mainly used for sending part of data calculated by the local microprocessor to the cloud end and returning part of feedback results of the cloud end to the local GNSS receiver. When the post-positioning is carried out, the method is mainly used for sending the original observation data calculated by the local microprocessor to the cloud end and storing and processing the original observation data in the cloud end. As shown in fig. 3, fig. 3 illustrates a distribution of the entire measurement system, where the edge nodes refer to GNSS receivers, and the cloud center is a collection of each edge node and provides personalized services for each edge node. The overall process in the figure includes operations related to the edge and the cloud. The method mainly comprises the steps that data acquisition and data part application processes are mainly completed at an edge end, unified configuration and personalized configuration are included for each user at a cloud end, the unified configuration comprises configuration files, observation data return, resolving and auxiliary data downloading, data trial resolving and data uploading, and the personalized configuration comprises personalized data resolving software selection, storage configuration and the like.
Step four, cloud computing processing of measured data
And after the field work is finished, the measuring personnel logs in the cloud to check the resolving result and process the resolving result.
The calculation amount in the GNSS measurement task includes receiving an original signal of a navigation satellite, performing signal amplification, demodulation, and the like, converting the received signal into a digital signal, decoding the digital signal, performing observation for a long time, and performing calculation such as grid adjustment on observation data. These calculations include real-time calculations and post-hoc calculations. If all the computing services of the GNSS measurement process are placed in the cloud, the requirements on the communication link are too high, and the requirements on the computing power and the storage cost of the cloud are too high. But combining cloud computing and edge computing for GNSS measurement tasks would reduce costs. In terms of efficiency, a part of original data is simply calculated at a GNSS receiver (edge calculation end), most of data is not returned any more, and the pressure of a cloud end can be greatly reduced. Compared with the current GNSS measurement workflow: after field measurement is finished, field workers return to the field and conduct GNSS data derivation, field data processing is conducted, real-time integration of GNSS field measurement and GNSS field data processing is achieved by combining the cloud edge with the GNSS measurement system, convenience and rapidness are achieved, and full-flow GNSS data are controlled.
In addition, due to the particularity of the surveying and mapping task, the working environment is severe and the wire speed is poor in some cases. Compared with the cloud edge system applied in other industries at present, the cloud edge combination system provided by the invention has low real-time requirements of the cloud end and the edge end, and in the invention, only a GNSS receiver (the edge end) needs to return GNSS observation data in near real time, so that the tasks of 'cloud' and 'end' can be reasonably distributed according to different requirements of different stages of measurement tasks, and the task requirements of measurement and mapping are better met.
Claims (9)
1. A novel GNSS measurement system based on cloud edge combination is characterized in that: the GNSS measurement equipment is used for acquiring GNSS measurement original data and transmitting the GNSS data subjected to edge end computing processing to the cloud service system for storage and computing through the communication unit; the calculation content of the edge terminal comprises GNSS data demodulation and decoding; the cloud service system comprises a database service system, a file service system, a web service system and an FTP service system, wherein the database service system is used for managing user accounts and managing results; the file service system is used for managing the returned data files; the web service system is used for carrying out configuration and management on login and data transmission of cloud services; the FTP service system is used for sorting and storing the historical data files and the historical result files.
2. The novel GNSS measurement system based on cloud edge integration according to claim 1, wherein: the communication unit adopts a WL-4030/WL-4031 wireless data transmission module of Commway, uses a 2G/4G network of a sim card/Internet of things card, and performs data interaction with a cloud service system based on an Ntrip protocol.
3. The novel GNSS measurement system based on cloud edge integration according to claim 1, wherein: the GNSS surveying equipment further comprises a GNSS antenna, a GNSS surveying type receiver, a GNSS surveying handbook and a surveying tripod.
4. A novel GNSS measurement method based on cloud edge combination is characterized in that: the measurement system of any one of claims 1-3 is used for measurement, and comprises the following main steps:
step one, establishing a GNSS measurement cloud service system
Establishing a cloud space for storage and calculation according to the GNSS measurement task, and configuring different GNSS resolving software and methods;
step two, preparation work in early stage of measurement
The surveying personnel performs corresponding GNSS surveying operation mode configuration work and data port transmission configuration work, and enters surveying work after the configuration is completed;
step three, acquisition and primary processing of edge end measurement data
After the GNSS antenna of the edge terminal receives satellite signals, GNSS measurement original observation data acquired by the edge terminal are simply calculated and then are transmitted back to a corresponding cloud terminal in near real time, and the cloud terminal performs real-time calculation and storage work;
step four, cloud computing processing of measured data
And after the field work is finished, the measuring personnel logs in the cloud to check the resolving result and process the resolving result.
5. The novel GNSS measurement method based on cloud edge integration according to claim 4, wherein: in the first step, the configured resolving software comprises HGO, Gamit and Bernese data resolving software.
6. The novel GNSS measurement method based on cloud edge integration according to claim 4, wherein: and in the second step, aiming at the basic requirements of the users, the unified configuration comprises configuration files, observation data return, calculation auxiliary data downloading, data trial calculation and data uploading.
7. The novel GNSS measurement method based on cloud edge integration according to claim 6, wherein: and step two, aiming at the personalized requirements of the user, selecting personalized data resolving software and personalized storage configuration.
8. The novel GNSS measurement method based on cloud edge binding according to any of claims 4-7, characterized in that: and in the third step, when real-time positioning is carried out, the method is mainly used for sending part of data calculated by the local microprocessor to the cloud end and returning part of feedback results of the cloud end to the local GNSS receiver.
9. The novel GNSS measurement method based on cloud edge binding according to any of claims 4-7, characterized in that: and in the third step, when post positioning is carried out, the method is mainly used for sending the original observation data calculated by the local microprocessor to the cloud end and storing and processing the original observation data in the cloud end.
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