CN101498785A - GNSS network differential positioning reference station network construction method and dynamic updating method - Google Patents
GNSS network differential positioning reference station network construction method and dynamic updating method Download PDFInfo
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- CN101498785A CN101498785A CNA2009100259693A CN200910025969A CN101498785A CN 101498785 A CN101498785 A CN 101498785A CN A2009100259693 A CNA2009100259693 A CN A2009100259693A CN 200910025969 A CN200910025969 A CN 200910025969A CN 101498785 A CN101498785 A CN 101498785A
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Abstract
The invention discloses a constructing method and a dynamically updating method of a GNSS network difference positioning reference station network. In the method, each GNSS reference station is projected to a two-dimensional plane according to the known and accurate coordinates of the GNSS reference station; a reference station network taking a triangle as a basic structure is formed by the discrete points of the two-dimensional plane according to the network constructing rule of a Delaunay triangle network, and the shape of the network is unique. When a new reference station is increased or a certain reference station is not used, the real-time construction of a new network is finished through operation of point insertion or point deletion. The invention can keep the unique optimized network shape of the reference stations and meet the precision requirement when a movable station is positioned.
Description
Technical field
The present invention relates to a kind of GNSS network differential positioning reference station network construction method and dynamically update method, belong to GNSS network differential positioning field.
Background technology
GNSS network differential location technology is the hot technology in present satnav field, be widely used in industries such as mapping and survey of territorial resources, this positioning system includes a plurality of base stations usually, constitute the base station network that covers a certain zone, the distribution situation of base station will directly have influence on baseline ambiguity resolution efficient and parameter estimation precision.Current; the development of GNSS network differential location technology presents the characteristics of real time implementation and scale; base station and number of users are all in continuous increase; the calculating of control center, communication load are also increasing like this, also are faced with simultaneously to select for use which base station to position to resolve and because base station is encrypted or the interim unavailable network real-time of bringing such as dynamically updates at problem.
Summary of the invention
The technical problem to be solved in the present invention is to propose a kind of GNSS network differential positioning reference station network construction method and dynamically update method at the defective that prior art exists.
GNSS network differential positioning reference station network construction method of the present invention with dynamically update method, it is characterized in that comprising the steps:
(1) the static translocation in each base station and high-grade GNSS reference mark is obtained the real-time information of each base station, the real-time information of each base station is resolved through baseline and the net adjustment is resolved the WGS-84 terrestrial coordinate that obtains each base station, the WGS-84 terrestrial coordinate is carried out Gauss projection with the local meridian of base station as central meridian obtain the WGS-84 planimetric coordinates, again the WGS-84 planimetric coordinates is obtained local planimetric coordinates by seven Parameters Transformation or four Parameters Transformation, then corresponding base station is just represented in the discrete point position at each local planimetric coordinates place on the two dimensional surface, with the first initial line of the shortest place, two the discrete point positions baseline of distance as initial delta;
(2) structure initial delta
Network forming obtains thirdly leg-of-muttonly through Delaunay with the first initial line of the described initial delta of step (1), thirdly constitutes initial delta with first initial line, wherein thirdly is the described discrete point of step (1);
(3) three limits with the described initial delta of step (2) constitute new triangle as first initial line repeating step (2) respectively;
(4) the structure triangulation network
Two limits that all new triangles are not made up constitute new triangle as first initial line repeating step (2) respectively; Repeating step (4) all travels through until the described discrete point of step (1) and finishes that to obtain the triangulation network be the base station net;
(5) the base station net dynamically updates
Increase base station in the described base station net of step (4), then repeating step (1) to (4) regenerates new base station net;
When certain base station broke down in the described base station net of step (4), discrete point corresponding with the base station that breaks down in the triangulation network with step (4) generation was deleted, and repeating step (1) to (4) regenerates new base station net then.
The node of GNSS network differential positioning reference station network is each base station, has the locus attribute, the limit then is the baseline that is calculated by the base station coordinate data, have attributes such as length, direction, what adopt the formation of network differential location technology thus is the network on limit with the baseline exactly, and the scope of the network coverage just can be measured by each node distribution situation the coverage.For the middle-size and small-size GNSS base station network that comprises the dozens of base station, coverage is about tens thousand of square kilometres, consider the characteristics in the distribution of base station geographical space, variation range is less on the elevation direction usually, therefore can be reduced to the net structure problem of discrete data point on the two dimensional surface.If these Discrete Distribution base station at the earth's surface can be formed the particular network structure according to certain rule, the movement station base station that just can be used to locate according to its rough coordinates determining positions then, thus calculate the composition error and the final GNSS of the realization network differential location of movement station.
Advantage of the present invention and beneficial effect: the present invention can be applicable to following field or industry:
(1) territories at different levels, department such as survey and draw, reconnoitre set up GNSS and move satellite base station network continuously and be used for real-time positioning and obtain positional information;
Application is learned on ground such as (2) digital terrain model is set up, numerical map is comprehensive.
Its advantage is: the present invention arrives two dimensional surface to the spatial data of expression GNSS base station position by Gauss projection, regards the two dimensional surface coordinate points as discrete geometric data, according to the automatic base station net that makes up of the network forming rule of the Delaunay triangulation network.The advantage of triangular net structure is self-evident, the user is in a delta-shaped region when mobile, base station of selecting for use and movement station place baseline remain stronger correlativity, and when movement station leaves this triangle, system is selected by real-time delta-shaped region, movement station is locked in the new triangular element again, user's motion track and at utmost meeting of correction zone have so just been remained, guaranteed that higher error corrects precision, owing to only select for use 3 base stations to participate in positioning calculation, alleviated the computation burden of control center simultaneously.The method that the present invention relates to simultaneously can also be finished the Real-time and Dynamic of base station network and upgrade, promptly when needs add new base station or stop using certain base station temporarily, can realize real-time renewal by this method, remain each base station and form unique optimization net form, the accuracy requirement when guaranteeing the movement station location.
Description of drawings
Fig. 1 is the GNSS network differential positioning reference station system schematic that the present invention relates to;
Fig. 2 is the process flow diagram of GNSS base station net structure method of the present invention;
Fig. 3 is certain the base station net instance graph that adopts the inventive method structure;
Fig. 4 is the instance graph that dynamically updates that the base station net of structure is increased new base station;
Fig. 5 is the instance graph that dynamically updates of the base station net of structure being deleted certain base station.
Embodiment
Below in conjunction with accompanying drawing principle of work of the present invention and embodiment are further described.
As Fig. 1, the composition of the GNSS network differential positioning reference station system that the present invention relates to comprises:
(1) GNSS global position system
Be distributed in the GNSS satellite-signal of the GNSS receiver reception of earth surface from the space, the GNSS navigational satellite system comprises GPS, GLONASS, GALILEO and big-dipper satellite system.
(2) GNSS receiver and antenna
GNSS base station receiver type is double frequency (L1 and L2) 12 passages, mobile station receiver can be single-frequency (containing pseudorange, carrier phase output) or double frequency, select and the be complementary antenna of (at aspects such as power) of receiver, use the standard feeder line that is shorter than 15m to connect antenna and receiver in principle.Base station is erected on the observation pier, satellite altitude angle sighting condition more than 10 ° after installing, the GNSS antenna should be arranged, in order to avoid satellite-signal is absorbed or blocks, and observation pier site should be away from water field of big area or strong electromagnetic district (microwave station, hi-line pass through area, radio-transmitting station etc.), with the influence that weakens multipath effect and other interference that may cause signal.
(3) data center
Data center receives the data of each base station in real time, possesses the function of the real time data processing of many base stations, network operation monitoring, network management, subscriber service management.
(4) communication system
The data transmission of base station and control center requires: high speed (realize high speed data transfer, the original text flow that base station uploads to control center is about 5000bps), real-time (data delay can not surpass 40ms), reliability (realizing round-the-clock reliable connection), security (the assurance system is not subjected to the visit of unauthorized user), extensibility (having good upgrading expanded function).Network differential positioning system coverage is wider, and the distance of base station and control center is far away, so the data communication network between them belongs to the category of wide area network, the form transmission data of employing SDH wired private network.
As Fig. 2, be the process flow diagram of GNSS base station net structure method of the present invention, specific implementation is:
(1) with each base station and country or the local static translocation in high-grade GNSS reference mark, employing high precision baseline resolves software and net adjustment software is found the solution the accurate WGS-84 terrestrial coordinate of each base station, this terrestrial coordinate is carried out Gauss projection with local meridian as central meridian, obtain the WGS-84 planimetric coordinates, by Parameters Transformation, again this coordinate conversion is become local planimetric coordinates then.Then corresponding base station is just represented in the discrete point position at each coordinate place on the two dimensional surface, by 2 the shortest first initial lines of place baselines conduct of detection range;
(2) searching is thirdly leg-of-mutton
Differentiate rule according to the empty circumscribed circle of the Delaunay triangulation network and two at minimax angle, find out with step (1) in initial baseline can to constitute Delaunay thirdly leg-of-mutton;
(3) structure initial delta
That just finds out in two end points of initial line and the step (2) thirdly links to each other, and obtains first Delaunay triangle, is referred to as initial delta; Article one limit with initial delta is that reference edge is expanded again, seeks other point that satisfies condition outside triangle, constitutes second triangle, and reference edge is defined as new leg-of-mutton article one limit;
(4) the structure triangulation network
Respectively two triangles of above-mentioned formation are expanded, only need the second of extended triangular shape and the 3rd limit to get final product this moment, then newly-generated triangle is carried out similar expansion respectively, same each two limits of expansion that only need, so repeatedly, be full of whole zone, export the triangulation network at last up to the triangulation network, just finished the structure of base station net, and net form is unique;
(5) the base station net dynamically updates
In the base station net, increase base station or certain base station owing to break down etc. when former thereby unavailable temporarily when needs, finish by the operation that increases point and deletion point in the triangulation network that generates in step (4), and then regenerate new network by step (1) to (4), thereby the Real-time and Dynamic of finishing the base station net is upgraded.
(6) movement station location
By above-mentioned series of steps, the structure of having realized the base station net with dynamically update, and formed network is unique Triangle Network Structure.Movement station only need be selected 3 base stations of the delta-shaped region at its place when the location, set up by the observation information of these 3 base stations and cover this regional correction model, thereby realize final location.
Described GNSS network differential positioning system base station net structure and the method that dynamically updates, it is characterized in that in the described step (4) thirdly choose as follows:
With first initial line through Delaunay network forming obtain leg-of-mutton thirdly after,, then will thirdly be deleted by existing triangle encompasses when thirdly, return step (4);
Not by existing triangle encompasses, then will thirdly constitute new triangle when thirdly, return step (4) with first initial line.
Is example by the inventive method with 30 base stations that are distributed in regional extent, and the GNSS base station net of structure as shown in Figure 3.
In conjunction with Fig. 4, Fig. 5, the Real-time and Dynamic update method about the base station net among the present invention is described further:
When needing to increase new base station in the base station net of structure, performing step is: at first travel through big net convex closure summit chained list, 2 of front and back are linked to be a convex closure limit, if the right side on a certain therein limit of point to be added or just on the limit shows that this is on the outside or border of the Delaunay triangulation network.This point is inserted into former site chained list,, promptly finishes reference station may adding work carrying out network forming again a little in the chained list.If put left side on all convex closure limits, then show a little inside at the Delaunay triangulation network, travel through former triangle chained list this moment, seek all triangles that circumscribed circle comprises this point, these triangles are deleted from former net triangle chained list, its common edge is deleted from former selvage chained list, and remaining limit has constituted a polygon that comprises this point.This polygonal each bar limit and point are formed new triangle also deposit the triangle chained list in, the new limit of generation deposits in the new selvage chained list, has so just finished some insertion work, and the network of promptly having realized increasing behind the new base station upgrades.In Fig. 3, increase a new base station, upgrade the network that obtains behind the base station net again as shown in Figure 4.
When needing in the base station net of structure to stop using certain base station temporarily, promptly delete certain reference station may in net, performing step is: at first travel through big net convex closure summit chained list, if treat that the deletion point is the convex closure summit, then should from the chained list of former site, delete by point, then to have a few network forming again.If put on the convex closure of former net, then show this point in triangulation network inside, the search summit comprises the triangle of this point, and two summits, the 3rd limit that the summit do not comprised this point deposit in the chained list, this limit deposits in the side chain table, and this triangle is deleted from former net triangle chained list.Travel through former selvage chained list again, the searching summit comprises all limits of this point and with its deletion, should delete from the chained list of former site by point then.Last is that discrete point carries out network forming again to have a few in the new some chained list, has just realized that the network of reference station may deletion upgrades.The base station of interim stop using " BTJJ " by name in Fig. 3 upgrades network that the base station net obtains as shown in Figure 5 again.
Claims (2)
- A GNSS network differential positioning reference station network construction method with dynamically update method, it is characterized in that comprising the steps:(1) the static translocation in each base station and high-grade GNSS reference mark is obtained the real-time information of each base station, the real-time information of each base station is resolved through baseline and the net adjustment is resolved the WGS-84 terrestrial coordinate that obtains each base station, the WGS-84 terrestrial coordinate is carried out Gauss projection with the local meridian of base station as central meridian obtain the WGS-84 planimetric coordinates, again the WGS-84 planimetric coordinates is obtained local planimetric coordinates by 7 Parameters Transformation or 4 Parameters Transformation, then corresponding base station is just represented in the discrete point position at each local planimetric coordinates place on the two dimensional surface, with the first initial line of the shortest place, two the discrete point positions baseline of distance as initial delta;(2) structure initial deltaNetwork forming obtains thirdly leg-of-muttonly through Delaunay with the first initial line of the described initial delta of step (1), thirdly constitutes initial delta with first initial line, wherein thirdly is the described discrete point of step (1);(3) three limits with the described initial delta of step (2) constitute new triangle as first initial line repeating step (2) respectively;(4) the structure triangulation networkTwo limits that all new triangles are not made up constitute new triangle as first initial line repeating step (2) respectively;Repeating step (4) all travels through until the described discrete point of step (1) and finishes that to obtain the triangulation network be the base station net;(5) the base station net dynamically updatesIncrease base station in the described base station net of step (4), then repeating step (1) to (4) regenerates new base station net;When certain base station broke down in the described base station net of step (4), discrete point corresponding with the base station that breaks down in the triangulation network with step (4) generation was deleted, and repeating step (1) to (4) regenerates new base station net then.
- 2. GNSS network differential positioning reference station network according to claim 1 structure and the method that dynamically updates, it is characterized in that in the described step (4) thirdly choose as follows:With first initial line through Delaunay network forming obtain leg-of-mutton thirdly after,, then will thirdly be deleted by existing triangle encompasses when thirdly, return step (4);Not by existing triangle encompasses, then will thirdly constitute new triangle when thirdly, return step (4) with first initial line.
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| CN114095865A (en) * | 2021-11-11 | 2022-02-25 | 北京红山信息科技研究院有限公司 | Positioning method and device of measurement report, computer equipment and storage medium |
| CN114095865B (en) * | 2021-11-11 | 2024-02-27 | 北京红山信息科技研究院有限公司 | Positioning method and device for measurement report, computer equipment and storage medium |
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