CN102508270A - VRS (Virtual Reference Station) information receiving terminal based on regional grid division mechanism and operating method of VRS information receiving terminal - Google Patents
VRS (Virtual Reference Station) information receiving terminal based on regional grid division mechanism and operating method of VRS information receiving terminal Download PDFInfo
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- CN102508270A CN102508270A CN2011102960740A CN201110296074A CN102508270A CN 102508270 A CN102508270 A CN 102508270A CN 2011102960740 A CN2011102960740 A CN 2011102960740A CN 201110296074 A CN201110296074 A CN 201110296074A CN 102508270 A CN102508270 A CN 102508270A
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Abstract
The invention relates to a VRS (Virtual Reference Station) information receiving terminal based on a regional grid division mechanism and an operating method of the VRS information receiving terminal, belonging to the technical field of measurement methods. The VRS information receiving terminal comprises a frequency modulation receiving unit, a grid data processing unit and an RTK (Real-time Kinematic) flow receiving unit, wherein the frequency modulation receiving unit is connected with the grid data processing unit through a serial port, and the grid data processing unit is connected with the RTK flow receiving unit through the serial port; the grid data processing unit receives three-dimensional coordinates of an RTK flowing unit, three-dimensional coordinates of all grid virtual reference stations, UDP (User Datagram Protocol) port numbers and UDP data packets; and the grid data processing unit calculates distances between the RTK flowing unit and the all grid virtual reference stations, determines a grid virtual reference station closest to the RTK flowing unit, takes a UDP port number of the grid virtual reference station as a UDP target port number of an RTK flowing station and reads a relative UDP data packet, obtains RTCM (Radio Technology Committee of Marine) format differential modified data through UDP unpacking, and finally transmits the differential modified data to the RTK flowing unit to finish the RTK real-time differential location.
Description
Technical field
The present invention relates to a kind of VRS information receiving terminal and method of work thereof, relate in particular to network RTK real time differential location and UDP message transmission technology, belong to location and measuring method technical field based on area grid division mechanism.
Background technology
The GNSS technology of network RTK is the satellite navigation locator meams that precision is the highest in the world at present, and People more and more is tended to use the GNSS technology of network RTK to carry out navigator fix and measured operation.Carry out hi-Fix for using VRS RTK technology; The RTK rover station must send the locating information that self has error to data center; Under the ever-increasing situation of customer volume, because network bandwidth limitations and data processing centre's calculated amount restriction cause having only small number of users can use this technology to carry out hi-Fix.Along with the grid dividing method greatly reduces virtual reference station quantity and UDP broad application; Make the RTK rover station need not send self poisoning information and directly to obtain differential correcting information reality through the udp port inquiry feasible based on the differential correcting information udp broadcast method of the area grid mechanism of dividing; Can solve the bottleneck problem of RTK rover station limited amount, realize the hi-Fix of magnanimity RTK mobile station user in network RTK.
Summary of the invention
To the defective of prior art, the present invention provides a kind of VRS information receiving terminal and method of work thereof of dividing mechanism based on area grid.
A kind of VRS information receiving terminal based on the area grid mechanism of dividing comprises FM reception unit, grid data processing unit and the RTK receiving element that flows; The FM reception unit is connected with the grid data processing unit through serial ports, and the grid data processing unit is connected through serial ports with the mobile receiving element of RTK.
Described FM reception unit is made up of FM reception module and data-interface, and the grid data processing unit is made up of embedded processing module and data-interface, and the mobile receiving element of RTK is made up of RTK receiver module and data-interface.
Described FM reception module is a RDA5807 FM reception module; The embedded processing module adopts the S3C2440 processor; The mobile receiving element of RTK adopts the GNSS RTK receiver module of supporting RTCM2.2 and RTCM3.0 agreement, and the location memory module adopts K9F1G08U0C-PCB0 Nand-Flash storer.
A kind of method of work based on the machine-processed VRS information receiving terminal of area grid division is following:
1) the RTK receiver module receives satellite carrier phase information, navigation message information and pseudorange information, calculates self three-dimensional coordinate and it is sent into the embedded processing module of grid data processing unit;
2) the FM reception module receives the fm broadcast signal of network RTK data center transmission and carries out demodulation; Obtain UDP message bag, three-dimensional coordinate and the corresponding udp port thereof number at all grid virtual reference stations, the FM reception module is delivered to these information the embedded processing module of grid data processing unit through serial ports then;
3) three-dimensional coordinate at all grid virtual reference stations and corresponding udp port thereof number the RTK three-dimensional coordinate and the step 2 of receiving element that flow the embedded processing module receiving step 1 of grid data processing unit)); Calculate the distance at the mobile receiving element of RTK and all grid virtual reference stations; Confirm to flow receiving element at a distance of nearest grid virtual reference station with RTK, and with the udp port at this grid virtual reference station number as the flow UDP destination slogan of receiving element of RTK;
4) the embedded processing module of grid data processing unit also receives 2) in the UDP message bag at all grid virtual reference stations; UDP destination slogan according to the mobile receiving element of RTK in the step 3) reads corresponding UDP message bag then; Unpack through UDP again and handle the RTCM form differential correcting data that obtain this grid virtual reference station, and these differential correcting data are sent into the RTK flow unit through serial ports;
5) the RTCM form differential correcting data the GNSS RTK receiver module receiving step 4 of RTK flow unit), and accomplish RTK real time differential location, at last locator data is deposited in the location memory module of RTK flow unit through the flash interface.
Advantage of the present invention and good effect are:
1, the present invention utilizes grid dividing and UDP technology; Avoided at RTK rover station real-time resolving differential correcting information; Directly number read self differential correcting information through udp port, greatly reduce complex equipments degree and cost, have the market demand widely at the RTK rover station.
Bandwidth that the data double-way transmission was shone when 2, the present invention had overcome legacy network RTK VRS difference location and calculating quantitative limitation; Make that all users can carry out VRS RTK real time differential hi-Fix in the network RTK system; Cater to the market demand, have good market outlook.
Description of drawings
Fig. 1 is a structured flowchart of the present invention;
Fig. 2 is the connection block diagram of each intermodule among the present invention;
Fig. 3 is a method of work process flow diagram of the present invention.
Wherein, 101, the FM reception unit, 102, the grid data processing unit, 103, the RTK receiving element that flows, 201, the FM reception module, 202, data-interface, 203, the embedded processing module, 204, the RTK receiver module, 205, location memory module.
Embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is done further detailed description.
Embodiment:
A kind of VRS information receiving terminal based on the area grid mechanism of dividing comprises FM reception unit (101), grid data processing unit (102) and the RTK receiving element (103) that flows; FM reception unit (101) is connected with grid data processing unit (102) through serial ports, and grid data processing unit (102) is connected through serial ports with the mobile receiving element (103) of RTK.
Described FM reception unit (101) is made up of FM reception module (201) and data-interface (202); Grid data processing unit (102) is made up of embedded processing module (203) and data-interface (202), and the RTK receiving element (103) that flows is made up of RTK receiver module (204), location memory module (205) and data-interface (202).
Described FM reception module (201) is a RDA5807 FM reception module; Embedded processing module (203) adopts the S3C2440 processor; RTK receiver module (204) adopts the GNSS RTK receiver module of supporting RTCM2.2 and RTCM3.0 agreement, and location memory module (205) adopts K9F1G08U0C-PCB0 Nand-Flash storer.
A kind of method of work of dividing the VRS information receiving terminal of mechanism based on area grid, as shown in Figure 3:
1) the RTK receiver module receives satellite carrier phase information, navigation message information and pseudorange information, calculates self three-dimensional coordinate and it is sent into the embedded processing module of grid data processing unit;
2) the FM reception module receives the fm broadcast signal of network RTK data center transmission and carries out demodulation; Obtain UDP message bag, three-dimensional coordinate and the corresponding udp port thereof number at all grid virtual reference stations, the FM reception module is delivered to these information the embedded processing module of grid data processing unit through serial ports then;
3) three-dimensional coordinate at all grid virtual reference stations and corresponding udp port thereof number the RTK three-dimensional coordinate and the step 2 of receiving element that flow the embedded processing module receiving step 1 of grid data processing unit)); Calculate the distance at the mobile receiving element of RTK and all grid virtual reference stations; Confirm to flow receiving element at a distance of nearest grid virtual reference station with RTK, and with the udp port at this grid virtual reference station number as the flow UDP destination slogan of receiving element of RTK;
4) the embedded processing module of grid data processing unit also receives 2) in the UDP message bag at all grid virtual reference stations; UDP destination slogan according to the mobile receiving element of RTK in the step 3) reads corresponding UDP message bag then; Unpack through UDP again and handle the RTCM form differential correcting data that obtain this grid virtual reference station, and these differential correcting data are sent into the RTK flow unit through serial ports;
5) the RTCM form differential correcting data the GNSS RTK receiver module receiving step 4 of RTK flow unit), and accomplish RTK real time differential location, at last locator data is deposited in the location memory module of RTK flow unit through the flash interface.
Claims (3)
1. the VRS information receiving terminal based on the area grid mechanism of dividing is characterized in that, comprises FM reception unit, grid data processing unit and the RTK receiving element that flows; The FM reception unit is connected with the grid data processing unit through serial ports, and the grid data processing unit is connected through serial ports with the mobile receiving element of RTK; The FM reception unit is made up of FM reception module and data-interface, and the grid data processing unit is made up of embedded processing module and data-interface, and the mobile receiving element of RTK is made up of RTK receiver module, location memory module and data-interface.
2. the VRS information receiving terminal of dividing mechanism based on area grid according to claim 1; It is characterized in that; Described FM reception module is a RDA5807 FM reception module; The embedded processing module adopts the S3C2440 microprocessor, and the RTK receiver module of the mobile receiving element of RTK adopts the GNSS RTK receiver module of supporting RTCM2.2 and RTCM3.0 agreement, and the location memory module of the mobile receiving element of RTK adopts K9F1G08U0C-PCB0 Nand-Flash storer.
3. method of work based on the VRS information receiving terminal of the area grid mechanism of dividing is characterized in that method of work is following:
1) the RTK receiver module receives satellite carrier phase information, navigation message information and pseudorange information, calculates self three-dimensional coordinate and it is sent into the embedded processing module of grid data processing unit;
2) the FM reception module receives the fm broadcast signal of network RTK data center transmission and carries out demodulation; Obtain UDP message bag, three-dimensional coordinate and the corresponding udp port thereof number at all grid virtual reference stations, the FM reception module is delivered to these information the embedded processing module of grid data processing unit through serial ports then;
3) three-dimensional coordinate at all grid virtual reference stations and corresponding udp port thereof number the RTK three-dimensional coordinate and the step 2 of receiving element that flow the embedded processing module receiving step 1 of grid data processing unit)); Calculate the distance at the mobile receiving element of RTK and all grid virtual reference stations; Confirm to flow receiving element at a distance of nearest grid virtual reference station with RTK, and with the udp port at this grid virtual reference station number as the flow UDP destination slogan of receiving element of RTK;
4) the embedded processing module of grid data processing unit also receives 2) in the UDP message bag at all grid virtual reference stations; UDP destination slogan according to the mobile receiving element of RTK in the step 3) reads corresponding UDP message bag then; Unpack through UDP again and handle the RTCM form differential correcting data that obtain this grid virtual reference station, and these differential correcting data are sent into the RTK flow unit through serial ports;
5) the RTCM form differential correcting data the GNSS RTK receiver module receiving step 4 of RTK flow unit), and accomplish RTK real time differential location, at last locator data is deposited in the location memory module of RTK flow unit through the flash interface.
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| CN104614734B (en) * | 2014-12-22 | 2017-03-29 | 中国科学院国家授时中心 | Big Dipper space-based high-precision difference text generation method |
| CN106569239A (en) * | 2015-10-09 | 2017-04-19 | 唐颖哲 | Broadcast-type network RTK positioning technology |
| CN106855632A (en) * | 2016-12-30 | 2017-06-16 | 广州市中海达测绘仪器有限公司 | A kind of broadcast type VRS localization methods and system |
| CN108519612A (en) * | 2018-03-01 | 2018-09-11 | 千寻位置网络有限公司 | Network RTK switching methods |
| CN110809317A (en) * | 2019-10-09 | 2020-02-18 | 北京讯腾智慧科技股份有限公司 | Multi-source dynamic grid network RTK positioning method, system, terminal and storage medium |
| CN111045063A (en) * | 2018-10-15 | 2020-04-21 | 广东星舆科技有限公司 | Continuous high-precision positioning method, memory and system in RTK field |
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| CN104614734B (en) * | 2014-12-22 | 2017-03-29 | 中国科学院国家授时中心 | Big Dipper space-based high-precision difference text generation method |
| CN106569239A (en) * | 2015-10-09 | 2017-04-19 | 唐颖哲 | Broadcast-type network RTK positioning technology |
| CN105334524A (en) * | 2015-10-21 | 2016-02-17 | 山东天星北斗信息科技有限公司 | Pseudo range differential positioning method based on virtual grid |
| CN106855632A (en) * | 2016-12-30 | 2017-06-16 | 广州市中海达测绘仪器有限公司 | A kind of broadcast type VRS localization methods and system |
| CN106855632B (en) * | 2016-12-30 | 2019-10-18 | 广州市中海达测绘仪器有限公司 | A kind of broadcast type VRS localization method and system |
| CN108519612A (en) * | 2018-03-01 | 2018-09-11 | 千寻位置网络有限公司 | Network RTK switching methods |
| CN111045063A (en) * | 2018-10-15 | 2020-04-21 | 广东星舆科技有限公司 | Continuous high-precision positioning method, memory and system in RTK field |
| CN110809317A (en) * | 2019-10-09 | 2020-02-18 | 北京讯腾智慧科技股份有限公司 | Multi-source dynamic grid network RTK positioning method, system, terminal and storage medium |
| CN111641926A (en) * | 2020-05-19 | 2020-09-08 | 深圳思凯微电子有限公司 | Method for meshing broadcast signal coverage areas, server and storage medium |
| CN111641926B (en) * | 2020-05-19 | 2021-11-16 | 深圳思凯微电子有限公司 | Method for meshing broadcast signal coverage areas, server and storage medium |
| CN112731268A (en) * | 2020-12-16 | 2021-04-30 | 和芯星通科技(北京)有限公司 | Processing method of difference data and positioning and tracking system |
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