CN101008671A - Method, system and device for accurately navigating mobile station - Google Patents
Method, system and device for accurately navigating mobile station Download PDFInfo
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- CN101008671A CN101008671A CNA2006100636099A CN200610063609A CN101008671A CN 101008671 A CN101008671 A CN 101008671A CN A2006100636099 A CNA2006100636099 A CN A2006100636099A CN 200610063609 A CN200610063609 A CN 200610063609A CN 101008671 A CN101008671 A CN 101008671A
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Abstract
This invention provides one method, system and device for mobile station accurate guiding, which comprises the following steps: a, mobile station sends difference data require and its current GPS data through wireless communication net to control center; b, the center forms virtual reference station according to mobile station and using data process center for correction data through wireless communication new to feed back data to mobile station; c, the said mobile station computes accurate GPS position data for guiding according to the correction data and its GPS position data.
Description
Technical field
The present invention relates to the communications field, more particularly, relate to a kind of method, system and equipment that movement station is carried out precision navigation.
Background technology
Present GPS (Global Position System, GPS) technology all is widely used in fields such as agricultural, forestry, water conservancy, traffic, aviation, mapping, safety precaution, military affairs, electric power, communication, city management, and utilizes the GPS location to realize that the independent navigation of automobile has also become a kind of new application trend.Its specific implementation is: at first import starting point and terminal point on electronic chart, cook up a best route; Utilize the navigating instrument of installing in the movement station to receive the GPS locating information in real time then, the travel route of prompting vehicle.But domestic consumer can only freely receive the gps signal of algnment accuracy at present, and precision has only 20-30 rice, even if also can only reach 5-10 rice through the various processing of GPS receiver in the navigating instrument; Gps signal is a kind of weak signal in addition, is subjected to external interference and can causes gps signal intensity to reduce greatly, and bearing accuracy also can decrease.For improving bearing accuracy, can self set about from the GPS receiver, also can realize by other supplementarys.
Utilizing supplementary to improve aspect the bearing accuracy, wherein a kind of way of prior art provides the differential corrections data by the wide area differential station.This difference station is evenly distributed on each place, collects the GPS differential corrections data of various places respectively, and offers the GPS receiver of movement station.The data that this difference station is provided are the general data of its region, and the data that receive Anywhere in this zone are all the same, and do not utilize the information of movement station position, so that precision still can not reach is very high.
The another kind of way of prior art is to adopt virtual reference station (Virtual Reference Station, VRS) technology.Virtual reference station is a kind of carrier phase dynamic real-time difference (Real-TimeKinematic, RTK) technology of GPS network.It utilizes a plurality of base stations of surface deployment to form GPS CORS network (Continuous Operational Reference System, CORS), fully utilize the observation information of each base station, come the corrected range correlated error by setting up accurate error model.In carrying out the GPS position fixing process, near subscriber station, produce one physically do not exist, its observed reading is by the reference station of control center's simulation, because reality do not set up, so be called virtual reference station.Virtual reference station system comprises three ingredients: CORS network, mobile subscriber's receiver that data processing and control center, a plurality of base station are formed, wherein: data processing and control center are the cores of total system, are used to carry out data processing and Control on Communication; CORS is responsible for image data and is sent to data processing in real time and control center handles by communication line; Mobile subscriber's receiver comprises GPS receiver and radio modem.
The prior art utilizes virtual reference station to the implementation procedure that movement station positions to be: mobile subscriber's receiver is issued control center to the rough coordinates (NMEA-0183 form) of the single-point of oneself location by communication line, a virtual reference station is just created in this position by data processing centre (DPC), and, calculate the error correction values that each gps satellite each error source to the different paths between the virtual reference station causes by interpolation in conjunction with the relative geometrical relation of mobile subscriber station, base station and gps satellite.Because virtual reference station has only 20-40m apart from mobile subscriber station, constitute short baseline with mobile subscriber station.The user can be used as common reference station to virtual reference station and use, and receives the differential corrections data of control center, carries out real-time positioning.The precision of virtual reference station is divided different grades, is mainly decided by data processing and control center, generally is divided into meter level, sub-meter grade, centimetre-sized.The general vehicle navigation only needs the precision of meter level just passable, and the user of some measurements and other are used the precision of using centimetre-sized possibly.But in the prior art, data transmission is to finish (as the Internet, mobile communication net and radio network etc.) by various wireless or wired public data networks, and real-time is high not enough, has influenced to a certain extent the movement station locating accuracy.
Therefore need a kind of new method, in process, further improve the movement station locating accuracy to the movement station navigation.
Summary of the invention
The object of the present invention is to provide and a kind of movement station is carried out pinpoint system, be intended to solve prior art problem low in the process of movement station navigation to the movement station locating accuracy.
The present invention also aims to provide a kind of movement station is carried out pinpoint method, to solve the above-mentioned problems in the prior art better.
In order to realize goal of the invention, the described system that movement station is carried out precision navigation comprises fixed reference station, control center, data processing centre (DPC) and movement station, described control center is according to the current location constructing virtual reference station of described movement station, and calculate the differential corrections data according to described virtual reference station by described data processing centre (DPC), send to movement station in real time by cordless communication network, described movement station utilizes described differential corrections data and the GPS locator data that self receives calculates accurate GPS locator data, so that described movement station is navigated.
Described subscriber data center also be used for to the user corresponding with described movement station register, register, cancel, inquiry, rights management, and provide access authorization and user's service recorder and the differential corrections data that different accuracy is provided according to different authorized users.
Described movement station comprises a guider, and described guider comprises memory module, display screen, wireless communication module, GPS receiver module and microcontroller;
Described memory module links to each other with described microcontroller, is used for storing electronic map, and the described microcontroller of confession carries out route planning and described movement station is navigated;
Described display screen links to each other with described microcontroller, is used to show the navigation information of microcontroller;
Described wireless communication module links to each other with described microcontroller, be used for sending the differential corrections request of data in real time to control center by cordless communication network, and receive the differential corrections data that control center feeds back, and give described microcontroller with described differential corrections data forwarding;
Described GPS receiver module links to each other with described microcontroller, is used to receive described movement station current GPS positioning data, and is transmitted to described microcontroller;
Described microcontroller is according to the differential corrections data of described wireless communication module transmission and the movement station current GPS positioning data of described GPS receiver module transmission, calculate accurate GPS locator data, and utilize described accurate GPS locator data to form navigation information, be presented on the described display screen described movement station is navigated.
Carry out data interaction by cordless communication network between described control center and the described movement station, described cordless communication network is gprs system or cdma system.
In order to realize goal of the invention better, described movement station is carried out the equipment of precision navigation, the guider in the promptly described movement station comprises memory module, display screen, wireless communication module, GPS receiver module and microcontroller;
Described memory module links to each other with described microcontroller, is used for storing electronic map, and the described microcontroller of confession carries out route planning and described movement station is navigated;
Described display screen links to each other with described microcontroller, is used to show the navigation information of microcontroller;
Described wireless communication module links to each other with described microcontroller, be used for sending the differential corrections request of data in real time to control center by cordless communication network, and receive the differential corrections data that control center feeds back, and give described microcontroller with described differential corrections data forwarding;
Described GPS receiver module links to each other with described microcontroller, is used to receive described movement station current GPS positioning data, and is transmitted to described microcontroller;
Described microcontroller is according to the differential corrections data of described wireless communication module transmission and the movement station current GPS positioning data of described GPS receiver module transmission, calculate accurate GPS locator data, and utilize described accurate GPS locator data to form navigation information, be presented on the described display screen described movement station is navigated.
In order to realize goal of the invention better, the described method that movement station is carried out precision navigation may further comprise the steps:
A. described movement station sends differential data request and its current GPS positioning data to control center in real time by cordless communication network;
B. described control center is according to the current location constructing virtual reference station of described movement station, and utilizes data processing centre (DPC) to calculate the differential corrections data, by described cordless communication network described differential corrections data in real time ground fed back to movement station again;
C. described movement station calculates accurate GPS locator data according to described differential corrections data and its current GPS positioning data, navigates.
Described cordless communication network is used for the data between described control center and the movement station are carried out real-time mutual, and described cordless communication network is gprs system or cdma system.
Described step B comprises:
B1. described control center receives differential data request and its current GPS positioning data that movement station sends, and then according to the current location constructing virtual reference station of described movement station, simultaneously described differential data request is forwarded to data processing centre (DPC);
B2. the differential corrections data are calculated by described data processing centre (DPC), and provide the differential corrections data of corresponding precision to described control center according to described movement station user's authority;
B3. described control center sends to described movement station with described differential corrections data in real time by cordless communication network.
The step of data processing centre's calculating differential corrections data comprises among the described step B2:
Described data processing centre (DPC) is according to the relative geometrical relation between gps satellite, fixed reference station and the virtual reference station, calculate the error amount that described gps satellite causes to the error source on the different paths between the virtual reference station by interpolation, thereby obtain the differential corrections data.
The present invention obtains differential corrections data accurately by the virtual reference station technology, and utilizes cordless communication network to realize real-time data interaction, thereby has greatly improved the precision that movement station is positioned.
Description of drawings
Fig. 1 is the system construction drawing that among the present invention movement station is carried out precision navigation;
Fig. 2 is the structural drawing of guider in the movement station of the present invention;
Fig. 3 is the method flow diagram that among the present invention movement station is carried out precision navigation.
Embodiment
In order to make purpose of the present invention, technical scheme and advantage clearer,, the present invention is further elaborated below in conjunction with drawings and Examples.Should be appreciated that specific embodiment described herein only in order to explanation the present invention, and be not used in qualification the present invention.
Among the present invention, when movement station needs high-precision location, then utilize cordless communication network to send differential corrections request of data and its current GPS locator data that receives in real time to data processing and control center, data processing and control center are according to the placement configurations virtual reference station of this movement station, and utilize data processing and control center to calculate the differential corrections data, utilize mobile communications network to send to movement station in real time again, movement station combines the differential corrections data received and calculates accurate GPS locator data with GPS locator data that it is received, thereby the navigating instrument that offers in the movement station navigates.The present invention obtains differential corrections data accurately by the virtual reference station technology, and utilizes cordless communication network to realize real-time data interaction, thereby has greatly improved the precision that movement station is positioned.
Fig. 1 shows the system architecture of among the present invention movement station being carried out precision navigation, and this system comprises fixed reference station 100, control center 200, data processing centre (DPC) 300 and movement station 400.Control center 200 is according to virtual reference station 500 of current location structure of movement station 400 among the present invention, since virtual reference station 500 be one physically do not exist, its observed reading is by the reference station of control center 200 simulation, reality was not set up, therefore with dashed lines sign in Fig. 1.
Fixed reference station 100 links to each other with control center 200 by wire cable or optical fiber, is used for satellite-signal is caught, follows the tracks of, write down and transmits.
Control center 200 links to each other respectively with fixed reference station 100, data processing centre (DPC) 300 and movement station 400, and its major function comprises: thus the data that reception fixed reference station 100 is sent are monitored the ruuning situation of each fixed reference station; Placement configurations virtual reference station 500 according to movement station 400; Receive differential data request and GPS locator data that movement station 400 sends,,, relevant differential corrections data are issued movement station 500 according to the position of movement station 400 requests by analyzing the data of each fixed reference station 100.
Data processing centre (DPC) 300 links to each other with control center 200, major function comprises: (1) data processing: the gps data of controlling, monitor, download, handle, issue and manage each fixed reference station 100, and, calculate the differential corrections data according to the differential corrections request of data that control center 200 transmits; (2) user authority management, mainly be responsible for 400 respective user of movement station registration, register, cancel, management such as inquiry, authority; (3) provide access authorization and user's service recorder etc., and provide the differential corrections data of different accuracy, send to movement station 400 by control center 200 according to different authorized users.
Movement station 400 typically can be the vehicles such as automobile in the present invention, carry out data transmission by cordless communication network between itself and the control center 200, cordless communication network among the present invention typically can be gprs system or cdma system, also can be other wireless networks with two-way communications capabilities.When the high-precision location of needs, movement station 400 sends the differential corrections request of data to control center 200, and the GPS locator data of the own current position of transmission, control center 200 issues movement station 400 with the differential corrections data that data processing centre (DPC) 300 calculates by cordless communication network according to the position of movement station 400.A guider 410 is installed in the movement station 400 of the present invention, movement station all is to be finished by this guider 410 with all data communication in the external world, therefore movement station 400 can be equal in the present invention and be considered as guider 410, the inner structure of this guider 410 as shown in Figure 2.
Fig. 2 shows the structure of guider 410 in the movement station of the present invention, and this guider 410 comprises memory module 411, display screen 412, wireless communication module 413, GPS receiver module 414 and microcontroller 415, wherein:
Memory module 411 links to each other with microcontroller 415, and its storing electronic map is carried out route planning for microcontroller 415, also stores navigation software, and the control by microcontroller 415 moves, and movement station 400 is navigated;
Display screen 412 links to each other with microcontroller 415, is used to show the navigation information of microcontroller 415;
Wireless communication module 413 links to each other with microcontroller 415, be used for sending the differential corrections request of data in real time to control center 200 by cordless communication network, and receive the differential corrections data that control center 200 feeds back, and give microcontroller 415 with the differential corrections data forwarding;
GPS receiver module 414 links to each other with microcontroller 415, is used to receive movement station 400 current GPS positioning data, and is transmitted to microcontroller 415;
Microcontroller 415 is according to the differential corrections data of wireless communication module 413 transmissions and movement station 100 current GPS positioning data of GPS receiver module 414 transmissions, calculate accurate GPS locator data, and utilize this accurate GPS locator data (for example to form navigation information, map indication and voice suggestion), be presented on the display screen 412, thereby movement station 400 is navigated.
Fig. 3 shows the method flow that among the present invention movement station 400 is carried out precision navigation.
Carry out institute in steps before, when movement station 400 needs navigation, the user sets the destination by the digital and electronic map in the guider 410, guider 410 will move optimal path from the current location to the destination of navigation software planning, the user can travel according to programme path according to the navigation information on the display screen 412 in the guider 410 (for example, map indication and voice suggestion).
In step S301, when movement station 400 need carry out precision navigation, then send differential data request and its current GPS positioning data in real time to control center 200 by cordless communication network.
In step S302, control center 200 is according to the current location constructing virtual reference station 500 of movement station 400, and utilizes data processing centre (DPC) 300 to calculate the differential corrections data, by cordless communication network differential corrections data in real time ground fed back to movement station 400 again.The specific implementation process of this process is: (1) control center 200 receives differential data request and its current GPS positioning data that movement station 400 sends, then, simultaneously the differential data request is forwarded to data processing centre (DPC) 300 according to the current location constructing virtual reference station 500 of movement station 400; (2) data processing centre (DPC) 300 is according to the relative geometrical relation between gps satellite, fixed reference station 100 and the virtual reference station 500, calculate the error amount that gps satellite causes to the error source on the different paths between the virtual reference station 500 by interpolation, thereby obtain the differential corrections data, and then provide the differential corrections data of corresponding precision to control center 200 according to movement station user's authority; (3) control center 200 sends to movement station 400 with the differential corrections data in real time by cordless communication network.
In step S303, movement station 400 calculates accurate GPS locator data according to differential corrections data and its current GPS positioning data, and utilizes this accurate GPS locator data that movement station 400 is navigated.
Should be noted that movement station 400 among the present invention typically can be but is not limited to the vehicles such as automobile, can also be portable terminal in general sense, can adopt method of the present invention in the process that it is navigated.
The above only is preferred embodiment of the present invention, not in order to restriction the present invention, all any modifications of being done within the spirit and principles in the present invention, is equal to and replaces and improvement etc., all should be included within protection scope of the present invention.
Claims (9)
1, a kind of system that movement station is carried out precision navigation, comprise fixed reference station, control center, data processing centre (DPC) and movement station, it is characterized in that, described control center is according to the current location constructing virtual reference station of described movement station, and calculate the differential corrections data according to described virtual reference station by described data processing centre (DPC), send to movement station in real time by cordless communication network, described movement station utilizes described differential corrections data and the GPS locator data that self receives calculates accurate GPS locator data, so that described movement station is navigated.
2, the system that movement station is carried out precision navigation according to claim 1, it is characterized in that, described subscriber data center also be used for to the user corresponding with described movement station register, register, cancel, inquiry, rights management, and provide access authorization and user's service recorder and the differential corrections data that different accuracy is provided according to different authorized users.
3, according to claim 1 movement station is carried out the system of precision navigation, it is characterized in that described movement station comprises a guider, described guider comprises memory module, display screen, wireless communication module, GPS receiver module and microcontroller;
Described memory module links to each other with described microcontroller, is used for storing electronic map, and the described microcontroller of confession carries out route planning and described movement station is navigated;
Described display screen links to each other with described microcontroller, is used to show the navigation information of microcontroller;
Described wireless communication module links to each other with described microcontroller, be used for sending the differential corrections request of data in real time to control center by cordless communication network, and receive the differential corrections data that control center feeds back, and give described microcontroller with described differential corrections data forwarding;
Described GPS receiver module links to each other with described microcontroller, is used to receive described movement station current GPS positioning data, and is transmitted to described microcontroller;
Described microcontroller is according to the differential corrections data of described wireless communication module transmission and the movement station current GPS positioning data of described GPS receiver module transmission, calculate accurate GPS locator data, and utilize described accurate GPS locator data to form navigation information, be presented on the described display screen described movement station is navigated.
4, according to claim 1 movement station is carried out the system of precision navigation, it is characterized in that carry out data interaction by cordless communication network between described control center and the described movement station, described cordless communication network is gprs system or cdma system.
5, a kind of movement station is carried out the equipment of precision navigation, the guider in the promptly described movement station is characterized in that, described guider comprises memory module, display screen, wireless communication module, GPS receiver module and microcontroller;
Described memory module links to each other with described microcontroller, is used for storing electronic map, and the described microcontroller of confession carries out route planning and described movement station is navigated;
Described display screen links to each other with described microcontroller, is used to show the navigation information of microcontroller;
Described wireless communication module links to each other with described microcontroller, be used for sending the differential corrections request of data in real time to control center by cordless communication network, and receive the differential corrections data that control center feeds back, and give described microcontroller with described differential corrections data forwarding;
Described GPS receiver module links to each other with described microcontroller, is used to receive described movement station current GPS positioning data, and is transmitted to described microcontroller;
Described microcontroller is according to the differential corrections data of described wireless communication module transmission and the movement station current GPS positioning data of described GPS receiver module transmission, calculate accurate GPS locator data, and utilize described accurate GPS locator data to form navigation information, be presented on the described display screen described movement station is navigated.
6, a kind of movement station is carried out the method for precision navigation, it is characterized in that, said method comprising the steps of:
A. described movement station sends differential data request and its current GPS positioning data to control center in real time by cordless communication network;
B. described control center is according to the current location constructing virtual reference station of described movement station, and utilizes data processing centre (DPC) to calculate the differential corrections data, by described cordless communication network described differential corrections data in real time ground fed back to movement station again;
C. described movement station calculates accurate GPS locator data according to described differential corrections data and its current GPS positioning data, navigates.
7, method of movement station being carried out precision navigation according to claim 6, it is characterized in that, described cordless communication network is used for the data between described control center and the movement station are carried out real-time mutual, and described cordless communication network is gprs system or cdma system.
8, according to claim 6 movement station is carried out the method for precision navigation, it is characterized in that described step B comprises:
B1. described control center receives differential data request and its current GPS positioning data that movement station sends, and then according to the current location constructing virtual reference station of described movement station, simultaneously described differential data request is forwarded to data processing centre (DPC);
B2. the differential corrections data are calculated by described data processing centre (DPC), and provide the differential corrections data of corresponding precision to described control center according to described movement station user's authority;
B3. described control center sends to described movement station with described differential corrections data in real time by cordless communication network.
9, according to claim 6 movement station is carried out the method for precision navigation, it is characterized in that, the step that the differential corrections data are calculated by data processing centre (DPC) among the described step B2 comprises:
Described data processing centre (DPC) is according to the relative geometrical relation between gps satellite, fixed reference station and the virtual reference station, calculate the error amount that described gps satellite causes to the error source on the different paths between the virtual reference station by interpolation, thereby obtain the differential corrections data.
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| CN2006100636099A CN101008671B (en) | 2006-12-29 | 2006-12-29 | Method, system and device for accurately navigating mobile station |
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