CN103235319A - Network RTK (Real-Time Kinematic) positioning method for obtaining coordinate and normal height of reference-ellipsoid-centric coordinate system in real time - Google Patents

Abstract

The invention relates to a network RTK (Real-Time Kinematic) positioning method for obtaining coordinates and normal height of a reference-ellipsoid-centric coordinate system in real time. Source nodes are expanded and are used for transmitting the demand of a moving station in a more detailed manner, the NTRIP (Networked Transport of RTCM via Internet Protocol) is not required to be modified, judgment and an algorithm are only required to be correspondingly added into NtripCaster software or an NtripProxy relay module is only required to be added between NtripCaster and the moving station, and the method is easy to realize; if the coordinates of the reference-ellipsoid-centric coordinate system are required to be obtained in real time, the corresponding source node is only required to be selected during logging-in to a server, non-secret-involved seven parameters are filled in a handbook and other operation modes are unchanged; if the moving station needs to obtain the normal height, the corresponding source node is only required to be selected during logging-in to the server and other operation modes are unchanged; and on the premise that the state privacy policies are complied, the goals of measuring and staking out the coordinates and the normal height of the reference-ellipsoid-centric coordinate system in real time are realized.

Description

Obtain ginseng heart coordinate system coordinate and normal high network RTK localization method in real time

Technical field

The present invention relates to survey and draw the geographical information technology field, especially relate to a kind of ginseng heart coordinate system coordinate and normal high network RTK localization method of obtaining in real time.

Background technology

The GNSS(GPS (Global Position System)) technology is a kind of locator meams that current survey field is most widely used, utilize separate unit GNSS equipment to carry out standard single-point location, the ECEF(the earth's core body-fixed coordinate system that obtains is as WGS84) descend the precision of coordinate to be generally 10-20 rice (no SA).And by making up RTK(carrier phase real time dynamic differential location) system, the bearing accuracy in the 30km scope can reach centimetre-sized.

RTK mainly is made of reference station and rover station, reference station sends the difference text by data link to rover station, the ECEF coordinate and the raw observation that wherein comprise reference station, rover station with decoded message after and self observed reading carry out relative positioning, obtain high precision ECEF coordinate.

Data link between reference station and the rover station can adopt radio station, WIFI or internet.At present, be the data chain with the internet, based on the CORS(CORS system of NTRIP agreement (carrying out the agreement of RTCM network transmission by the internet)) be used widely, its core technology is technology of network RTK, namely utilizes the observed reading of a plurality of reference stations around the rover station to come the error at this place of match.System is by on ground being at interval with 30km-100km, the reference station of distribution some continuous operations comparatively uniformly (real reference station) constitutes, each reference station all is equipped with GNSS equipment, carry out continuous height sampling (being generally 1Hz) observation, and link to each other with data center with dedicated network, the server of data center is equipped with the NtripCaster(kernel software, GPSNet as Trimlbe, the Spider of LEICA, the TOPNET of Topcon etc.) special software is realized nucleus module, generally this server is called the NtripCaster server, provides service by the internet to the public.

As shown in Figure 1, utilize CORS to carry out the workflow of network RTK location: 1. rover station (being client NtripClient) is logined the CORS server by the internet through fire wall, login parameters has source node, name of station and password etc. flow, wherein source node is used for the needed COS of notification server, message format, and the coordinate (being called " rough coordinates ") under the ECEF that initial alignment is obtained mails to server, and this process is designated as 1 and transmits ECEF rough coordinates, user name, password, source node.2. flow name of station and password by after authenticating, server end NtripCaster kernel software is judged according to the source node of rover station request, if rover station has been selected single reference station pattern, system's real reference station that automatic chosen distance rover station is nearest then; If rover station has been selected many reference stations pattern, server end NtripCaster kernel software will simulate a reference station (virtual reference station) with certain algorithm, its ECEF coordinate and raw observation are compiled into text (message format is also specified by source node), send to rover station, this process is designated as 2 and transmits the difference text.3. after rover station receives this text, carry out carrier phase difference location, obtain the coordinate under the ECEF, this process is designated as the 3RTK location.

By aforementioned knowledge as seen, utilizing the GNSS technology to carry out RTK measures, rover station obtains all is coordinate under the ECEF, its expression-form can be the rectangular space coordinate of XYZ form, also can be the L(geodetic longitude) the B(geodetic latitude) the H(geodetic height, be to be the elevation of reference field with the ellipsoid) terrestrial coordinate of form, the further projection of LB can also be become the Gaussian plane rectangular coordinate, the three can change mutually.But in some cases, for surveying and mapping result can correctly be connected with the achievement in early stage, coordinate results need be converted to ginseng heart coordinate system coordinate (its expression-form is identical with ECEF) and normally height (be the elevation of reference field with the quasigeoid, the legal elevation system of China), heart coordinate system coordinate is joined in also must be real-time when setting-out measure.To ginseng heart coordinate system coordinate, need use seven parameters by ECEF; Be converted to normal height by geodetic height, need use height anomaly.

According to " mapping management work state secret catalogue " [1] regulation, mutual conversion parameter, precision between country earth coordinates, the geocentric coordinate system be better than ± and 1 meter height anomaly achievement belongs to top secret, confidential scope respectively, and the two is all can not be to public's issue.Do not have conversion parameter, ECEF can't be converted to ginseng heart coordinate system; Do not have the height anomaly achievement, geodetic height can't be converted to normal height.As seen, because the restriction of national privacy policy, existing GNSS technology can not record ginseng heart coordinate system coordinate and normal high in real time, thereby has seriously restricted development and the application of GNSS technology of network RTK in the mapping actual production.How research is meeting under the situation of national security stipulation, makes rover station can obtain joining heart coordinate system coordinate and normal high in real time, for expanding GNSS The Application of Technology scope, improving surveying production efficient, has very important meaning.

For making rover station obtain ginseng heart coordinate system coordinate, the method that 3 kinds of routines are arranged: 1) submit to the surveying and mapping result of State Bureau of Surveying and Mapping's approval to take care of unit in writing on the WGS84 coordinate that measures by rover station, after examining, carry out coordinate conversion afterwards by the latter, the result is replied to rover station, precision and the reliability of this pattern good confidentiality, achievement are secure, but program is loaded down with trivial details, inefficiency, the real-time of not having, and can not satisfy the needs of real-time setting-out ginseng heart coordinate system coordinate.2) the surveying and mapping result keeping unit by State Bureau of Surveying and Mapping's approval sets up coordinate conversion network service system [2] [3], the WGS84 coordinate of authorizing rover station to measure by the online submission of network, service system is online gives rover station with the result by network-feedback after finishing coordinate conversion, the advantage of this pattern is that rover station is easy to use, the achievement standard, but still can only after measuring end, carry out, can not satisfy the needs of real-time setting-out ginseng heart coordinate system coordinate.3) rover station is asked for parameter voluntarily by the translocation known point, survey must have that known point distributes, the field process amount is big, data are handled relative complex near the district, low to rover station competency profiling height, operating efficiency, the precision of achievement and reliability be guarantee not.

For making the RTK rover station obtain ginseng heart coordinate system coordinate in real time, there are some scholars to propose several solutions at present, roughly can be divided into 5 kinds: 1) conversion parameter is left in the mode of software module in the measuring equipment (PDA) of rover station [4], the shortcoming of the method maximum is to guarantee that parameter do not divulge a secret, and the equipment of different brands or model is wanted independent development module, not only relate to the magnanimity conversion parameter between each local different coordinates, also relate to the research and development of different manufacturers, actually use and promote very difficult.2) seven parameters of will maintaining secrecy send to rover station [5] by the difference text, rover station equipment obtains coordinate transformation parameter from the difference text, only the latest model equipment of minority difference text (as RTCM3.1) and only a few brand is supported this pattern at present, because the coded system of difference text is disclosed, anyone can obtain by decoding, therefore its confidentiality is almost nil, and is especially inapplicable in China.3) send to rover station [6] again after the reference station coordinates in the difference text being transformed into ginseng heart coordinate system coordinate, because the ECEF coordinate of same point and ginseng heart coordinate system coordinate, difference may reach about 100m even be bigger, and being rover station, reference station coordinates carries out the point coordinate of starting at that baseline resolves, usually surpass starting at point coordinate and can causing bigger baseline resolution error of 30m error, and the more long influence of baseline is more big; Simultaneously this pattern has been ignored between same place baseline under the WGS84 coordinate system and the difference under the ginseng heart coordinate system coordinate system, far away (as under single reference station pattern at reference station (virtual or actual) and rover station standoff distance, rover station and reference station can be at a distance of tens of kilometers) or seven parameters in the bigger situation of the numerical value of rotation angle, pantograph ratio under, and under these two simultaneous situations of factor, ignore this difference and might cause great error.4) patented claim CN102223709A proposes to set up intermediate server between CORS server and movement station, selected geographical space is divided into some cubes [7], for each cubical eight summit, calculate the coordinate corresponding to certain special datum (as Beijing 54), and ask poor (hereinafter to be referred as " coordinate is poor ") with the coordinate of corresponding pseudo-benchmark (utilizing least square method to obtain), the coordinate difference is stored in database; According to the virtual reference station coordinates in the VRS difference text, determine movement station and fall into which cube, the coordinate at general location place that goes out rover station according to the coordinate difference interpolation on these cubical eight summits is poor, and the changing of VRS reference station coordinates in the difference text sends to movement station again; Pseudo-parameter is set on the movement station hand is thin, at first calculates the XYZ under the pseudo-benchmark, obtain the coordinate of special datum again by Gauss projection.This patent application does not provide theory and the derivation of equation, and pseudo-benchmark and cube all do not provide clear and definite definite method, and also how explanation does not guarantee can keep consistent with special datum after the pseudo-benchmark projection; In fact benchmark has multiple (as Beijing 54, Xi'an 80 etc.) usually, and rover station may need different benchmark in different projects, and this algorithm can only be at a certain benchmark, and this will make this algorithm fail to tackle the situation that areal has a plurality of benchmark; Judging the movement station general location according to the reference station coordinates in the VRS difference text, also is imprecise.5) Zhang Li etc. has carried out inquiring into [8] to the security schema of setting up intermediate server and " another coordinate system ", but do not provide " another coordinate system " to the concrete computing formula of the conversion parameter of local coordinate system, rest on the discussion aspect of pattern, and do not have to inquire into the rule that " another coordinate system " should be followed, ignored " another coordinate system " influence to a mobile result that stands firm.

Generally speaking, scheme 1) and 2) because the problem significant discomfort usefulness of confidentiality no longer discuss at this.Scheme 3) to 5) except some shortcomings separately, also have a common ground: the normal high solution of RTK The real time measure is not all proposed.

The main reference document that relates to is as follows:

[1] State Bureau of Surveying and Mapping, National Administration for the Protection of State Secrets, " regulation of mapping management work state secret scope " state surveys and does word (2003) No. 17

[2] Chen Hao, Li Jian, design and the realization [J] of online coordinate conversion system in .CORS such as the Yang Huaxian service, mapping is circulated a notice of, and 2012, (10): 48-54

[3] Pan Guofu, Bao Zhixiong, Wu Wenzhi. possess compatible online coordinate conversion system's design [J]. geospatial information, 2012,10 (6): 39-41.

[4] Wang Jian, the coordinate transformation method during Yang Yan cutting edge of a knife or a sword .CORS-RTK measures is inquired into [J]. the mapping of ore deposit, ground, 2010,26 (3): 26～28

[5]

The?New?RTCM3.1Transformation?Messages–Declaration,Generation?from?Reference?Transformations?and?Implementation?as?a?Server-Client-Concept?for?GNSS?Services[C].3rd?International?Conference?and3rd?Trade?Fair?of?Geodesy,Cartography,Navigation?and?Geoinformatics.Prague,27th–28th?February2008

[6] Fan Kunfei cherishes and is permitted Fang Zhenhua in week. based on the discussion [J] of the real-time local measurement of coordinates pattern of server end CORS, geospatial information, 2012,10 (5): 89-92

[7] Luo Lingjun, Zhang Zelie etc. obtain the method for the Gaussian plane rectangular coordinate of special datum, application for a patent for invention CN102223709A, Intellectual Property Right Bureau of the RPC in real time based on the CORS system, 2011,10, application number: 201110154844.8[8] Zhang Li, Pu Dexiang, the security schema research of the real-time local measurement of coordinates of .CORS system such as Xia Dinghui, the city exploration, 2010, (4): 90-92

Summary of the invention

The problem to be solved in the present invention is, refine to maintain secrecy seven parameters and the quasigeoid of ginseng heart coordinate system under the prerequisite of achievement not revealing ECEF, no matter the reference station coordinates in the difference information is a virtual or real reference station, can guarantee that all the RTK rover station can measure ginseng heart coordinate system coordinate and normal high in real time.

Technical scheme of the present invention is a kind of ginseng heart coordinate system coordinate and normal high network RTK localization method of obtaining in real time.Insert a NtripProxy trunk module between NtripCaster server and rover station, NtripProxy trunk module place server is designated as the NtripProxy server; Position fixing process may further comprise the steps,

Step 1, definition source node and auxiliary seven parameters are calculated auxiliary coordinates and are arrived the conversion parameter of ginseng heart coordinate system as non-concerning security matters seven parameters;

Described auxiliary seven parameters refer to ECEF to be transformed into seven parameters under a certain auxiliary coordinates, comprise 3 translational movement Δ X ₁, Δ Y ₁, Δ Z ₁, 3 rotation parameter ε _X1, ε _Y1, ε _Z1, 1 yardstick zoom factor m ₁, obtain following boolean Sha model,

${\left[\begin{array}{c}X\\ Y\\ Z\end{array}\right]}_{\mathrm{FZ}}=(1+m_1)\left[\begin{array}{ccc}1& {\mathrm{\ϵ}}_{Z1}& {1\mathrm{\ϵ}}_{Y1}\\ {-\mathrm{\ϵ}}_{Z1}& 1& {\mathrm{\ϵ}}_{X1}\\ {\mathrm{\ϵ}}_{Y1}& {-\mathrm{\ϵ}}_{X1}& 1\end{array}\right]{\left[\begin{array}{c}X\\ Y\\ Z\end{array}\right]}_{\mathrm{ECEF}}+\left[\begin{array}{c}{\mathrm{\ΔX}}_1\\ {\mathrm{\ΔY}}_1\\ {\mathrm{\ΔZ}}_1\end{array}\right],$

Wherein, ${\left[\begin{array}{c}X\\ Y\\ Z\end{array}\right]}_{\mathrm{FZ}}$ Coordinate in the expression auxiliary coordinates, ${\left[\begin{array}{c}X\\ Y\\ Z\end{array}\right]}_{\mathrm{ECEF}}$ Coordinate in the expression ECEF coordinate system, the ECEF coordinate system is represented the earth's core body-fixed coordinate system;

Described calculating auxiliary coordinates as non-concerning security matters seven parameters, comprises that establishing the conversion parameter that the ECEF coordinate is tied to ginseng heart coordinate system is Δ X to the conversion parameter of ginseng heart coordinate system ₀, Δ Y ₀, Δ Z ₀, ε _X0, ε _Y0, ε _Z0, m ₀, the definition auxiliary coordinates is Δ X, Δ Y, Δ Z, ε to the conversion parameter of ginseng heart coordinate system _X, ε _Y, ε _Z, m, calculate by following formula,

$\left\{\begin{array}{c}\left[\begin{array}{c}\mathrm{\ΔX}\\ \mathrm{\ΔY}\\ \mathrm{\ΔZ}\end{array}\right]=\left[\begin{array}{c}{\mathrm{\ΔX}}_0\\ {\mathrm{\ΔY}}_0\\ {\mathrm{\ΔZ}}_0\end{array}\right]+(1+m)\left[\begin{array}{ccc}1& {\mathrm{\ϵ}}_Z& {-\mathrm{\ϵ}}_Y\\ {-\mathrm{\ϵ}}_Z& 1& {\mathrm{\ϵ}}_X\\ {\mathrm{\ϵ}}_Y& {-\mathrm{\ϵ}}_X& 1\end{array}\right]\left[\begin{array}{c}{\mathrm{\ΔX}}_1\\ {\mathrm{\ΔY}}_1\\ {\mathrm{\ΔZ}}_1\end{array}\right]\\ m=\frac{m_0-m_1}{1+m_1}\\ {\mathrm{\ϵ}}_X={\mathrm{\ϵ}}_{X0}-{\mathrm{\ϵ}}_{X1}\\ {\mathrm{\ϵ}}_Y={\mathrm{\ϵ}}_{Y0}-{\mathrm{\ϵ}}_{Y1}\\ {\mathrm{\ϵ}}_Z={\mathrm{\ϵ}}_{Z0}-{\mathrm{\ϵ}}_{Z1}\end{array}\right.$

Step 2 generates network RTK difference text, comprises following substep,

Step 2.1, rover station login NtripProxy server is chosen source node during connection, and the rover station general location under the ECEF coordinate system that Primary Location is obtained $X_{\mathrm{rovECEF}}=\left[\begin{array}{c}{X}_{\mathrm{rovECEF}}\\ Y_{\mathrm{rovECEF}}\\ Z_{\mathrm{rovECEF}}\end{array}\right]$ Mail to the NtripProxy server,

The NtripProxy server is with X _RovECEFBe transmitted to the NtripCaster server,

The NtripCaster server calculates the VRS(virtual reference station) the ECEF coordinate $X_{\mathrm{vrsECEF}}=\left[\begin{array}{c}{X}_{\mathrm{vrsECEF}}\\ Y_{\mathrm{vrsECEF}}\\ Z_{\mathrm{vrsECEF}}\end{array}\right],$ Generate corresponding GNSS observed reading, and the two establishment is text and send to the NtripProxy server;

Step 2.2, NtripProxy server are carried out following operation,

Step 2.2.1 is with the rover station general location X under the ECEF coordinate system _RovECEFECEF coordinate X with decoding gained virtual reference station from text _VrsECEFBe converted to the summary ECEF terrestrial coordinate of rover station respectively by following formula ${\mathrm{\Φ}}_{\mathrm{rovECEF}}=\left[\begin{array}{c}{L}_{\mathrm{rovECEF}}\\ B_{\mathrm{rovECEF}}\\ H_{\mathrm{rovECEF}}\end{array}\right]$ ECEF terrestrial coordinate with virtual reference station ${\mathrm{\Φ}}_{\mathrm{vrsECEF}}=\left[\begin{array}{c}{L}_{\mathrm{vrsECEF}}\\ B_{\mathrm{vrsECEF}}\\ H_{\mathrm{vrsECEF}}\end{array}\right],$

$\left\{\begin{array}{c}L=\arctan \left(\frac{Y}{X}\right)\\ B=\arctan \left(\frac{Z+{e\′}^{2}b{\sin }^3\mathrm{\θ}}{\sqrt{(X^2+Y^2)-e^{2}a{\cos }^3\mathrm{\θ}}}\right)\\ H=\frac{\sqrt{X^2+Y^2}}{\cos B}-N\end{array}\right.$

Wherein $N=\frac{a}{\sqrt{1-e^2{\sin }^{2}B}},$ $\mathrm{\θ}=\arctan \left(\frac{\mathrm{aZ}}{b\sqrt{X^2+Y^2}}\right),$ $e^2=\frac{a^2-b^2}{a^2},$ ${e\′}^2=\frac{a^2-b^2}{b^2},$ A is long for the ECEF semimajor axis of ellipsoid, and b is that semiminor axis of ellipsoid is long; X, Y, Z get X _RovECEFCoordinate time, L, B, H are L _RovECEF, B _RovECEF, H _RovECEFX, Y, Z get X _VrsECEFCoordinate time, L, B, H are L _VrsECEF, B _VrsECEF, H _VrsECEF

Step 2.2.2 utilizes L _RovECEFAnd B _RovECEF, in conjunction with the achievement that quasigeoid is refined, interpolation obtains Φ _RovECEFThe height anomaly value ξ at place _RovECEFCalculate the pseudo-geodetic height of virtual reference station

, with the pseudo-terrestrial coordinate of virtual reference station ${\mathrm{\Φ}}_{\mathrm{vrsECEF}}^{\′}=\left[\begin{array}{c}{L}_{\mathrm{vrsECEF}}\\ B_{\mathrm{vrsECEF}}\\ H_{\mathrm{vrsECEF}}^{\′}\end{array}\right]$ It is as follows to be converted to rectangular space coordinate,

$X_{\text{vrsECEF}}^{\′}=\left[\begin{array}{c}X\′\\ Y\′\\ Z\′\end{array}\right]=\left[\begin{array}{c}(N+H_{\mathrm{vrsECEF}}^{\′})\cos B_{\mathrm{vrsECEF}}\cos L_{\mathrm{vrsECEF}}\\ (N+H_{\mathrm{vrsECEF}}^{\′})\cos B_{\mathrm{vrsECEF}}\sin L_{\mathrm{vrsECEF}}\\ \[N(1-e^2)+H_{\mathrm{vrsECEF}}^{\′}\]\sin B_{\mathrm{vrsECEF}}\end{array}\right]$

Adopt the pseudo space rectangular coordinate of the boolean Sha model calculating virtual reference station in the step 1

Coordinate X under auxiliary coordinates _VrsFZ, as the reference station coordinates after the changing;

Step 2.2.3 is with the ECEF coordinate X of virtual reference station in the former text _VrsECEFReplace with the reference station coordinates X after the changing _VrsFZ, and keep corresponding GNSS observed reading constant, regroup to text and send to rover station;

Step 3, rover station is finished the location, be included in receive the text that the NtripProxy server sends after, according to the reference station coordinates X after the changing _VrsFZCalculate the coordinate X of current rover station under auxiliary coordinates _RovFZ, obtain coordinate under the rover station ginseng heart coordinate system and normal high according to non-concerning security matters seven parameters of step 1 gained, can further obtain Gaussian plane rectangular coordinate under the rover station ginseng heart coordinate system by projection;

And during the definition source node, the information that comprises in the source node title has reference station type, measurement pattern, difference message format, measures the elevation system of achievement coordinate system and measurement achievement.

Compared to existing technology, the present invention has following beneficial effect:

1) source node is expanded, be used for more at large passing on the rover station demand, do not need to revise the NTRIP agreement, only need correspondingly in NtripCaster software, to add to judge and algorithm, or between NtripCaster and rover station, increase certain module, be easy to realize;

2) need obtain joining heart coordinate system coordinate in real time, only need select corresponding source node when logon server, and insert non-concerning security matters seven parameters in that hand is thin, all the other operating types are constant;

3) rover station need obtain normal height, only needs to select corresponding source node when logon server, and all the other operating types are constant;

4) meeting under the prerequisite of national privacy policy, significantly improving surveying production efficient, real-time setting-out ginseng heart coordinate system coordinate and normal height are achieved.

Description of drawings

Fig. 1 is CORS routine work mode chart of the prior art;

Fig. 2 is working mode figure after the adding relay software of the embodiment of the invention;

Fig. 3 obtains ginseng heart coordinate system coordinate and normal high synoptic diagram for the RTK of the embodiment of the invention.

Embodiment

ECEF of the present invention comprises WGS84, ITRS, PE-90, CGCS2000 etc., ginseng heart coordinate system comprises Beijing coordinate system (being called for short " Beijing 54 ") in 1954, Xi'an Geodetic Coordinate System 1980 (being called for short " Xi'an 80 "), new Beijing Geodetic Coordinate System 1954 etc., height datum comprises that implementation is identical as Baltic Sea elevation, Wu's rime elevation system, Guangzhou elevation, Zhujiang River elevation, Huanghai Sea elevation system in 1956,1985 national height datums etc.Describe technical solution of the present invention in detail below in conjunction with drawings and Examples.

Among the embodiment, certain province has set up the CORS system that contains 100 reference stations, what the NtripCaster(CORS service software) use is the GPSNet software of trimble company development, the coordinate that rover station utilizes this CORS system directly to record belongs to WGS84, and this province WGS84 refines achievement for secret to the conversion parameter of ginseng heart coordinate for quasigeoid top-secret, centimetre-sized, desire to make and measure rover station and can record Beijing coordinate system in 1954 and normal high (Huanghai Sea elevation system in 1956) in real time by technology of network RTK, referring to Fig. 3, its step is as follows:

Step 1, definition source node and auxiliary seven parameters are calculated auxiliary coordinates and are arrived the conversion parameter of ginseng heart coordinate system as non-concerning security matters seven parameters; This step comprises following substep,

1.1 define a kind of mountpoint(source node)

Suggestion is set the source node title by preset rules, and the rule of embodiment is that title comprises five layers of implication: 1. reference station type, represent that as R true reference station (being also referred to as single reference station), V represent virtual reference station; 2. measurement pattern represents that as K RTK, D represent RTD; 3. difference message format, as RTCM2.x, CMR, RTCM3.x etc.; 4. measure the achievement coordinate system, represent country 2000 as 84 expression WGS84,54 expression Beijing 54,80 expression Xi'an 80 etc., 2K; 5. measure the elevation system of achievement, represent that as H geodetic height, the h56 of the corresponding ellipsoid of coordinate system of 4. middle definition represent that 1956 Huanghai Sea elevations system, h85 represent 1985 national height datums.The order of A1～A5 can be changed, and the centre can select for use legal character to separate, and should be short and sweet.Source node can have a plurality of, is issued to the public by server, selects during for the rover station login.

For example define source node VK_RT23_54h56 in GPSNet software, wherein " VK " represents the network RTK pattern, and " RT31 " expression message format is RTCM3.1, and " 54 " represent Beijing 54 coordinate systems, and " h56 " represents Huanghai Sea elevation system in 1956.

1.2 define auxiliary seven parameters of a cover

Auxiliary seven parameters of one cover of embodiment definition comprise 3 translational movement Δ X ₁, Δ Y ₁, Δ Z ₁, 3 rotation parameter ε _X1, ε _Y1, ε _Z1, 1 yardstick zoom factor m ₁, make the WGS84 can be according to following boolean Sha model conversion to an auxiliary coordinates,

${\left[\begin{array}{c}X\\ Y\\ Z\end{array}\right]}_{\mathrm{FZ}}=(1+m_1)\left[\begin{array}{ccc}1& {\mathrm{\ϵ}}_{Z1}& {-\mathrm{\ϵ}}_{Y1}\\ {-\mathrm{\ϵ}}_{Z1}& 1& {\mathrm{\ϵ}}_{X1}\\ {\mathrm{\ϵ}}_{Y1}& {-\mathrm{\ϵ}}_{X1}& 1\end{array}\right]{\left[\begin{array}{c}X\\ Y\\ Z\end{array}\right]}_{\mathrm{ECEF}}+\left[\begin{array}{c}{\mathrm{\ΔX}}_1\\ {\mathrm{\ΔY}}_1\\ {\mathrm{\ΔZ}}_1\end{array}\right],$

Wherein, ${\left[\begin{array}{c}X\\ Y\\ Z\end{array}\right]}_{\mathrm{FZ}}$ Coordinate in the expression auxiliary coordinates, ${\left[\begin{array}{c}X\\ Y\\ Z\end{array}\right]}_{\mathrm{ECEF}}$ Coordinate in the expression ECEF coordinate system, the ECEF coordinate system is represented the earth's core body-fixed coordinate system,

The ECEF of embodiment adopts the WGS84 of GPS, so the subscript ECEF in the correlation formula adopts the WGS84 replacement as follows:

${\left[\begin{array}{c}X\\ Y\\ Z\end{array}\right]}_{\mathrm{FZ}}=(1+m_1)\left[\begin{array}{ccc}1& {\mathrm{\ϵ}}_{Z1}& {-\mathrm{\ϵ}}_{Y1}\\ {-\mathrm{\ϵ}}_{Z1}& 1& {\mathrm{\ϵ}}_{X1}\\ {\mathrm{\ϵ}}_{Y1}& {-\mathrm{\ϵ}}_{X1}& 1\end{array}\right]{\left[\begin{array}{c}X\\ Y\\ Z\end{array}\right]}_{\mathrm{WGS}84}+\left[\begin{array}{c}{\mathrm{\ΔX}}_1\\ {\mathrm{\ΔY}}_1\\ {\mathrm{\ΔZ}}_1\end{array}\right],$

Wherein, ${\left[\begin{array}{c}X\\ Y\\ Z\end{array}\right]}_{\mathrm{FZ}}$ Coordinate in the expression auxiliary coordinates, ${\left[\begin{array}{c}X\\ Y\\ Z\end{array}\right]}_{\mathrm{WGS}84}$ Coordinate in the expression WGS84 coordinate system.

Arrive the conversion parameter of ginseng heart coordinate system as non-concerning security matters seven parameters 1.3 calculate auxiliary coordinates

Embodiment calculates the conversion parameter of auxiliary coordinates 54 coordinate systems to Beijing:

If WGS84 is Δ X to the conversion parameter (" seven parameters of maintaining secrecy ") of Beijing 54 coordinate systems ₀, Δ Y ₀, Δ Z ₀, ε _X0, ε _Y0, ε _Z0, m ₀The conversion parameter (" non-concerning security matters seven parameters ") of definition auxiliary coordinates 54 coordinate systems to Beijing is: 3 translational movement Δ X, Δ Y, Δ Z, 3 rotation amount ε _X, ε _Y, ε _Z, 1 yardstick zoom factor m, its numerical value calculates by following formula:

$\left\{\begin{array}{c}\left[\begin{array}{c}\mathrm{\ΔX}\\ \mathrm{\ΔY}\\ \mathrm{\ΔZ}\end{array}\right]=\left[\begin{array}{c}{\mathrm{\ΔX}}_0\\ {\mathrm{\ΔY}}_0\\ {\mathrm{\ΔZ}}_0\end{array}\right]+(1+m)\left[\begin{array}{ccc}1& {\mathrm{\ϵ}}_Z& {-\mathrm{\ϵ}}_Y\\ {-\mathrm{\ϵ}}_Z& 1& {\mathrm{\ϵ}}_X\\ {\mathrm{\ϵ}}_Y& {-\mathrm{\ϵ}}_X& 1\end{array}\right]\left[\begin{array}{c}{\mathrm{\ΔX}}_1\\ {\mathrm{\ΔY}}_1\\ {\mathrm{\ΔZ}}_1\end{array}\right]\\ m=\frac{m_0-m_1}{1+m_1}\\ {\mathrm{\ϵ}}_X={\mathrm{\ϵ}}_{X0}-{\mathrm{\ϵ}}_{X1}\\ {\mathrm{\ϵ}}_Y={\mathrm{\ϵ}}_{Y0}-{\mathrm{\ϵ}}_{Y1}\\ {\mathrm{\ϵ}}_Z={\mathrm{\ϵ}}_{Z0}-{\mathrm{\ϵ}}_{Z1}\end{array}\right.$

And check: this overlaps non-concerning security matters seven parameters should be obviously different with secret seven parameters, otherwise should redesign auxiliary seven parameters.Embodiment asks for non-concerning security matters seven parameters that meet the demands, and the CORS service system was informed the measurement rover station with these non-concerning security matters seven parameters before rover station begins surveying work.

Step 2 generates network RTK difference text, and embodiment inserts a NtripProxy trunk module between NtripCaster server (be the GPSNet server this moment) and rover station.Rover station no longer links to each other with GPSNet like this, is undertaken alternately by NtripProxy trunk module and GPSNet server, rover station.During concrete enforcement, the NtripProxy trunk module can adopt a server setting separately, also can be arranged on the hardware server with the NtripCaster nucleus module, and principle of work reality is identical.Those skilled in the art can adopt computer software technology to realize the NtripProxy trunk module, and TCP/IP bidirectional transmit-receive function is provided, and the NtripProxy relay software of developing can be installed separately, also can be integrated in the NtripCaster software such as GPSNet.

As shown in Figure 2, embodiment is arranged on the NtripProxy trunk module on the independent server, is designated as the NtripProxy server.During actual enforcement, the operation of following NtripProxy server namely realizes by operation NtripProxy software, can be considered by trunk module work and realize, the operation of GPSNet server namely realizes by operation GPSNet software, can be considered by nucleus module work and realize.

This step comprises following substep:

2.1 through behind the fire wall, rover station is chosen source node " VK_RT23_54h56 " by data link login NtripProxy server during connection, and the rover station general location under the ECEF coordinate system that Primary Location is obtained $X_{\mathrm{rovECEF}}=\left[\begin{array}{c}{X}_{\mathrm{rovECEF}}\\ Y_{\mathrm{rovECEF}}\\ Z_{\mathrm{rovECEF}}\end{array}\right]$ Mail to the NtripProxy server.The ECEF of embodiment adopts the WGS84 of GPS, so the subscript rovECEF in the correlation formula adopts rov84 to replace, and is about to the rover station general location under the WGS84 that Primary Location obtains $X_{\mathrm{rov}84}=\left[\begin{array}{c}{X}_{\mathrm{rov}84}\\ Y_{\mathrm{rov}84}\\ Z_{\mathrm{rov}84}\end{array}\right]$ Mail to the NtripProxy server.

The NtripProxy server is with the rover station general location $X_{\mathrm{rovECEF}}=\left[\begin{array}{c}{X}_{\mathrm{rovECEF}}\\ Y_{\mathrm{rovECEF}}\\ Z_{\mathrm{rovECEF}}\end{array}\right]$ Be recorded in the variable and be transmitted to the GPSNet server.

The GPSNet server is selected three distance X _Rov84Nearest reference station utilizes network RTK algorithm of the prior art, calculates the ECEF coordinate of virtual reference station $X_{\mathrm{vrsECEF}}=\left[\begin{array}{c}{X}_{\mathrm{vrsECEF}}\\ Y_{\mathrm{vrsECEF}}\\ Z_{\mathrm{vrsECEF}}\end{array}\right]$ 。The ECEF of embodiment adopts the WGS84 of GPS, so the employing of the subscript vrsECEF in correlation formula vrs84 replacement, namely calculates $X_{\mathrm{vrs}84}=\left[\begin{array}{c}{X}_{\mathrm{vrs}84}\\ Y_{\mathrm{vrs}84}\\ Z_{\mathrm{vrs}84}\end{array}\right]$ (X _Vrs84With X _Rov84May equate, also may be at a distance of 1～5km) as preliminary reference station coordinates, and generate the GNSS observed reading (can according to CORS reference station netting index according to utilizing existing algorithm obtain) at this place, and the two establishment is the text of RTCM3.1 form, send to the NtripProxy server.

2.2NtripProxy server is carried out following operation:

(1) with the general location X that records _Rov84ECEF coordinate X with decoding gained virtual reference station from text _Vrs84Be converted to the ECEF terrestrial coordinate that is not converted to rover station respectively by following formula ${\mathrm{\Φ}}_{\mathrm{rovECEF}}=\left[\begin{array}{c}{L}_{\mathrm{rovECEF}}\\ B_{\mathrm{rovECEF}}\\ H_{\mathrm{rovECEF}}\end{array}\right]$ ECEF terrestrial coordinate with virtual reference station ${\mathrm{\Φ}}_{\mathrm{vrsECEF}}=\left[\begin{array}{c}{L}_{\mathrm{vrsECEF}}\\ B_{\mathrm{vrsECEF}}\\ H_{\mathrm{vrsECEF}}\end{array}\right]$ 。Embodiment is the WGS84 terrestrial coordinate that is converted to rover station ${\mathrm{\Φ}}_{\mathrm{rov}84}=\left[\begin{array}{c}{L}_{\mathrm{rov}84}\\ B_{\mathrm{rov}84}\\ H_{\mathrm{rov}84}\end{array}\right]$ WGS84 terrestrial coordinate with virtual reference station ${\mathrm{\Φ}}_{\mathrm{vrs}84}=\left[\begin{array}{c}{L}_{\mathrm{vrs}84}\\ B_{\mathrm{vrs}84}\\ H_{\mathrm{vrs}84}\end{array}\right],$

$\left\{\begin{array}{c}L=\arctan \left(\frac{Y}{X}\right)\\ B=\arctan \left(\frac{Z+{e\′}^{2}b{\sin }^3\mathrm{\θ}}{\sqrt{(X^2+Y^2)-e^{2}a{\cos }^3\mathrm{\θ}}}\right)\\ H=\frac{\sqrt{X^2+Y^2}}{\cos B}-N\end{array}\right.$

Wherein $N=\frac{a}{\sqrt{1-e^2{\sin }^{2}B}},$ $\mathrm{\θ}=\arctan \left(\frac{\mathrm{aZ}}{b\sqrt{X^2+Y^2}}\right),$ $e^2=\frac{a^2-b^2}{a^2},$ ${e\′}^2=\frac{a^2-b^2}{b^2},$ A is long for the WGS84 semimajor axis of ellipsoid, and b is that semiminor axis of ellipsoid is long.Be that X, Y, Z get X _Rov84Coordinate time, L, B, H are L _Rov84, B _Rov84, H _Rov84X, Y, Z get X _Vrs84Coordinate time, L, B, H are L _Vrs84, B _Vrs84, H _Vrs84

(2) utilize L _RovECEFAnd B _RovECEF, in conjunction with the achievement that quasigeoid is refined, interpolation obtains Φ _RovECEFThe height anomaly value ξ at place _RovECEFMake the pseudo-geodetic height of virtual reference station

, with the pseudo-terrestrial coordinate of virtual reference station ${\mathrm{\Φ}}_{\mathrm{vrsECEF}}^{\′}=\left[\begin{array}{c}{L}_{\mathrm{vrsECEF}}\\ B_{\mathrm{vrsECEF}}\\ H_{\mathrm{vrsECEF}}^{\′}\end{array}\right]$ It is as follows to be converted to rectangular space coordinate,

$X_{\text{vrsECEF}}^{\′}=\left[\begin{array}{c}X\′\\ Y\′\\ Z\′\end{array}\right]=\left[\begin{array}{c}(N+H_{\mathrm{vrsECEF}}^{\′})\cos B_{\mathrm{vrsECEF}}\cos L_{\mathrm{vrsECEF}}\\ (N+H_{\mathrm{vrsECEF}}^{\′})\cos B_{\mathrm{vrsECEF}}\sin L_{\mathrm{vrsECEF}}\\ \[N(1-e^2)+H_{\mathrm{vrsECEF}}^{\′}\]\sin B_{\mathrm{vrsECEF}}\end{array}\right]$

Adopt the pseudo space rectangular coordinate of the boolean Sha model calculating virtual reference station in the step 1 Coordinate X under auxiliary coordinates _VrsFZ, as the reference station coordinates after the changing.

Among the embodiment, utilize L _Rov84, B _Rov84, in conjunction with the achievement that quasigeoid is refined, interpolation obtains Φ _Rov84The height anomaly value ξ at place _Rov84Make the pseudo-geodetic height of virtual reference station

Pseudo-terrestrial coordinate with virtual reference station ${\mathrm{\Φ}}_{\mathrm{vrs}84}^{\′}=\left[\begin{array}{c}{L}_{\mathrm{vrs}84}\\ B_{\mathrm{vrs}84}\\ H_{\mathrm{vrs}84}^{\′}\end{array}\right]$ Be converted to rectangular space coordinate:

$X_{\text{vrs84}}^{\′}=\left[\begin{array}{c}X\′\\ Y\′\\ Z\′\end{array}\right]=\left[\begin{array}{c}(N+H_{\mathrm{vrs}84}^{\′})\cos B_{\mathrm{vrs}84}\cos L_{\mathrm{vrs}84}\\ (N+H_{\mathrm{vrs}84}^{\′})\cos B_{\mathrm{vrs}84}\sin L_{\mathrm{vrs}84}\\ \[N(1-e^2)+H_{\mathrm{vrs}84}^{\′}\]\sin B_{\mathrm{vrs}84}\end{array}\right]$

Formula calculates the pseudo space rectangular coordinate of virtual reference station in the recycling 1.2

Coordinate X under auxiliary coordinates _VrsFZ, as the reference station coordinates after the changing.Be about to $X_{\mathrm{vrs}84}^{\′}=\left[\begin{array}{c}{X}^{\′}\\ Y^{\′}\\ Z^{\′}\end{array}\right]$ As ${\left[\begin{array}{c}X\\ Y\\ Z\end{array}\right]}_{\mathrm{WGS}84}$ Substitution boolean Sha model calculates, the gained result ${\left[\begin{array}{c}X\\ Y\\ Z\end{array}\right]}_{\mathrm{FZ}}$ Be designated as X _VrsFZ

(3) with the ECEF coordinate X of virtual reference station in the former text _VrsECEFReplace with the reference station coordinates X after the changing _VrsFZEmbodiment is with the ECEF coordinate X of virtual reference station in the former text _Vrs84Replace with the reference station coordinates X after the changing _VrsFZ, and keeping corresponding GNSS observed reading constant, recompile is generated as the text of RTCM3.1 form, sends to rover station by data link (internet).

Step 3, rover station is finished the location:

Rover station receives the RTCM3.1 text that the NtripProxy server is sent, by the reference station coordinates X after the changing of RTK mode basis of the prior art _VrsFZCalculate the coordinate of current rover station under auxiliary coordinates:

$X_{\mathrm{rovFZ}}=\left[\begin{array}{c}{X}_{\mathrm{rovFZ}}\\ Y_{\mathrm{rovFZ}}\\ Z_{\mathrm{rovFZ}}\end{array}\right],$

The thin software of measurement hand that can utilize prior art to provide then:

In measuring the thin software of hand, setting benchmark is Krasovsky ellipsoid (Beijing 54 ellipsoids), non-concerning security matters seven parameters that calculate in the input 1.3 in the benchmark conversion parameter (3 translational movement Δ X, Δ Y, Δ Z, 3 rotation amount ε _X, ε _Y, ε _Z, 1 yardstick zoom factor m), then rover station can obtain the coordinate under 54 benchmark of Beijing in real time, and rectangular space coordinate is converted to terrestrial coordinate, and the numerical value of geodetic height wherein namely equals the normal height (Huanghai Sea elevation system in 1956) of rover station.

Projection pattern further is set in measuring the thin software of hand: Gauss projection, central meridian: XXX ° E, the initial point latitude: 0 °, eastern coordinate addition constant: 500000m, northern coordinate addition constant: 0m can obtain the Gaussian plane rectangular coordinate under 54 coordinate systems of Beijing.

Specific embodiment described herein only is that the present invention's spirit is illustrated.Those skilled in the art can make various modifications or replenish or adopt similar mode to substitute described specific embodiment, but can't depart from spirit of the present invention or surmount the defined scope of appended claims.

Claims (2)

1. one kind is obtained ginseng heart coordinate system coordinate and normal high network RTK localization method in real time, it is characterized in that: insert a NtripProxy trunk module between NtripCaster server and rover station, NtripProxy trunk module place server is designated as the NtripProxy server; Position fixing process may further comprise the steps,

Step 1, definition source node and auxiliary seven parameters are calculated auxiliary coordinates and are arrived the conversion parameter of ginseng heart coordinate system as non-concerning security matters seven parameters;

Described auxiliary seven parameters refer to ECEF to be transformed into seven parameters under a certain auxiliary coordinates, comprise 3 translational movement Δ X ₁, Δ Y ₁, Δ Z ₁, 3 rotation parameter ε _X1, ε _Y1, ε _Z1, 1 yardstick zoom factor m ₁, obtain following boolean Sha model,

${\left[\begin{array}{c}X\\ Y\\ Z\end{array}\right]}_{\mathrm{FZ}}=(1+m_1)\left[\begin{array}{ccc}1& {\mathrm{\ϵ}}_{Z1}& {-\mathrm{\ϵ}}_{Y1}\\ {-\mathrm{\ϵ}}_{Z1}& 1& {\mathrm{\ϵ}}_{X1}\\ {\mathrm{\ϵ}}_{Y1}& {-\mathrm{\ϵ}}_{X1}& 1\end{array}\right]{\left[\begin{array}{c}X\\ Y\\ Z\end{array}\right]}_{\mathrm{ECEF}}+\left[\begin{array}{c}{\mathrm{\ΔX}}_1\\ {\mathrm{\ΔY}}_1\\ {\mathrm{\ΔZ}}_1\end{array}\right],$

Wherein, ${\left[\begin{array}{c}X\\ Y\\ Z\end{array}\right]}_{\mathrm{FZ}}$ Coordinate in the expression auxiliary coordinates, ${\left[\begin{array}{c}X\\ Y\\ Z\end{array}\right]}_{\mathrm{ECEF}}$ Coordinate in the expression ECEF coordinate system, the ECEF coordinate system is represented the earth's core body-fixed coordinate system;

Described calculating auxiliary coordinates as non-concerning security matters seven parameters, comprises that establishing the conversion parameter that the ECEF coordinate is tied to ginseng heart coordinate system is Δ X to the conversion parameter of ginseng heart coordinate system ₀, Δ Y ₀, Δ Z ₀, ε _X0, ε _Y0, ε _Z0, m ₀, the definition auxiliary coordinates is Δ X, Δ Y, Δ Z, ε to the conversion parameter of ginseng heart coordinate system _X, ε _Y, ε _Z, m, calculate by following formula,

$\left\{\begin{array}{c}\left[\begin{array}{c}\mathrm{\ΔX}\\ \mathrm{\ΔY}\\ \mathrm{\ΔZ}\end{array}\right]=\left[\begin{array}{c}{\mathrm{\ΔX}}_0\\ {\mathrm{\ΔY}}_0\\ {\mathrm{\ΔZ}}_0\end{array}\right]+(1+m)\left[\begin{array}{ccc}1& {\mathrm{\ϵ}}_Z& {-\mathrm{\ϵ}}_Y\\ {-\mathrm{\ϵ}}_Z& 1& {\mathrm{\ϵ}}_X\\ {\mathrm{\ϵ}}_Y& {-\mathrm{\ϵ}}_X& 1\end{array}\right]\left[\begin{array}{c}{\mathrm{\ΔX}}_1\\ {\mathrm{\ΔY}}_1\\ {\mathrm{\ΔZ}}_1\end{array}\right]\\ m=\frac{m_0-m_1}{1+m_1}\\ {\mathrm{\ϵ}}_X={\mathrm{\ϵ}}_{X0}-{\mathrm{\ϵ}}_{X1}\\ {\mathrm{\ϵ}}_Y={\mathrm{\ϵ}}_{Y0}-{\mathrm{\ϵ}}_{Y1}\\ {\mathrm{\ϵ}}_Z={\mathrm{\ϵ}}_{Z0}-{\mathrm{\ϵ}}_{Z1}\end{array}\right.$

Step 2 generates network RTK difference text, comprises following substep,

Step 2.1, rover station login NtripProxy server is chosen source node during connection, and the rover station general location under the ECEF coordinate system that Primary Location is obtained $X_{\mathrm{rovECEF}}=\left[\begin{array}{c}{X}_{\mathrm{rovECEF}}\\ Y_{\mathrm{rovECEF}}\\ Z_{\mathrm{rovECEF}}\end{array}\right]$ Mail to the NtripProxy server,

The NtripProxy server is with X _RovECEFBe transmitted to the NtripCaster server,

The NtripCaster server calculates the VRS(virtual reference station) the ECEF coordinate $X_{\mathrm{vrsECEF}}=\left[\begin{array}{c}{X}_{\mathrm{vrsECEF}}\\ Y_{\mathrm{vrsECEF}}\\ Z_{\mathrm{vrsECEF}}\end{array}\right],$ Generate corresponding GNSS observed reading, and the two establishment is text and send to the NtripProxy server;

Step 2.2, NtripProxy server are carried out following operation,

Step 2.2.1 is with the rover station general location X under the ECEF coordinate system _RovECEFECEF coordinate X with decoding gained virtual reference station from text _VrsECEFBe converted to the summary ECEF terrestrial coordinate of rover station respectively by following formula ${\mathrm{\Φ}}_{\mathrm{rovECEF}}=\left[\begin{array}{c}{L}_{\mathrm{rovECEF}}\\ B_{\mathrm{rovECEF}}\\ H_{\mathrm{rovECEF}}\end{array}\right]$ ECEF terrestrial coordinate with virtual reference station ${\mathrm{\Φ}}_{\mathrm{vrsECEF}}=\left[\begin{array}{c}{L}_{\mathrm{vrsECEF}}\\ B_{\mathrm{vrsECEF}}\\ H_{\mathrm{vrsECEF}}\end{array}\right],$

$\left\{\begin{array}{c}L=\arctan \left(\frac{Y}{X}\right)\\ B=\arctan \left(\frac{Z+{e\′}^{2}b{\sin }^3\mathrm{\θ}}{\sqrt{(X^2+Y^2)-e^{2}a{\cos }^3\mathrm{\θ}}}\right)\\ H=\frac{\sqrt{X^2+Y^2}}{\cos B}-N\end{array}\right.$

Wherein $N=\frac{a}{\sqrt{1-e^2{\sin }^{2}B}},$ $\mathrm{\θ}=\arctan \left(\frac{\mathrm{aZ}}{b\sqrt{X^2+Y^2}}\right),$ $e^2=\frac{a^2-b^2}{a^2},$ ${e\′}^2=\frac{a^2-b^2}{b^2},$ A is long for the ECEF semimajor axis of ellipsoid, and b is that semiminor axis of ellipsoid is long; X, Y, Z get X _RovECEFCoordinate time, L, B, H are L _RovECEF, B _RovECEF, H _RovECEFX, Y, Z get X _VrsECEFCoordinate time, L, B, H are L _VrsECEF, B _VrsECEF, H _VrsECEF

Step 2.2.2 utilizes L _RovECEFAnd B _RovECEF, in conjunction with the achievement that quasigeoid is refined, interpolation obtains Φ _RovECEFThe height anomaly value ξ at place _RovECEFCalculate the pseudo-geodetic height of virtual reference station Pseudo-terrestrial coordinate with virtual reference station ${\mathrm{\Φ}}_{\mathrm{vrsECEF}}^{\′}=\left[\begin{array}{c}{L}_{\mathrm{vrsECEF}}\\ B_{\mathrm{vrsECEF}}\\ H_{\mathrm{vrsECEF}}^{\′}\end{array}\right]$ It is as follows to be converted to rectangular space coordinate,

$X_{\text{vrsECEF}}^{\′}=\left[\begin{array}{c}X\′\\ Y\′\\ Z\′\end{array}\right]=\left[\begin{array}{c}(N+H_{\mathrm{vrsECEF}}^{\′})\cos B_{\mathrm{vrsECEF}}\cos L_{\mathrm{vrsECEF}}\\ (N+H_{\mathrm{vrsECEF}}^{\′})\cos B_{\mathrm{vrsECEF}}\sin L_{\mathrm{vrsECEF}}\\ \[N(1-e^2)+H_{\mathrm{vrsECEF}}^{\′}\]\sin B_{\mathrm{vrsECEF}}\end{array}\right]$

Adopt the pseudo space rectangular coordinate X ' of the boolean Sha model calculating virtual reference station in the step 1 _VrsECEFCoordinate X under auxiliary coordinates _VrsFZ, as the reference station coordinates after the changing;

Step 2.2.3 is with the ECEF coordinate X of virtual reference station in the former text _VrsECEFReplace with the reference station coordinates X after the changing _VrsFZ, and keep corresponding GNSS observed reading constant, regroup to text and send to rover station;

Step 3, rover station is finished the location, be included in receive the text that the NtripProxy server sends after, according to the reference station coordinates X after the changing _VrsFZCalculate the coordinate X of current rover station under auxiliary coordinates _RovFZ, obtain coordinate under the rover station ginseng heart coordinate system and normal high according to non-concerning security matters seven parameters of step 1 gained, can further obtain Gaussian plane rectangular coordinate under the rover station ginseng heart coordinate system by projection.

2. according to described ginseng heart coordinate system coordinate and the normal high network RTK localization method of obtaining in real time of claim 1, it is characterized in that: during the definition source node, the information that comprises in the source node title has reference station type, measurement pattern, difference message format, measures the elevation system of achievement coordinate system and measurement achievement.

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