KR20030037891A - Method for automatic post-processing of GPS data in GPS System - Google Patents

Abstract

PURPOSE: A method for post-processing GPS(Global Positioning System) information in a GPS system is provided to generate automatically the position information by using only the data of observational station. CONSTITUTION: GPS information is collected from a base station and a mobile station by driving an AI(Artificial Intelligence) engine and the collected information integrity is tested(401,402). A position of a virtual base station is calculated according to a result of the integrity test and a standby delay error of a radio wave is calculated(403,404,405). A clock error of a GPS satellite is calculated and a pseudo range between the GPS satellite and the mobile station is calculated(403,406,407,408). The generation of cycle slip is checked by using the GPS information and the clock error and the GPS information is verified(409,410). An uncertain integer is calculated and an opposite position of a carrier phase is calculated automatically(411,412) using the uncertain integer and entire wavenumber. The position information of a measuring position is calculated automatically(413,414).

Description

Method for automatic post-processing of GPS data in GPS System

The present invention relates to an automatic post-processing method of GPS information in a GPS system, and a computer-readable recording medium recording a program for realizing the method.

GPS is a system that finds the position of an observation point by receiving radio waves emitted from a satellite that knows the exact position at the position to be observed by the satellite positioning system using satellites and observing the time required for the radio wave from the satellite to the observation point. to be. That is, using four or more satellites can measure the three-dimensional position. GPS, which began to be developed in the United States in 1973, currently operates 24 satellites.

The concept of a location measuring method using GPS will be described with reference to FIG. 1.

1 is an explanatory diagram showing a general GPS survey method.

Fundamentally, GPS uses the principle of triangulation, where in a typical triangulation the location of an unknown point is determined by measuring the size of the two angles excluding that point and the length of the side in between, whereas in GPS it is necessary to know what to know. The difference between classical triangulation is that determining the location of an unknown point by measuring the length of two sides in the system.

The distance from the satellite to the receiver is shown in Equation 1 below.

Distance = speed of propagation × elapsed time

In fact, in order to determine the position of the receiver based on the position of the satellite, in addition to this distance data, the exact position of the satellite must be known. The position of the satellite is used to calculate the orbital force transmitted from the GPS satellite.

These measurements are divided into real-time GPS and post processing GPS. Among these, first, the post processing GPS to be used in the present invention will be described in more detail as follows.

Typically, not all GPS applications require precise positioning in real time. For example, when a newly constructed road is to be inserted into a map, observations are made first, and the surveyed data may be post-processed to calculate the location.

At this time, the moving receiver stores only the received data and time of the satellite signal, and the reference station simultaneously calculates and stores the correction values. After the survey is finished, postprocessing the data with corrections can provide more accurate location information. In this case, a radio link between the reference receiver and the mobile receiver is not necessary, and there is no need for a base station that can receive a correction value nearby. In this case, the two receivers must receive data from the same satellite at the same time.

Meanwhile, the real-time GPS will be described as follows.

Occasionally, real-time calibrated data may need to be used immediately, which can be applied to areas such as offshore surveying, road repair work, and underground site repair work because the exact location can be obtained at the site. The basic concept is the same as the post-processing GPS, but the difference is that in the post-processing, the data received from the two receivers is later downloaded for processing, whereas in real-time GPS, the reference receiver calculates the correction value as soon as the receiver is received and moves directly to To send.

At this time, the transmission method from the reference receiver to the mobile receiver is a method of transmitting through a radio receiver or through a cellular phone line which is fast but expensive.

FIG. 2 is a flowchart illustrating a GPS information post-processing process according to the prior art, and will be described with reference to FIG. 3 for convenience of description.

As illustrated in FIG. 2, the conventional GPS information post-processing process first receives time information from the GPS satellite 21 (201).

Thereafter, a GPS receiver is installed at the known point (reference station) 32 to receive data from the GPS satellites 31 and thus receive reference station data (202).

Then, a GPS receiver is installed at the unknown point (mobile station) 33 to receive data from the GPS satellites 31, thereby receiving mobile station data (203).

Next, by using the reference station data and the mobile station data according to the received time information, the GPS data post-processing operation by an expert is performed by the GPS data processing software (204), and precise GPS position information is obtained. Create 205.

In the case of the conventional method by manual operation, the processing by the expert is performed, and thus the processing delay time is generated by the manual operation, and the measurement data may not be uniform or the error may be large due to different judgments in the data processing process. In addition, there is a problem that a person without expertise does not know the exact location information by simple GPS data.

The present invention has been proposed in order to solve the above-mentioned problems, and the GPS information automatic post-processing method and program for realizing the above-mentioned method for automatically generating the location information more easily and accurately by inputting only the data of the observation point. Its purpose is to provide a computer readable recording medium having recorded thereon.

That is, the present invention learns the necessary knowledge in each step of the GPS data processing process to the artificial intelligence engine using the artificial neural network to automatically process without the participation of experts in the GPS data processing process of manual data processing by the expert of the conventional method We want to handle it automatically. In addition, the virtual reference station is used to perform processing with one receiver using only the mobile station receiver without using the actual reference station. In addition, interworking with a web server enables processing via the Internet.

1 is an explanatory diagram showing a general GPS survey method.

2 is a flowchart of a GPS information post-processing process according to the prior art.

3 is a configuration diagram of an embodiment of a GPS system to which the present invention is applied.

4 is a flowchart illustrating an embodiment of an automatic post-processing method for GPS information according to the present invention.

* Explanation of symbols for the main parts of the drawings

31: GPS satellite 32: reference station

33: station (mobile station) 34: data and solution storage device

35: GPS data processing system

The present invention for achieving the above object, in the GPS information post-processing method in the GPS (hereinafter referred to as "GPS") system, driving the artificial intelligence engine, to collect and collect GPS-related information from the reference station and the mobile station, A first step of checking the integrity of the collected information; A second step of calculating the position of the virtual reference station and calculating the atmospheric delay error of the radio wave in the case of the GPS reference station related information according to the inspection result of the first step; According to the inspection result of the first step, in the case of GPS mobile station related information, the clock error of a GPS satellite is calculated, and after calculating a similar distance (including satellite clock error information) between the GPS satellite and the mobile station, Calculating a similarity distance of the point; A fourth step of inspecting occurrence of a cycle slip and verifying GPS related information based on the GPS related information and the satellite clock error information from the reference station and the mobile station; Based on the calculation result of the atmospheric delay error of the second step and the data verification result of the fourth step, an uncertain integer to the GPS satellite and the observation point is calculated, and the carrier phase relative position using the uncertain integer and the perfect wavelength number Calculating a fifth step; And a sixth step of automatically calculating accurate position information of the measurement point based on the carrier phase relative position and the reference station position information.

In addition, the present invention is characterized in that it further comprises a seventh step of reducing the error of the carrier phase relative position by connecting the values measured at various points to the network after performing the fifth step (network adjustment process).

Meanwhile, the present invention collects GPS-related information from a reference station and a mobile station by driving an artificial intelligence engine in a GPS system having a processor for post-processing GPS information (hereinafter referred to as "GPS") GPS information. A first function of checking the integrity of the information; A second function of calculating the position of the virtual reference station and calculating the atmospheric delay error of the radio wave in the case of the GPS reference station related information according to the test result of the first function; According to the test result of the first function, in the case of GPS mobile station related information, the clock error of the GPS satellite is calculated, and after calculating a similar distance (including satellite clock error information) between the GPS satellite and the mobile station, A third function of calculating similarity of points; A fourth function of inspecting occurrence of cycle slip and verifying GPS related information based on the GPS related information and the satellite clock error information from the reference station and the mobile station; Based on the calculation result of the atmospheric delay error of the second function and the data verification result of the fourth function, an uncertain integer to the GPS satellite and the observation point is calculated, and the carrier phase relative position using the uncertain integer and the perfect wavelength number A fifth function of calculating a; And a computer-readable recording medium having recorded thereon a program for realizing a sixth function of automatically calculating accurate position information of a measurement point based on carrier phase relative position and reference station position information.

The present invention also provides a computer for recording a program for further realizing a seventh function of reducing errors in carrier phase relative position by connecting values measured at various points to a network after performing the fifth function. Provide a readable recording medium.

The present invention does not require expert knowledge for GPS users to use the software for processing GPS data, and GPS users simply receive GPS observation data at a survey point and simply input data files to automatically generate precise location information. give.

The above objects, features and advantages will become more apparent from the following detailed description taken in conjunction with the accompanying drawings. Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

3 is a configuration diagram of an embodiment of a GPS system to which the present invention is applied.

As shown in FIG. 3, the GPS system to which the present invention is applied is a GPS satellite that orbits 20,000 Km over the earth and emits a constant radio wave, visual information and satellite orbit information for accurate location information search. 31), the reference station 32 that knows the exact coordinate values (GPS precision satellite orbit information), and receive the radio waves from the GPS satellites 31 at the position to be measured and receive the corresponding data (including GPS observation data) from the GPS data. Station (mobile station) 33 for transmission to processing system 35, station reception data (including GPS observation data), GPS precision satellite orbit information from reference station 32, GPS reference station data (of GPS reference station) Reference station location information), data and solution storage device 34 for storing the GPS virtual reference station data and the processing result of the GPS data processing system 35 (precise GPS location information) and the like, preferably using an artificial neural network. The GPS data processing system 35 automatically generates precise GPS location information by automatically processing GPS observation data, GPS reference station data, GPS precision satellite orbit information, and GPS virtual reference station data using an artificial intelligence function. Include.

The GPS data processing system 35 automates the GPS survey data post-processing process so that a GPS user can quickly and accurately process even a person without expertise in GPS and surveying. It is preferably equipped with an artificial intelligence engine implemented using an artificial neural network, and the artificial intelligence engine serves as a brain of the GPS data processing system 35 and holds knowledge necessary for surveying and GPS data processing. To automate complex and demanding processes. Preferably, by utilizing expertise in surveying, GPS data processing, etc. in processing GPS data, the expertise of input parameters, processing processes, etc. of each step is summarized in the data and solution storage device 34, To learn.

The GPS virtual reference station is a software-based reference station that calculates reference station data by computer using a reference station data connected to the Internet without actually installing a reference station, which ensures accuracy that is inferior to the actual reference station. It interpolates four to five permanent reference station data located within a distance of 200 km without interpolation, so that the reference station data (GPS virtual reference station data) is inferior to the accuracy of the actual reference station. to provide. The GPS virtual reference station data may be obtained by using interpolation from the constant reference station data, GPS precision satellite orbit information, and weather information. The GPS virtual reference station data is provided by wired, wireless, and internet services to companies such as surveying, GIS, fleet management, ships, aircraft operations, and civil service guides that require precise GPS positioning.

Combining the GPS virtual reference station and the survey data post-processing method, the surveying company receives survey data from one mobile station GPS receiver and sends it to the Internet, allowing the GPS data processing system 35 to send high-precision GPS data values to the Internet quickly and accurately. to provide. That is, data such as the reference station data, the virtual reference station data, and the processing result of the GPS data processing system 35 are collectively stored in the data and solution storage device 34, and the GPS data processing system 35 and Data and solution storage devices 34 can be connected to users over the Internet.

4, the GPS information post-processing process in the GPS data processing system 35 that automatically generates more accurate GPS location information by mounting an artificial intelligence engine using an artificial neural network will be described in more detail.

4 is a flowchart illustrating an embodiment of a method for automatically processing GPS information according to the present invention.

As shown in FIG. 4, the method for automatically processing GPS information according to the present invention first collects data from a reference station and a mobile station (401). In this case, the reference station data includes reference station location information of a plurality of GPS reference stations, GPS satellite observation information of a reference station GPS receiver, GPS satellite orbit information of an international GPS service station (IGS), and weather information of a weather station. The mobile station data includes GPS satellite observation information, carrier phase measurement amount, cycle number, similar distance measurement amount, time of each observation, and satellite orbit of the mobile station GPS receiver.

The format and data frame length of the data collected from the reference station and the mobile station are examined to determine whether there is a defect (402).

If the inspection result is the reference station data (403), the reference station position data is processed by interpolation to calculate the virtual reference station position (405), and the waiting delay error caused by the air delay or the like is calculated (406). .

Here, the GPS virtual reference station data can be obtained by using interpolation from the constant reference station data, GPS precision satellite orbit information, weather information, etc., in order to obtain GPS location information using only one mobile station receiver.

As a result of the inspection, if the mobile station data is 403, the clock error of the GPS satellite is calculated (406), and the similar distance which is the distance between the satellite including the satellite clock error and the mobile station (receiver) is calculated (407). Then, the similar distance (similar distance independent position) of the independent point is calculated (408).

After the integrity of the collected reference station data and mobile station data is checked and processed, the occurrence of cycle slip is checked using the collected mobile station and reference station data and satellite clock error results (409). The data is verified by checking the format, cycle, frame, etc. of the data (410).

Thereafter, an uncertain integer calculation process is performed to find the complete integer cycle from the satellite and the observation point using the atmospheric delay error calculation value and the data verification result (411). Here, the uncertainty constant is expressed as "wavelength * wavelength + phase measurand".

Next, a carrier phase relative position is calculated using an uncertain integer and a perfect wavelength number (412), and a network adjustment process of reducing the error of the carrier phase relative position calculated by connecting values measured at various points by a network is performed. Perform (413).

Finally, accurate position information of the measurement point is calculated using the carrier phase relative position and the reference station position information (414).

The processing results calculated in this way are stored and managed in the data and solution storage device, and the information is provided through the Internet to connect the user with the GPS data processing system.

As described above, the method of the present invention may be implemented as a program and stored in a recording medium (CD-ROM, RAM, ROM, floppy disk, hard disk, magneto-optical disk, etc.) in a computer-readable form.

The present invention described above is not limited to the above-described embodiments and the accompanying drawings, and various substitutions, modifications, and changes are possible in the art without departing from the technical spirit of the present invention. It will be apparent to those of ordinary knowledge.

The present invention as described above has the effect of making the same determination and uniformity of the survey data and the error as the processing is performed automatically in the data processing process.

In addition, according to the present invention, there is an effect that even a person without specialized knowledge can find the location information by simply GPS data.

Further, according to the present invention, by using the virtual reference station, there is an effect that it is possible to grasp the position information with one receiver.

Claims (9)

In the GPS information post-processing method in the GPS (hereinafter referred to as "GPS") system, A first step of driving an artificial intelligence engine to collect GPS related information from a reference station and a mobile station, and to check the integrity of the collected information; A second step of calculating the position of the virtual reference station and calculating the atmospheric delay error of the radio wave in the case of the GPS reference station related information according to the inspection result of the first step; According to the inspection result of the first step, in the case of GPS mobile station related information, the clock error of a GPS satellite is calculated, and after calculating a similar distance (including satellite clock error information) between the GPS satellite and the mobile station, Calculating a similarity distance of the point; A fourth step of inspecting occurrence of a cycle slip and verifying GPS related information based on the GPS related information and the satellite clock error information from the reference station and the mobile station; Based on the calculation result of the atmospheric delay error of the second step and the data verification result of the fourth step, an uncertain integer to the GPS satellite and the observation point is calculated, and the carrier phase relative position using the uncertain integer and the perfect wavelength number Calculating a fifth step; And A sixth step of automatically calculating accurate position information of the measurement point based on the carrier phase relative position and the reference station position information; Automatic post-processing method of the GS information in the PS system comprising a. The method of claim 1, After performing the fifth step, the seventh step of reducing the error of the carrier phase relative position by connecting the values measured at various points to the network (network adjustment process) Automatic post-processing method of the GS information in the GS system further comprising. The method according to claim 1 or 2, The artificial intelligence engine, Preferably, the GPS system is implemented using an artificial neural network, and serves as a brain when processing GPS data, and possesses knowledge necessary for surveying and processing GPS data, thereby automating complex and difficult GPS data processing. Automatic Post-Processing Method for GPS Information in. The method of claim 3, wherein GPS virtual reference station A method for automatic post-processing of GPS information in a GPS system, wherein the data of the reference station is processed by interpolation without providing an actual reference station, thereby providing reference station data that is inferior to the accuracy of the actual reference station. The method of claim 3, wherein The GPS reference station related data, GPS information in the GPS system, which includes location information of a plurality of GPS reference stations, GPS satellite observation information of a reference station receiver, GPS satellite orbit information of an international GPS reference station (IGS), and weather information. Automatic post-processing method. The method of claim 3, wherein The GPS mobile station related data, A GPS information automatic post-processing method in a GPS system comprising GPS satellite observation information of a mobile station receiver, carrier phase measurement amount, cycle number, similar distance measurement amount, individual observation time and satellite orbit. The method of claim 3, wherein The uncertainty constant of the fifth step is Substantially, the number of wavelengths * wavelengths + phasemeasurements is a method for automatic post-processing of GPS information in a GPS system. In the GPS system equipped with a processor for processing GPS information (hereinafter referred to as "GPS") GPS information, A first function of driving an artificial intelligence engine to collect GPS related information from a reference station and a mobile station, and to check the integrity of the collected information; A second function of calculating the position of the virtual reference station and calculating the atmospheric delay error of the radio wave in the case of the GPS reference station related information according to the test result of the first function; According to the test result of the first function, in the case of GPS mobile station related information, the clock error of the GPS satellite is calculated, and after calculating a similar distance (including satellite clock error information) between the GPS satellite and the mobile station, A third function of calculating similarity of points; A fourth function of inspecting occurrence of cycle slip and verifying GPS related information based on the GPS related information and the satellite clock error information from the reference station and the mobile station; Based on the calculation result of the atmospheric delay error of the second function and the data verification result of the fourth function, an uncertain integer to the GPS satellite and the observation point is calculated, and the carrier phase relative position using the uncertain integer and the perfect wavelength number A fifth function of calculating a; And A sixth function of automatically calculating accurate position information of the measurement point based on the carrier phase relative position and the reference station position information; A computer-readable recording medium having recorded thereon a program for realizing this. The method of claim 8, After performing the fifth function, the seventh function of reducing the error of the carrier phase relative position by connecting the values measured at various points to the network (network adjustment process) A computer-readable recording medium that records a program for further realization.