CN102608632B - Beidou satellite GPS dual-mode cloud differential positioning method and system - Google Patents

Beidou satellite GPS dual-mode cloud differential positioning method and system Download PDF

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Publication number
CN102608632B
CN102608632B CN201210035021.8A CN201210035021A CN102608632B CN 102608632 B CN102608632 B CN 102608632B CN 201210035021 A CN201210035021 A CN 201210035021A CN 102608632 B CN102608632 B CN 102608632B
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clouds
positioning
benchmark
common
differential
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CN201210035021.8A
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CN102608632A (en
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陈义华
涂岩恺
张松水
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厦门雅迅网络股份有限公司
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Abstract

The present invention relates to satellite navigation and location system, be specifically related to Beidou satellite GPS dual-mode cloud differential positioning method and system.The Beidou satellite GPS dual-mode cloud differential positioning method of the present invention, comprises the following steps: each benchmark high in the clouds provides benchmark data, described benchmark high in the clouds to be to meet the lift-launch Big Dipper GPS dual-mode receiver of positioning accuracy request to System Control Center;The System Control Center benchmark data to receiving carries out pretreatment;When common high in the clouds is in positioning precision deficiency, sending Differential positioning request to System Control Center, described common high in the clouds is to carry single mode single frequency receiving or do not meet the lift-launch Big Dipper GPS dual-mode receiver of positioning accuracy request;System Control Center chooses rational differential data, is sent to common high in the clouds;This common high in the clouds positions according to the differential data received.The present invention is applied to satellite navigation location.

Description

Beidou satellite GPS dual-mode cloud differential positioning method and system

Technical field

The present invention relates to satellite navigation and location system, be specifically related to Beidou satellite GPS dual-mode cloud differential positioning method and system.

Background technology

Troposphere time delay, atmosphere time delay and the multipath effect of satellite-signal cannot accurately be estimated by single frequency receiving at present Or elimination error, when constellation is unreasonable, these errors can have a strong impact on positioning precision.

In order to eliminate or reduce these errors, in location, generally use calculus of differences.Differential positioning is that high accuracy is defended A key technology in star location, is the most also to solve business location application, strengthens location navigation service of goods such as: dangerous materials car Transportation management, public transport fixed point is called out the stops the crucial requirement of warning etc..About improving positioning precision, existing technology is based on standard base Differential positioning of standing can overcome various signal delay effect, obtains more satisfactory positioning precision, but difference based on base station is fixed Position technology has a disadvantage in that 1, standard base station puts into a large amount of expenses, sphere of action is limited, and standard base station can only be Play a role in the range of 100KM;2, the domestic limited amount in GPS standard base station, and BEI-DOU position system carries without standard base station at present For disclosed Differential positioning service.

Summary of the invention

The technical problem to be solved is to provide a kind of Beidou satellite GPS dual-mode cloud differential positioning method and system, profit With numerous high in the clouds carrying Big Dipper GPS dual-mode receiver, by the precision analysis of the Big Dipper and GPS positioning result be mutually authenticated Confirm that it approximates a standard base station, export difference information, provide poor for other receiver user in cloud network's coverage area Divide location, improve positioning precision.

In order to solve above-mentioned technical problem, the technical solution adopted in the present invention is, a kind of Big Dipper GPS dual-mode cloud difference is fixed Method for position, comprises the following steps: each benchmark high in the clouds provides benchmark data, described benchmark high in the clouds to be symbols to System Control Center Close the lift-launch Big Dipper GPS dual-mode receiver of positioning accuracy request;The System Control Center benchmark data to receiving carries out pretreatment; When common high in the clouds is in positioning precision deficiency, sending Differential positioning request to System Control Center, described common high in the clouds is to carry Single mode single frequency receiving or do not meet the lift-launch Big Dipper GPS dual-mode receiver of positioning accuracy request;System Control Center is chosen Reasonably differential data, is sent to common high in the clouds;This common high in the clouds positions according to the differential data received.

Further, when common high in the clouds is in positioning precision deficiency, sends Differential positioning request to System Control Center, be System control centre chooses rational differential data, is sent to this common high in the clouds, specifically includes following steps:

Step one: when common high in the clouds is in positioning precision deficiency, sends Differential positioning request, system to System Control Center Control centre obtains asking the initial position location in the common high in the clouds of Differential positioning, is labeled as searching for the starting point in benchmark high in the clouds;

Step 2: System Control Center scans in pseudo range difference information table, meets all search when finding simultaneously The benchmark high in the clouds of condition, then using this benchmark high in the clouds as Candidate Set, forward step 3 to;Otherwise forward step 4 to;

Step 3: the benchmark high in the clouds that chosen distance is nearest from Candidate Set, reads pseudo range difference information, and this information is sent out Give the common high in the clouds of request Differential positioning, forward step 5 to;

Step 4: send the response of " without difference information " to the common high in the clouds of request Differential positioning, forward step 5 to;

Step 5: System Control Center more new data: delete information submission time and current time in tables of data farther out The differential data that data record, more new record are newly submitted to.

Further, the search condition in above-mentioned steps two is: for position, benchmark high in the clouds, the search obtained with step one The starting point in benchmark high in the clouds is the center of circle, and search radius is the high in the clouds record in the range of 10KM;For information submission time, search letter The difference of breath submission time and current time is less than the record of network delay;For pseudo range difference information, searching for constellation comprises request The benchmark high in the clouds of high in the clouds constellation.

Further, in above-mentioned steps, benchmark high in the clouds is that the lift-launch Big Dipper GPS dual-mode meeting positioning accuracy request receives Machine, the data processing step in described benchmark high in the clouds is as follows:

Step one: Beidou receiver and the GPS of Big Dipper GPS dual-mode receiver the most independently obtain positioning result;

Step 2: calculated geometry precision of positioning factor GDOP by the respective observing matrix of Beidou receiver and GPS, When geometric dilution of precision GDOP is respectively less than and sets threshold value, it is believed that this high in the clouds positioning precision meets the requirements, and takes geometric dilution of precision Positioning result minimum for GDOP is sent to ask the common high in the clouds of Differential positioning, and forwards step 3 to;As Beidou receiver and GPS One of them geometric dilution of precision GDOP value of receiver is less than more than setting threshold value, another one geometric dilution of precision GDOP value During threshold value, take geometric dilution of precision GDOP and be sent to ask the common high in the clouds of Differential positioning less than the positioning result of threshold value, return Step one;When the geometric dilution of precision GDOP of Beidou receiver and GPS is all higher than threshold value, this Big Dipper GPS dual-mode connects Receipts machine is considered as and common high in the clouds;

Step 3: calculate the difference of Big Dipper positioning result and GPS positioning result, if less than setting threshold value, then it is assumed that should Receive function as a reliable benchmark high in the clouds, entrance step 4, otherwise return step one;Wherein this sets threshold value as 10M;

Step 4: benchmark high in the clouds sends Differential positioning data to System Control Center, these Differential positioning data include location Result, constellation information, pseudo range observed quantity, local receiver clock waft and submission time, return step one.

Further, described common high in the clouds is to carry single mode single frequency receiving or do not meet the lift-launch of positioning accuracy request Big Dipper GPS dual-mode receiver, the data processing step in described common high in the clouds is as follows:

Step one: carry single mode single frequency receiving and obtain positioning result, and do not meet the lift-launch north of positioning accuracy request Beidou receiver and the GPS of bucket GPS dual-mode receiver the most independently obtain positioning result;

Step 2: calculated geometry precision of positioning factor GDOP by observing matrix, when geometric dilution of precision GDOP is less than setting During threshold value, it is believed that this receiver self poisoning precision meets the requirements, positioning result is sent to ask the common cloud of Differential positioning End, returns step one;Otherwise submit Differential positioning request to System Control Center;

Step 3: if System Control Center returns the response of " without difference information ", then return step one;Otherwise receive difference Divide location data, and use difference observational equation group to try to achieve the distance vector in this common high in the clouds and benchmark high in the clouds;

Step 4: utilize the distance tried to achieve plus step 3 from the position in the benchmark high in the clouds that System Control Center receives to Amount, obtains current exact position, is sent to ask the common high in the clouds of Differential positioning, returns step one.

A kind of Beidou satellite GPS dual-mode cloud differential positioning system applying above-mentioned Beidou satellite GPS dual-mode cloud differential positioning method, bag Include:

Benchmark high in the clouds, is made up of the lift-launch Big Dipper GPS dual-mode receiver meeting positioning accuracy request,

Common high in the clouds, by carrying single mode single frequency receiving or not meeting the lift-launch Big Dipper GPS dual-mode of positioning accuracy request Receiver forms,

System Control Center, including Memory Reference data data storage, the benchmark data received is processed Data processor, control benchmark high in the clouds, common high in the clouds and System Control Center carry out the communicator of communication,

Described System Control Center sets up Data relationship by communicator with benchmark high in the clouds and common high in the clouds.

Further, above-mentioned communicator is GPRS network communication module or 3G network communication module.

The present invention should compared with prior art, have the advantage that in aforementioned manners and system

1. the present invention utilizes the high in the clouds carrying Big Dipper GPS dual-mode receiver, by the precision of the Big Dipper Yu GPS positioning result Analyze and be mutually authenticated its one standard base station of approximation of confirmation, export difference information.By high in the clouds data sharing, benchmark can be made Common high in the clouds near high in the clouds utilizes the differential data in benchmark high in the clouds to improve positioning precision.The method shortens positioning time, carries High locating speed;

2. being also simultaneously user due to benchmark high in the clouds self in the present invention, differential networks is given birth to naturally along with user distribution Become, both need not build the cost of traditional base station, expanded again the coverage of Differential positioning net;

3. the method utilizing the present invention, in the benchmark cloud user of early investment a number of lift-launch dual mode receiver, Under conditions of so the network coverage is stable, the later stage only needs the single mode single frequency receiving that input cost in a network is relatively low, just can protect Demonstrate,prove good positioning precision, save operation cost.

Accompanying drawing explanation

Fig. 1 is the structural representation of Beidou satellite GPS dual-mode cloud differential positioning system of the present invention.

Detailed description of the invention

In conjunction with the drawings and specific embodiments, the present invention is further described.

One Beidou satellite GPS dual-mode cloud differential positioning method of the present invention, comprises the following steps: each benchmark high in the clouds is to system Control centre provides benchmark data, and described benchmark high in the clouds is the lift-launch Big Dipper GPS dual-mode receiver meeting positioning accuracy request;System The system control centre benchmark data to receiving carries out pretreatment;When common high in the clouds is in positioning precision deficiency, in system control The heart sends Differential positioning request, and described common high in the clouds is to carry single mode single frequency receiving or do not meet taking of positioning accuracy request Carry Big Dipper GPS dual-mode receiver;System Control Center chooses rational differential data, is sent to common high in the clouds;This common high in the clouds Differential data according to receiving positions.

Further, when common high in the clouds is in positioning precision deficiency, sends Differential positioning request to System Control Center, be System control centre chooses rational differential data, is sent to this common high in the clouds, specifically includes following steps:

Step one: when common high in the clouds is in positioning precision deficiency, sends Differential positioning request, system to System Control Center Control centre obtains asking the initial position location in the common high in the clouds of Differential positioning, is labeled as searching for the starting point in benchmark high in the clouds;

Step 2: System Control Center scans in pseudo range difference information table, search condition is: for benchmark high in the clouds Position, with step one obtain search benchmark high in the clouds starting point as the center of circle, search radius is the high in the clouds record in the range of 10KM; For information submission time, the difference of search information submission time and current time is less than the record of network delay;Poor for pseudorange Dividing information, searching for constellation comprises the benchmark high in the clouds of request high in the clouds constellation;When finding the base meeting above three search condition simultaneously Quasi-high in the clouds, then using this benchmark high in the clouds as Candidate Set, forward step 3 to;Otherwise forward step 4 to;

Step 3: the benchmark high in the clouds that chosen distance is nearest from Candidate Set, reads pseudo range difference information, and this information is sent out Give the common high in the clouds of request Differential positioning, forward step 5 to;

Step 4: send the response of " without difference information " to the common high in the clouds of request Differential positioning, forward step 5 to;

Step 5: System Control Center more new data: delete information submission time and current time in tables of data farther out The differential data that data record, more new record are newly submitted to.

Further, in above-mentioned steps, benchmark high in the clouds is that the lift-launch Big Dipper GPS dual-mode meeting positioning accuracy request receives Machine, the data processing step in described benchmark high in the clouds is as follows:

Step one: Beidou receiver and the GPS of Big Dipper GPS dual-mode receiver the most independently obtain positioning result;

Step 2: calculated geometry precision of positioning factor GDOP by the respective observing matrix of Beidou receiver and GPS, When geometric dilution of precision GDOP is respectively less than and sets threshold value, it is believed that this high in the clouds positioning precision meets the requirements, and takes geometric dilution of precision Positioning result minimum for GDOP is sent to ask the common high in the clouds of Differential positioning, and forwards step 3 to;As Beidou receiver and GPS One of them geometric dilution of precision GDOP value of receiver is less than more than setting threshold value, another one geometric dilution of precision GDOP value During threshold value, take geometric dilution of precision GDOP and be sent to ask the common high in the clouds of Differential positioning less than the positioning result of threshold value, return Step one;When the geometric dilution of precision GDOP of Beidou receiver and GPS is all higher than threshold value, this Big Dipper GPS dual-mode connects Receipts machine is considered as and common high in the clouds;

Step 3: calculate the difference of Big Dipper positioning result and GPS positioning result, if less than setting threshold value, then it is assumed that should Receive function as a reliable benchmark high in the clouds, entrance step 4, otherwise return step one;In general, this setting threshold value It is set to 10M, the present invention is set to 2M;

Step 4: benchmark high in the clouds sends Differential positioning data to System Control Center, these Differential positioning data include location Result, constellation information, pseudo range observed quantity, local receiver clock waft and submission time, return step one.

Further, described common high in the clouds is to carry single mode single frequency receiving or do not meet the lift-launch of positioning accuracy request Big Dipper GPS dual-mode receiver, the data processing step in described common high in the clouds is as follows:

Step one: carry single mode single frequency receiving and obtain positioning result, and do not meet the lift-launch north of positioning accuracy request Beidou receiver and the GPS of bucket GPS dual-mode receiver the most independently obtain positioning result;

Step 2: calculated geometry precision of positioning factor GDOP by observing matrix, when geometric dilution of precision GDOP is less than setting During threshold value, it is believed that this receiver self poisoning precision meets the requirements, positioning result is sent to ask the common cloud of Differential positioning End, returns step one;Otherwise submit Differential positioning request to System Control Center;

Step 3: if System Control Center returns the response of " without difference information ", then return step one;Otherwise receive difference Divide location data, and use difference observational equation group to try to achieve the distance vector in this common high in the clouds and benchmark high in the clouds;

Step 4: utilize the distance tried to achieve plus step 3 from the position in the benchmark high in the clouds that System Control Center receives to Amount, obtains current exact position, is sent to ask the common high in the clouds of Differential positioning, returns step one.

As it is shown in figure 1, a kind of Big Dipper GPS dual-mode cloud difference applying above-mentioned Beidou satellite GPS dual-mode cloud differential positioning method is determined Position system, including:

Benchmark high in the clouds, is made up of the lift-launch Big Dipper GPS dual-mode receiver meeting positioning accuracy request,

Common high in the clouds, by carrying single mode single frequency receiving or not meeting the lift-launch Big Dipper GPS dual-mode of positioning accuracy request Receiver forms,

System Control Center, including Memory Reference data data storage, the benchmark data received is processed Data processor, control benchmark high in the clouds, common high in the clouds and System Control Center carry out the communicator of communication,

Described System Control Center sets up Data relationship by communicator with benchmark high in the clouds and common high in the clouds.Described communicator Realize the communication of cloud user and System Control Center, use GPRS or 3G network communication, be responsible for receiving high in the clouds Location Request and Data, send data to high in the clouds.

Wherein System Control Center is the core of cloud differential system, and it is communication control center, is also data Storage and processing center.System Control Center utilizes communicator and each high in the clouds to set up Data relationship, preserves each benchmark high in the clouds and submits to Difference information, respond common cloud user difference information request, from data base, choose rational differential data, lead to simultaneously Cross modern wireless network (GPRS or 3G) and difference information is sent to user high in the clouds.

Benchmark high in the clouds is automatically assessed the Big Dipper and GPS dual-mode receiver positioning precision and is mutually authenticated, to the cloud meeting precision End is considered as a base station, and the difference information in this high in the clouds is submitted to System Control Center.When benchmark high in the clouds positions with GPS at the Big Dipper Precision is all unsatisfactory for when requiring can be considered a common cloud user, to System Control Center request differential data to realize self It is accurately positioned.

Common high in the clouds sends Differential positioning request when positioning precision deficiency to System Control Center, returns according to center Differential data realizes Differential positioning.

In a typical realization, above-mentioned communicator is GPRS network communication module;Typically realize in another one In, above-mentioned communicator is 3G network communication module.

In implementing, the key data database design of the data storage of System Control Center is as follows:

So System Control Center scans in pseudo range difference information table, and search condition is:

Benchmark high in the clouds location field: with search for benchmark high in the clouds starting point as the center of circle, in the range of search radius is 10KM High in the clouds record;

Information submission time field: the difference of search information submission time and current time is less than the record of network delay;

Pseudo range difference information field: searching for constellation comprises the benchmark high in the clouds of request high in the clouds constellation;

When finding the benchmark high in the clouds meeting above three search condition simultaneously, then using this benchmark high in the clouds as Candidate Set.From The benchmark high in the clouds that in Candidate Set, chosen distance is nearest, reads pseudo range difference information, and sends that information to ask Differential positioning Common high in the clouds.Common high in the clouds positions according to the information received.

Although specifically showing and describe the present invention in conjunction with preferred embodiment, but those skilled in the art should be bright In vain, in the spirit and scope of the present invention limited without departing from appended claims, in the form and details can be right The present invention makes a variety of changes, and is protection scope of the present invention.

Claims (5)

1. a Beidou satellite GPS dual-mode cloud differential positioning method, it is characterised in that: comprise the following steps: each benchmark high in the clouds to System Control Center provides benchmark data, and described benchmark high in the clouds is that the lift-launch Big Dipper GPS dual-mode meeting positioning accuracy request receives Machine;The System Control Center benchmark data to receiving carries out pretreatment;When common high in the clouds is in positioning precision deficiency, to system control Center processed sends Differential positioning request, and described common high in the clouds is to carry single mode single frequency receiving or do not meet positioning accuracy request Lift-launch Big Dipper GPS dual-mode receiver;System Control Center chooses rational differential data, is sent to common high in the clouds, specifically wraps Include following steps:
Step one: when common high in the clouds is in positioning precision deficiency, sends Differential positioning request to System Control Center, and system controls Center obtains asking the initial position location in the common high in the clouds of Differential positioning, is labeled as searching for the starting point in benchmark high in the clouds;
Step 2: System Control Center scans in pseudo range difference information table, meets all search conditions when finding simultaneously Benchmark high in the clouds, then using this benchmark high in the clouds as Candidate Set, forward step 3 to;Otherwise forward step 4 to;
Step 3: the benchmark high in the clouds that chosen distance is nearest from Candidate Set, reads pseudo range difference information, and sends that information to The common high in the clouds of request Differential positioning, forwards step 5 to;
Step 4: send the response of " without difference information " to the common high in the clouds of request Differential positioning, forward step 5 to;
Step 5: System Control Center more new data: delete information submission time and current time data farther out in tables of data The differential data that record, more new record are newly submitted to;
This common high in the clouds positions according to the differential data received.
Beidou satellite GPS dual-mode cloud differential positioning method the most according to claim 1, it is characterised in that: the search bar of step 2 Part is: for position, benchmark high in the clouds, and with the starting point in search benchmark high in the clouds that step one obtains as the center of circle, search radius is 10KM In the range of high in the clouds record;For information submission time, search information submission time is less than network delay with the difference of current time Record;For pseudo range difference information, searching for constellation comprises the benchmark high in the clouds of request high in the clouds constellation.
Beidou satellite GPS dual-mode cloud differential positioning method the most according to claim 1, it is characterised in that: benchmark high in the clouds is to meet The lift-launch Big Dipper GPS dual-mode receiver of positioning accuracy request, the data processing step in described benchmark high in the clouds is as follows:
Step one: Beidou receiver and the GPS of Big Dipper GPS dual-mode receiver the most independently obtain positioning result;
Step 2: calculated geometry precision of positioning factor GDOP by the respective observing matrix of Beidou receiver and GPS, when several What dilution of precision GDOP is respectively less than when setting threshold value, it is believed that this high in the clouds positioning precision meets the requirements, and takes geometric dilution of precision GDOP Minimum positioning result is sent to ask the common high in the clouds of Differential positioning, and forwards step 3 to;When Beidou receiver and GPS receiver One of them geometric dilution of precision GDOP value of machine is more than setting threshold value, another one geometric dilution of precision GDOP value less than threshold value Time, take geometric dilution of precision GDOP and be sent to ask the common high in the clouds of Differential positioning less than the positioning result of threshold value, return step One;When the geometric dilution of precision GDOP of Beidou receiver and GPS is all higher than threshold value, this Big Dipper GPS dual-mode receiver It is considered as and common high in the clouds;
Step 3: calculate the difference of Big Dipper positioning result and GPS positioning result, if less than setting threshold value, then it is assumed that this reception Function, as a reliable benchmark high in the clouds, enters step 4, otherwise returns step one;
Step 4: benchmark high in the clouds to System Control Center send Differential positioning data, these Differential positioning data include positioning result, Constellation information, pseudo range observed quantity, local receiver clock waft and submission time, return step one.
Beidou satellite GPS dual-mode cloud differential positioning method the most according to claim 3, it is characterised in that: step 3 calculates north Bucket positioning result and the difference of GPS positioning result, it sets threshold value as 10M.
Beidou satellite GPS dual-mode cloud differential positioning method the most according to claim 1, it is characterised in that: described common high in the clouds is Carry single mode single frequency receiving or do not meet the lift-launch Big Dipper GPS dual-mode receiver of positioning accuracy request, described common high in the clouds Data processing step as follows:
Step one: carry single mode single frequency receiving and obtain positioning result, and do not meet the lift-launch Big Dipper GPS of positioning accuracy request The Beidou receiver of dual mode receiver and GPS the most independently obtain positioning result;
Step 2: calculated geometry precision of positioning factor GDOP by observing matrix, when geometric dilution of precision GDOP is less than setting threshold value Time, it is believed that this receiver self poisoning precision meets the requirements, and positioning result is sent to ask the common high in the clouds of Differential positioning, returns Return step;Otherwise submit Differential positioning request to System Control Center;
Step 3: if System Control Center returns the response of " without difference information ", then return step one;Otherwise receive difference fixed Bit data, and use difference observational equation group to try to achieve the distance vector in this common high in the clouds and benchmark high in the clouds;
Step 4: utilize the distance vector tried to achieve from the position in the benchmark high in the clouds that System Control Center receives plus step 3, Obtain current exact position, be sent to ask the common high in the clouds of Differential positioning, return step one.
CN201210035021.8A 2012-02-16 2012-02-16 Beidou satellite GPS dual-mode cloud differential positioning method and system CN102608632B (en)

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