CN101614801A - A kind of double-frequency GPS receiver and CORS system - Google Patents
A kind of double-frequency GPS receiver and CORS system Download PDFInfo
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Abstract
The invention discloses a kind of double-frequency GPS receiver, it is arranged in user's application system of CORS system, the CORS system also comprises data processing centre (DPC) and several base stations, this double-frequency GPS receiver comprises: the GPS module, central processing module, communication module, output module, the GPS module receives the gps satellite observation data that gps satellite sends, generate the receiver locator data and send central processing module to, central processing module sends to data processing centre (DPC) with the receiver locator data by communication module, data processing centre (DPC) generates difference information and feeds back to communication module, communication module sends to the GPS module with difference information by central processing module, and the GPS module calculates real-time positioning information according to difference information and gps satellite observation data and sends to central processing module; It is thin that central processing module is exported to the control hand with real-time positioning information by output module.The data transmission of the data processing centre (DPC) in receiver of the present invention and the CORS system is more reliable, more convenient.
Description
Technical field
The present invention relates to the gps satellite field of locating technology, be specifically related to a kind of double-frequency GPS receiver and CORS system.
Background technology
Along with the progress at full speed and the application popularization of GPS technology, the effect of GPS in urban survey is more and more important.Current, the CORS system (Continuous Operational Reference System is abbreviated as CORS) that utilizes many base station networks RTK technology to set up has become one of GPS Urban application and development focus.In user's application system of CORS system, all can use double-frequency GPS receiver usually.
Traditional double-frequency GPS receiver is a split-type structural, adopts between the equipment such as data cable approaches at GPS receiving antenna, GPS reception main frame, control hand, battery to connect.Be mainly field environment owing to measure operation, the abominable filling tree of most of environment is from, the woods, meadow, wasteland, lake etc., owing to the use of split type and cable, limited construction survey personnel's movable convenience greatly, increased the possibility of instrument damage.And when the data processing centre's communication in double-frequency GPS receiver and the CORS system transmitted to carry out data, reliability of data transmission and speed were all not ideal enough.
Summary of the invention
Based on the deficiencies in the prior art, the object of the invention is to provide a kind of data transmission more reliable, double-frequency GPS receiver and a kind of CORS system more easily.
For achieving the above object, a kind of double-frequency GPS receiver provided by the invention, it is arranged in user's application system of CORS system, and described CORS system also comprises data processing centre (DPC) and several base stations, and this double-frequency GPS receiver comprises:
GPS module, central processing module, communication module, output module,
Described GPS module receives the gps satellite signal that gps satellite sends, generate the receiver locator data and send central processing module to, central processing module sends to described data processing centre (DPC) with the receiver locator data by communication module, the moonscope data that data processing centre (DPC) collects according to receiver locator data and described several base stations, generate difference information and feed back to communication module, communication module sends to the GPS module with difference information by central processing module, and the GPS module calculates real-time positioning information according to difference information and gps satellite observation data and sends to central processing module; The control hand that central processing module is exported to real-time positioning information in user's application system by output module is thin.
Particularly, described central processing module is provided with several asynchronous serial communication interfaces and described communication module, GPS module and output module communicate.
Described central processing module also is connected with and is used to store the static immobilization memory of data that described GPS module is gathered.
Described communication module is the GPRS module of GSM net, can also comprise a CDMA module.Described GPRS module is embedded with the ICP/IP protocol stack, is provided with gprs service Zhi Chijie and GGSN.Described GPRS module and CDMA module are respectively equipped with power supply circuit.
Described output module is the bluetooth output module.
The present invention also provides a kind of CORS system, it comprise several continuous acquisition gps satellite observation datas that are used to fix a point base station, be provided with user's application system of double-frequency GPS receiver, the receiver locator data that is used to receive each base station data and the double-frequency GPS receiver line data of going forward side by side is handled the data processing centre (DPC) that generates difference information, and described double-frequency GPS receiver comprises:
GPS module, central processing module, communication module, output module,
Described GPS module receives the gps satellite signal that gps satellite sends, generate the receiver locator data and send central processing module to, central processing module sends to described data processing centre (DPC) with the receiver locator data by communication module, the moonscope data that data processing centre (DPC) collects according to receiver locator data and described several base stations, generate difference information and feed back to communication module, communication module sends to the GPS module with difference information by central processing module, and the GPS module calculates real-time positioning information according to difference information and gps satellite observation data and sends to central processing module; The control hand that central processing module is exported to user's application system with real-time positioning information by output module is thin.
The present invention is by embedding the GPRS communication module in double-frequency GPS receiver, make with the communication of CORS system and data transmission more reliably, rapid and convenient more.
For making the present invention easier to understand, further set forth the present invention below in conjunction with accompanying drawing.
Description of drawings
Fig. 1 is the structural representation of an embodiment of a kind of CORS of the present invention system;
Fig. 2 is the structural representation of an embodiment of a kind of double-frequency GPS receiver of the present invention;
Fig. 3 lands the processing program flow diagram for GPRS module communication pattern among Fig. 2;
Fig. 4 is that the GPRS module data receives the program flow diagram of handling among Fig. 2.
Embodiment
Along with the progress at full speed and the application popularization of GPS technology, the effect of GPS in urban survey is more and more important.Current, the CORS system (Continuous Operational Reference System is abbreviated as CORS) that utilizes many base station networks RTK technology to set up has become one of GPS Urban application and development focus.
With reference now to accompanying drawing, embodiments of the invention is described, at first with reference to figure 1, a kind of CORS system (CORS system), the base station 011,012 and 013 that it comprises three continuous acquisition gps satellite observation datas that are used to fix a point is provided with user's application system 02 of double-frequency GPS receiver 021, the receiver locator data that is used to receive each base station data and the double-frequency GPS receiver line data of going forward side by side and handles the data processing centre (DPC) 03 that generates difference information; Base station fixed point continuous acquisition moonscope data also send to data processing centre (DPC), user's application system also sends to data processing centre (DPC) with the receiver locator data that collects simultaneously, data processing centre (DPC) carries out analytical calculation, and the output difference information is given user's application system;
Below be detailed introduction to the CORS system:
The base station net: the base station net is by in the certain area coverage, and equally distributed a plurality of base stations are formed.Be responsible for fixed point continuous acquisition moonscope data and be delivered to data processing centre (DPC), the system health Monitoring Service is provided simultaneously.The base station net is the Data Source of CORS system.
Data processing centre (DPC): the control center of system, be used to receive each base station data, carry out data processing, form many base stations difference consumer positioning data, form the data file of certain format, be distributed to user's application system and use.Data processing centre (DPC) is the core cell of CORS, also is the key point that the high precision real-time dynamic positioning is achieved.
The real-time monitored data that data processing centre (DPC) continuously gathered according to each base station in 24 hours are carried out whole modeling and are resolved in the zone, automatically generate one corresponding to flowing the virtual reference station (comprising base station coordinate and GPS observed reading information) of website position and broadcast net by existing data communication network or wireless data, need the user of measurement and navigation to provide code phase/carrier phase difference update information to all kinds of, so that real-time resolving goes out the accurate position of movement station with international form.
The locating information of movement station need be known by data processing centre (DPC) when generating virtual correction data for movement station.Movement station sends to data processing centre (DPC) to the locator data of international standard form (NMEA-0183 GGA) in real time by wireless communication mode (GPRS or GSM), data processing centre (DPC) fictionalizes a reference station near the position of movement station, these virtual datas are broadcast movement station by wireless communication mode receive.
Data transmission system: each base station data transfers to the monitoring analysis center by the optical fiber special line, and this system comprises data transmission hardware device and software control module.
The data broadcasting system: system broadcasts the location navigation data by forms such as mobile network, UHF radio station, Internet to the user.At present practical and easily mode be to broadcast by the mobile network, mainly be to use GPRS mode or GSM mode.The domestic CORS system overwhelming majority of having built uses the GPRS mode to broadcast, and the early stage system that builds of minority also uses the GSM mode to broadcast.Data broadcast system is generally built in data processing centre (DPC), has utilized the public wireless mobile network resource simultaneously.
User's application system: comprise user profile receiving system (double-frequency GPS receiver), network-type RTK positioning system, afterwards with fast precise positioning system and self-aid navigation system and monitoring location system etc.According to the precision difference of using, user's service subsystem can be divided into millimeter level custom system, centimetre-sized custom system, decimeter grade custom system, meter level custom system etc.; And, can be divided into mapping and engineering user (centimetre, decimeter grade), automobile navigation and consumer positioning (meter level), several classes such as high precision user's (processing afterwards), meteorological user according to user's application difference.
General user profile receiving system also has forms such as mobile network, UHF radio station, Internet accordingly, and is corresponding with the broadcasting system of CORS system; The mode that present user profile receiving system has Practical significance is by mobile network (GPRS or GSM).
With reference to figure 2, wherein the double-frequency GPS receiver 021 in user's application system comprises:
Described GPS module 2 receives the double-frequency wireless signal (being GPS star observation data) that gps satellite sends, generate the receiver locator data and send central processing module 1 to, central processing module 1 sends to described data processing centre (DPC) 03 with the receiver locator data by communication module 3, the moonscope data that data processing centre (DPC) 03 collects according to static immobilization data and described several base stations 01, generate difference information and feed back to communication module 3, communication module 3 sends to GPS module 2 with difference information by central processing module 1, and GPS module 2 calculates real-time positioning information according to difference information and gps satellite observation data and sends to central processing module 1; The control hand that central processing module 1 is exported to real-time positioning information in user's application system 02 by output module 4 is thin.
Described communication module 3 can adopt the GPRS module, is embedded in receiver inside, and the GSM antenna also is built-in, with receiver be integrated design.Output module can adopt blue teeth wireless output.
The GPRS module has 3 kinds of working methods (GSM, TCP, UDP):
1, the direct access way of GSM
User's application system inserts by the GSM dial mode, need not software protocol after the access, directly obtains the correction data and gets final product.This mode generally sees the CORS system of early stage foundation.The built-in GPRS module of receiver can realize that the GSM mode inserts the CORS system.
Workflow:
A: GPS per second output GPGGA locating information is set;
B: give the order of GPRS module Sending dialled number by " GPRS_ATD ";
C: wait for that the GPRS module dials automatically, dial-up success is then responded " CONNECT ";
D:CPU receives the GPGGA locating information of GPS module by COM2, and sends to the GPRS module by COM3, and the GPRS module sends the GPGGA locating information for the CORS server by network.
The e:CORS server sends difference information by network toward the GPRS module after receiving the GPGGA locating information, and CPU receives the difference information that the GPRS module is received by COM3, and sends to the GPS module by COM3 and carry out the GPS positioning calculation.
2, GPRS TCP access way
This mode is present the most frequently used access way, uses the NTRIP agreement.The NTRIP agreement is a kind of general CORS system access software agreement, is based on the application enhancements version agreement of http protocol, uses command word and the mutual handshake method of HTTP fully, and is only different on title and data stream.Receiver of the present invention has been realized seamless compatible access the based on the CORS system of NTRIP agreement.
Workflow:
A: GPS per second output GPGGA locating information is set;
B: GPRS module context environmental is set by " GPRS_SetContext ";
C: activate GPRS IP, GPRS network in the connection by " GPRS_ActivateIP ";
D:, connect the CORS server ip and land port by the Transmission Control Protocol of " GPRS_LinkSever ";
E: wait for that the GPRS module connects the CORS server, successful then response " CONNECT ";
F: use HTML GET order the carrying out user rs authentication that meets the NTRIP agreement by " GPRS_Logoin_VRS ";
G:CPU receives the GPGGA locating information of GPS module by COM2, and sends to the GPRS module by COM3, and the GPRS module sends the GPGGA locating information for the CORS server by network.The CORS server sends difference information by network toward the GPRS module after receiving the GPGGA locating information.
H:CPU receives the difference information that the GPRS module receives that the CORS server sends by COM3, and sends to the GPS module by COM2 and position and resolve.
3, the UDP mode of GPRS
UDP is connected with than TCP and connects fast, is no connection-oriented communication modes.
Workflow:
A: GPRS module context environmental is set by " GPRS_SetContext ";
B: activate GPRS IP, GPRS network in the connection by " GPRS_ActivateIP ";
C: by the udp protocol of " GPRS_LinkSever ", the sea reaches webserver IP and 9000 and lands port in the connection;
D: wait for the GPRS module connect in the sea reach the webserver, successful then response " CONNECT ";
E: send the GL order by " SendNetCmd ", obtain the data in server port;
F: the sea reaches webserver IP connection in the disconnection;
G: by the udp protocol of " GPRS_LinkSever ", the sea reaches webserver IP and obtains the data in server port in the connection;
H: wait for the GPRS module connect in the sea reach the webserver, successful then response " CONNECT ";
I: base station: CPU receives the difference information of GPS module by COM2, and sends to the GPRS module by COM3, and the GPRS module is reached the webserver for middle sea by network and sends difference information.Movement station: CPU by COM3 receive the GPRS module receive in the sea reach the difference information that the webserver sends, and send to the GPS module by COM2 and position and resolve.
Double-frequency GPS receiver uses 32 ARM7 kernel technical grade embedded control chip as master controller, need design and realization receiver embedded Control software based on 32 ARM7 control chips, all integrated parts are coordinated in control, comprise that GPS receives mainboard, GPRS communication module, non-volatile FLASH storer etc.
Double-frequency GPS receiver hardware design of the present invention is as follows:
Receiver software is the embedded software program that is embedded in 32 embedded-type ARM 7 control chips of double-frequency GPS receiver main frame.We have selected for use the STR710 technical grade low-power consumption arm processor of ST as system controller and data acquisition unit, STR710 is integrated meets 32 RISC kernels of ARM7TDMI of industry standard, with high-performance, low-power consumption, intensive coding, comprehensively peripheral hardware combination and up-to-date integrated ST0.18 micron embedded flash memory technology are characteristic.Enough lot of data buffer memorys of integrated a large amount of RAM and FLASH and a large amount of code demands of storage on the sheet, the UART serial ports of four integrated support full duplexs has satisfied the total system demand the biglyyest on the sheet, utilizes USB high-speed serial bus download GPS moonscope data.Use small-sized, highly integrated 32 ARM microcontrollers when reducing the total system cost, also to expand application power.
In order to satisfy the product design requirement, articulating the 64MFLASH storer at the ARM7 control chip is enough to gather a large amount of gps satellite observation datas.Adopt technical grade GPRS module to realize the wireless transmission of difference text.Utilize bluetooth module to realize receiver and the control hand radio communication between approaching.The effect of receiver software is exactly to coordinate each parts of control to reach the mode of operation that needs, and realizes that simultaneously the function under the various mode of operations realizes, important is the various cut-in methods of realizing connecting the CORS system.
1, the system master chip is ARM7 CPU STR710, and mainly having adopted in the each several part circuit is asynchronous serial communication (UART).This chip has 4 UART (COM) mouthfuls, connects different modules respectively, integrates.
COM1: as data output interface, be connected to bluetooth module with and lead to into that level conversion is connected as outside RS232 serial interface;
COM2: connect GPS mainboard COM port or COM device or COM1, gather receiving interface as GPS locator data and gps data, because GPS mainboard COM port or COM device or COM1 is the RS232 electric level interface, must carry out level shifting circuit in order to carry out serial communication with the COM2 of CPU, in the electricity of road, select for use the MAX3243 of static electrification protection to realize that RS232 is converted to Transistor-Transistor Logic level;
COM3: connect GPS mainboard COM2 mouth, GPS mainboard COM2 is the Transistor-Transistor Logic level interface, can directly be connected with the COM4 mouth of CPU, as the differential correcting data transmission interface;
COM4: the circuit that connects the data transmission module, GPRS module for example, the CDMA modular circuit, external data links mouths etc. are as differential data communication input interface.
In order to realize the product gps data of storage of collected in a large number, must articulate jumbo storer to gather a large amount of gps satellite observation datas at the ARM7 control chip.Selecting to select jumbo NAND FLASH storer for use on the data-carrier store, the project demand storer is had relatively high expectations to aspects such as machine quality, safety of data, service lifves of a machine, present jumbo NAND FLASH storer has two kinds of frameworks, SLC (storage of Single Level Cell single-layer type) and MLC (storage of Multi Level Cell multiple field), jumbo SLC flash chip cost is high more a lot of than MLC flash chip.But the MLC framework has many shortcomings, at first is to use the life-span shorter, and the SLC framework can access 100,000 times, and the MLC framework can only bear about 10,000 times access.Next is exactly that access speed is slow, and under present technical conditions, MLC chip theoretical velocity can only reach about 2MB.The SLC framework is quicker more than three times than MLC framework.Moreover, MLC can loss-rate the SLC height, Duoing about 15% current drain under the identical service condition than SLC.Selected the high-capacity K 9F1208 chip of selecting the SLC framework 64M*8Bit of Samsung for use based on project demand.Because the CPU STR710 chip of selecting for use does not have special-purpose NAND FLASH storer EMI (external memory controller interface, External MemoryInterface), but read-write sequence is consistent with the read-write sequence of NAND FLASH storer basically among the EMI of the SRAM of STR710 (static RAM (SRAM)), the read-write that this just can come control data by the EMI of SRAM by the read-write sequence of NANDFLASH memory data, the control of the NAND FLASH storer except that read-write sequence casually line are then controlled by common IO (the IN PUT/OUT PUT) pin one of STR710.The data-interface of NAND FLASH storer then directly can be connected with the low byte data line of the data port of the EMI of the SRAM of STR710.Thereby ideally finish and showed the control of STR710 NAND FLASH storer.
2, the data chainning communication modes has: built-in GPRS (GPRS) communication module, and outer input interface.All by switching the COM4 mouth that chip is input to CPU, under different mode of operations, CPU selects different modules to carry out communication to the data of these modules automatically; After the CPU analyzing and processing, be transferred to GPS mainboard COM2 mouth by COM3.Wherein the GPRS communication module is the core communications portion that realizes CORS.The GPRS communication module is divided into the GPRS module that one of two parts are the GSM nets, and another is the CDMA module.GPRS module GR64 is as the indispensable part of product, and CDMA module DTL-800 can be used as and selects part for use; GR64 is the GSM/GPRS module of a embedded ICP/IP protocol stack of the up-to-date release of Sony/Ericsson company, can backward compatible GR47, and embedded ARM9 CPU can open to the user.It is the GPRS module of technical grade, and adaptive temperature-30 is to 75 degrees centigrade, embedded ICP/IP protocol stack, and transparent transmission through anti-Electromagnetic Treatment module, can provide high-speed radio IP or X.25 service fully; It has increased SGSN (Serving GPRS Support Node) and 2 service nodes of GGSN (GGSN), can provide end to end, wireless IP connects.Count the biography mode with respect to other, GPRS has more advantage: construction cost is low, the data transmission credibility height, and transfer rate can reach 171kbps, can travel all over Internet based on the IP agreement, always online and press flow charging.CDMA module DTL-800 is a U.S. Anydata product, and it is high to have stability, and transmission speed is fast, and the characteristics that module size is little be the more important thing is built-in ICP/IP protocol, meet the design needs of this project.
The GPRS module also is to use the UART communication mode with communicating by letter of CPU, because its interface level is the 2.75V level, rather than the 3.3V of standard, interface must carry out the level conversion matching Design, has selected simple electric resistance partial pressure design in design for use.The online signal wire (DCD) of the GPRS of module, data have sent the IO that control lines such as the signal wire that finishes have distributed CPU respectively, because GPRS uses the COM4 mouth of CPU again jointly with CDMA, and a part of interface of GPRS and CDMA is a bidirectional interface, in order to address this problem, in circuit design, adopted many groups analog switch multiplexing chip 4053 to realize GPRS and cdma communication line sharing and two-way communication; For the design safety independently power supply circuit of considering to be respectively these two modular design.
3, the GPS dash receiver is a nucleus module of handling gps signal, the GPS dash receiver receives the double frequency (L1:1575.42MHZ that gps satellite sends by built-in gps antenna, L2:1227.60MHZ) wireless signal adds the differential data that the COM2 mouth sends, and draws accurate in locating information by analysis.Locating information is transferred to CPU by the COM port or COM device or COM1 of dash receiver.The control command of CPU is also delivered in the GPS receiver module by COM port or COM device or COM1.
4, data output unit: locator data output has dual mode, and the one, be transferred to control handbook or computer by the wired mode of RS-232 serial ports; The 2nd, be transferred to the control handbook by bluetooth approach, bluetooth is mapped as the serial ports service here.Choosing wired mode or bluetooth approach realizes by the selection chip of alternative.
Each functional module of receiver software of the present invention mainly comprises with the lower part: locator data collection and stored programme, and the command system program, GPRS connects network and data transmit-receive program (containing the realization of the various access waies of CORS),
1, locator data collection and stored programme: when carrying out the RTK location, realize locator data analysis and coordinate setting, receive locator data and transmit in one's hands the approaching forward differential text etc.The setting of base station coordinate is divided into automatic setting and manually is provided with.Automatic Styles is to start shooting and realize pinning panel F key, behind GPS receiver module locking satellite, obtain the single-point locating information of GPS receiver module earlier by CPU, analyze latitude, longitude and elevation, the GPS receiver module is set as the base station reference coordinate with these elements of a fix; When carrying out the geodetic surveying location, what main elder generation realized is establishment, the setting of geodetic surveying acquisition parameter of geodetic surveying file, the storage of geodetic surveying data analysis and geodetic surveying data.
2, command system program: command system realizes the system operation control of whole V8, V8 system parameter setting, the partial parameters setting of GPS OEM plate, the parameter setting of GPRS, static file operation etc.
3, GPRS connects network and data transmit-receive program: realize that ZHD that the GSM electricity exchanges communication mode is connected with the VRS network and land processing that the ZHD of GPRS communication mode is connected with the VRS network and lands processing, network data processing etc.And ZHD and GPRS communication mode have adopted subpackage to send transmission mode when reaching single base station, and a base station can provide differential data for simultaneously a plurality of movement stations.Wherein main GPRS communication mode land handle and program circuit that network data receives processing as shown in Figure 3, Figure 4.
Above disclosed only is preferred embodiment of the present invention, can not limit the present invention's interest field certainly with this, and therefore the equivalent variations of being done according to the present patent application claim still belongs to the scope that the present invention is contained.
Claims (10)
1, a kind of double-frequency GPS receiver, it is arranged in user's application system of CORS system, and described CORS system also comprises data processing centre (DPC) and several base stations, it is characterized in that this double-frequency GPS receiver comprises:
GPS module, central processing module, communication module, output module,
Described GPS module receives the gps satellite signal that gps satellite sends, generate the receiver locator data and send central processing module to, central processing module sends to described data processing centre (DPC) with the receiver locator data by communication module, the moonscope data that data processing centre (DPC) collects according to receiver locator data and described several base stations, generate difference information and feed back to communication module, communication module sends to the GPS module with difference information by central processing module, and the GPS module calculates real-time positioning information according to difference information and gps satellite observation data and sends to central processing module; The control hand that central processing module is exported to real-time positioning information in user's application system by output module is thin.
2, double-frequency GPS receiver as claimed in claim 1 is characterized in that, described central processing module is provided with several asynchronous serial communication interfaces and described communication module, GPS module and output module communicate.
3, double-frequency GPS receiver as claimed in claim 2 is characterized in that, described central processing module also is connected with the storer that is used to store the gps satellite observation data that described GPS module gathers.
4, double-frequency GPS receiver as claimed in claim 3 is characterized in that, described communication module is the GPRS module of GSM net.
5, double-frequency GPS receiver as claimed in claim 4 is characterized in that, described communication module also comprises a CDMA module.
6, double-frequency GPS receiver as claimed in claim 4 is characterized in that, described GPRS module is embedded with the ICP/IP protocol stack, is provided with Serving GPRS Support Node and GGSN.
7, double-frequency GPS receiver as claimed in claim 6 is characterized in that, described GPRS module and CDMA module are respectively equipped with power supply circuit.
8, double-frequency GPS receiver as claimed in claim 4 is characterized in that, described output module is the bluetooth output module.
9, a kind of CORS system, it comprises that the base station of several continuous acquisition gps satellite observation datas that are used to fix a point, the user's application system that is provided with double-frequency GPS receiver, the receiver locator data that is used to receive each base station data and the double-frequency GPS receiver line data of going forward side by side handles the data processing centre (DPC) that generates difference information, it is characterized in that described double-frequency GPS receiver comprises:
GPS module, central processing module, communication module, output module,
Described GPS module receives the gps satellite signal that gps satellite sends, generate the receiver locator data and send central processing module to, central processing module sends to described data processing centre (DPC) with the receiver locator data by communication module, the moonscope data that data processing centre (DPC) collects according to static immobilization data and described several base stations, generate difference information and feed back to communication module, communication module sends to the GPS module with difference information by central processing module, and the GPS module calculates real-time positioning information according to difference information and gps satellite observation data and sends to central processing module; The control hand that central processing module is exported to user's application system with real-time positioning information by output module is thin.
10, CORS as claimed in claim 9 system is characterized in that, described communication module is the GPRS module of GSM net.
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| CN108351421A (en) * | 2015-10-29 | 2018-07-31 | 华为技术有限公司 | Localization method, base station in mobile network and mobile terminal |
| CN108761511A (en) * | 2018-04-18 | 2018-11-06 | 广州市中海达测绘仪器有限公司 | Unmanned plane GNSS base stations data transmission and control method, apparatus and system |
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| CN110132121A (en) * | 2019-05-10 | 2019-08-16 | 国网浙江省电力有限公司信息通信分公司 | The transmission tower deformation monitoring method of the non-combined RTK positioning of No. three double frequencies of Beidou |
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| CN112630810A (en) * | 2020-12-24 | 2021-04-09 | 东北农业大学 | Test device and method for testing CORS positioning accuracy |
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2009
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| CN103596178A (en) * | 2013-11-28 | 2014-02-19 | 中国航天科工信息技术研究院 | Single-station CORS system and differential data transmission and authentication method thereof |
| CN103596178B (en) * | 2013-11-28 | 2017-01-11 | 中国航天科工信息技术研究院 | Single-station CORS system and differential data transmission and authentication method thereof |
| CN103698775A (en) * | 2014-01-08 | 2014-04-02 | 中国有色金属长沙勘察设计研究院有限公司 | Automatic GPS (global positioning system) data collecting and dumping system and method |
| CN104407368A (en) * | 2014-11-03 | 2015-03-11 | 中国人民解放军63961部队 | High precision difference information generation method based on Beidou satellite navigation system |
| CN104698482A (en) * | 2015-02-12 | 2015-06-10 | 广州中海达定位技术有限公司 | Method and device for acquiring optimal differential data |
| CN108351421A (en) * | 2015-10-29 | 2018-07-31 | 华为技术有限公司 | Localization method, base station in mobile network and mobile terminal |
| CN105847435A (en) * | 2016-05-25 | 2016-08-10 | 山东大学 | Wide-area Beidou space-time internet-of-things experiment network system and realization method thereof |
| CN105847435B (en) * | 2016-05-25 | 2019-07-12 | 山东大学 | A kind of wide area Beidou space-time Internet of Things experimental network system and implementation method |
| CN109073758A (en) * | 2016-12-13 | 2018-12-21 | 苏州宝时得电动工具有限公司 | From mobile device, automatic working system, network RTK positioning system, calculate equipment and operation method |
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| CN106918821A (en) * | 2017-03-28 | 2017-07-04 | 上海双微导航技术有限公司 | A kind of portable satellite positioner |
| CN107957587A (en) * | 2017-12-01 | 2018-04-24 | 华南农业大学 | A kind of multichannel difference multimodal satellite navigation localization method and device |
| CN107957587B (en) * | 2017-12-01 | 2023-05-09 | 华南农业大学 | Multi-path differential multimode satellite navigation positioning method and device |
| CN108761511A (en) * | 2018-04-18 | 2018-11-06 | 广州市中海达测绘仪器有限公司 | Unmanned plane GNSS base stations data transmission and control method, apparatus and system |
| CN108761511B (en) * | 2018-04-18 | 2022-07-12 | 广州市中海达测绘仪器有限公司 | Unmanned aerial vehicle GNSS reference station data transmission and control method, device and system |
| CN110225583A (en) * | 2018-11-30 | 2019-09-10 | 广东电网有限责任公司 | A kind of Simple low-cost 4G network RTK positioning device |
| CN109459775A (en) * | 2018-12-19 | 2019-03-12 | 安徽继远软件有限公司 | A kind of transmission tower deformation monitoring system that low rate is transmitted at a distance and method |
| CN110132121A (en) * | 2019-05-10 | 2019-08-16 | 国网浙江省电力有限公司信息通信分公司 | The transmission tower deformation monitoring method of the non-combined RTK positioning of No. three double frequencies of Beidou |
| CN110132121B (en) * | 2019-05-10 | 2021-01-05 | 国网浙江省电力有限公司信息通信分公司 | Beidou third-order dual-frequency non-combined RTK positioning transmission tower deformation monitoring method |
| CN112630810A (en) * | 2020-12-24 | 2021-04-09 | 东北农业大学 | Test device and method for testing CORS positioning accuracy |
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