CN103293541B - Method based on NTRIP for measuring RTD of arbitrary coordinate system result - Google Patents

Abstract

A method based on NTRIP for measuring an RTD of an arbitrary coordinate system result carries out extension on a source node, is used for conveying moving station requests with details, does not need to modify NTRIP, and simply needs to add judgments and algorithms to NtripCaster software, or adds an NtripProxy relay module between NtripCaster and a moving station. A coordinate under a reference-ellipsoid-centric coordinate system needs to be acquired in real time, a corresponding source node simply needs to be selected when a server is logged in, and non-secret seven parameters are filled in a handhold notebook. If normal height needs to be acquired in real time, a corresponding source node simply needs to be selected when the server is logged in. If ECEF coordinate needs to be obtained in real time, a corresponding source node simply needs to be selected when the server is logged in. An operating mode is basically unchanged, under the premise that a privacy policy is met, the reference-ellipsoid-centric coordinate system and the normal height of real-time survey staking of the RTD can be achieved, and surveying and mapping production efficiency is remarkably improved.

Description

Based on NTRIP, measure the RTD method of arbitrary system achievement

Technical field

The present invention relates to geodetic surveying and satellite navigation field, particularly a kind of RTD method of measuring arbitrary system achievement based on NTRIP.

Background technology

The real-time pseudo range difference of RTD() be GNSS(GPS (Global Position System)) a kind of application mode, its system is comprised of some reference stations and the rover station at a distance of near (being conventionally less than 100km), wherein reference station normally maintain static and coordinate accurate known.Between the pseudorange code observed reading receiving at synchronization due to reference station and rover station, there is stronger error correlativity, thereby to rover station, send pseudorange correction and rate of change thereof by reference to station, then carry out that pseudo range difference location can make public satellite ephemeris error, satellite clock correction, ionospheric error, tropospheric error is eliminated or weaken, realizing the real-time location of rover station sub-meter grade precision.

A key factor of RTD successful implementation is the data link between reference station and rover station, to guarantee that difference text is transferred to rover station in real time.Alternative data link has: wired, wireless station, WIFI, bluetooth, internet etc.Ntrip (Networked Transport of RTCM via Internet Protocol, by internet, carry out the agreement of RTCM Internet Transmission) defined one group and carry out RTCM(Radio Technical Commission for Maritime Services, the international ocean shipping cause radiotelegraphy council by internet) agreement of text transmission.Ntrip is by NtripSources(data source), NtripClient (client, be rover station), NtripServer(data transmission module) and NtripCaster(kernel software) form, as shown in Figure 1, wherein HTTP Streams represents http stream.

NtripSources is responsible for the GNSS data stream that provides continuous, the corresponding a kind of position of each a NtripSource (real reference station, or VRS: by a virtual reference station of a plurality of reference stations), as L in figure data source NtripSource1 ... NtripSource L.The information such as its message format, satellite system, geographic position are in corresponding source-table(source list) in provided description.

The data stream transmitting that NtripServer is used for NtripSource to produce is to NtripCaster, as M in figure server NtripServer1 ... NtripServer M.NtripServer is a mountpoint(source node of each NtripSource definition).

NtripClients is by selecting mountpoint to obtain the data of appointment.Administrator(keeper) can to NtripCaster, control by the HTTP with cryptoguard or Telnet mode, be responsible for safeguarding all NtripSource and mountpoint thereof simultaneously.

NtripCaster is undertaken alternately by a certain port and NtripServer or NtripClient, also NtripCaster and NtripServer can be integrated into a total software.NtripCaster can be used as on the server that nucleus module is arranged on data center, generally this server is called to NtripCaster server, by internet, to the public, provides service.NtripCaster can adopt the GPSNet of Trimlbe, the special softwares such as TOPNET of the Spider of LEICA, Topcon.

If NtripClient is connected to IP and the port of appointment by TCP, and send correct connection request (comprising user name, password and mountpoint), just can obtain data by authentication and from NtripCaster.As N in figure rover station NtripClient1 ... NtripClient N.

The work on hand flow process of carrying out RTD location based on Ntrip is as shown in Figure 2: 1. rover station equipment by internet through fire wall login NtripCaster place server, login parameters active node, username and password etc., wherein source node is used to specify station-keeping mode, message format etc., and the coordinate under the ECEF that rover station initial alignment is obtained (being called " rough coordinates ") mails to server, this process is designated as 1 transmission ECEF rough coordinates, user name, password.2. username and password by authentication after, NtripCaster judges according to the source node of user request, if user has selected single reference station pattern, system is by a nearest real reference station of automatic chosen distance rover station; If user has selected many reference stations pattern, server software will simulate a VRS(virtual reference station with certain algorithm (as network RTD)), its pseudorange code correction and variability are compiled into text, send to rover station, this process is designated as 2 transmission difference texts.3. rover station receives after this text, and pseudorange code correction is added in self pseudorange code observed reading, positions, and obtains ECEF(the earth's core body-fixed coordinate system) under coordinate, this process is designated as 3RTD location.

In some cases, for surveying and mapping result can be correctly connected with achievement in early stage, coordinate results need to be transformed into from ECEF to ginseng heart coordinate system, elevation is converted to normal height (elevation that the quasigeoid of take is reference field) by geodetic height (elevation that the ellipsoid of take is reference field), if what carry out is setting-out work, heart coordinate system coordinate and normal high is joined in also must be real-time measure.

The coordinate of ECEF can be expressed as (X, Y, Z) rectangular space coordinate of form, (L, B, H) (China mainly adopts Gauss projection to map projection's coordinate of the terrestrial coordinate of form (wherein L is that geodetic longitude, B are that geodetic latitude, H are geodetic height), xy form, now x is northern coordinate, and y is eastern coordinate), three kinds of forms can convert mutually by mathematical formulae.Ginseng heart coordinate system is identical with the expression way of ECEF, and the difference of the two is that initial point, coordinate axis sensing are different with earth ellipsoid.

By ECEF, to ginseng heart coordinate system coordinate, need to use seven parameters (three translational movement, three); By geodetic height, be converted to normal height, need to use height anomaly (can be obtained by Precision Quasi-geoid Determining graticule mesh interpolation).

According to < < Surveying Management Work state secret catalogue > > [1], stipulate, mutual conversion, precision between country earth coordinates, geocentric coordinate system be better than ± and the height anomaly achievement of 1 meter belongs to respectively top secret, confidential scope, and the two is all can not be to public's issue.Thereby cause existing GNSS technology can not record in real time ginseng heart coordinate system coordinate and normal high, this has seriously restricted development and the application of GNSS RTD technology in mapping actual production.Research how in the situation that not revealing security parameter, make rover station can obtain in real time joining heart coordinate system coordinate and normally high, for the range of application of expansion GNSS technology, improve surveying production efficiency, tool is of great significance.

For making user obtain ginseng heart coordinate system coordinate, there are 3 kinds of conventional methods: 1) by user, the ECEF coordinate measuring is submitted in writing to the surveying and mapping result keeping unit of State Bureau of Surveying and Mapping's approval, after examining, by the latter, carry out coordinate conversion afterwards, result is replied to user, 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, can not meet the needs of real-time setting-out ginseng heart coordinate system coordinate.2) the surveying and mapping result keeping unit being ratified by State Bureau of Surveying and Mapping sets up coordinate conversion network service system [2] [3], authorized user can be by the online ECEF coordinate measuring of submitting to of network, service system completes after coordinate conversion result by network-feedback online to user, the advantage of this pattern is that user is easy to use, achievement standard, but still can only after measurement finishes, carry out, can not meet the needs of real-time setting-out ginseng heart coordinate system coordinate.3) user asks for parameter voluntarily by translocation known point, must have known point to distribute near surveying district, and its field process amount is large, data processing relative complex, high to user's competency profiling, operating efficiency is low, and the precision of achievement and reliability do not ensure.

Also do not have at present document to mention the real time measure ginseng heart coordinate system coordinate and normal high technical method under RTD mode, and different due to station-keeping mode, the method under similar RTK pattern, the reference station coordinates in difference text being converted is not also suitable for RTD.

The main list of references relating to is as follows:

[1] State Bureau of Surveying and Mapping, National Administration for the Protection of State Secrets, the regulation > > state of < < Surveying Management Work state secret scope surveys and does word (2003) No. 17

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

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

Summary of the invention

The problem to be solved in the present invention is, meeting under the prerequisite of national privacy policy, how to make the RTD rover station can be as required, obtain in real time arbitrary system achievement, arbitrary system comprises that ECEF(is as WGS84, ITRS, PE-90, CGCS2000 etc.), ginseng heart coordinate system (as Beijing coordinate system in 1954, Xi'an Geodetic Coordinate System 1980, new Beijing Geodetic Coordinate System 1954 etc.), elevation system (as high in Baltic Sea elevation, Wu's rime elevation system, Guangzhou elevation, Zhujiang River elevation, Huanghai Sea elevation system in 1956,1985 state height benchmark, the earth).

Technical scheme of the present invention is a kind of RTD method of measuring arbitrary system achievement based on NTRIP, between NtripCaster server and NtripClient, insert a NtripProxy trunk module, NtripProxy trunk module place server is designated as NtripProxy server, and NtripClient represents rover station; Mensuration process comprises the following steps,

Step 1, definition source node and auxiliary seven parameters, the conversion parameter that calculating auxiliary coordinate is tied to target-based coordinate system is as non-concerning security matters seven parameters;

Described auxiliary seven parameters, comprise 3 translational movement Δ X ₁, Δ Y ₁, Δ Z ₁, 3 rotation parameter ε _x1, ε _y1, ε _z1, 1 scaling factor m ₁, obtain following boolean Sha model,

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

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

Described calculating auxiliary coordinate is tied to the conversion parameter of target-based coordinate system as non-concerning security matters seven parameters, comprises that establishing the Transformation Parameters that ECEF coordinate is tied to target-based coordinate system is Δ X ₀, Δ Y ₀, Δ Z ₀, ε _x0, ε _y0, ε _z0, m ₀, the conversion parameter that definition auxiliary coordinate is tied to target-based coordinate system is Δ X, Δ Y, Δ Z, ε _x, ε _y, ε _z, m, by following formula, calculate,

$\left\{\begin{array}{c}\left[\begin{array}{c}\mathrm{\&Delta;X}\\ \mathrm{\&Delta;Y}\\ \mathrm{\&Delta;Z}\end{array}\right]=\left[\begin{array}{c}\mathrm{\&Delta;}{X}_0\\ \mathrm{\&Delta;}{Y}_0\\ \mathrm{\&Delta;}{Z}_0\end{array}\right]+(1+m)\left[\begin{array}{ccc}1& {\mathrm{\&epsiv;}}_Z& -{\mathrm{\&epsiv;}}_Y\\ -{\mathrm{\&epsiv;}}_Z& 1& {\mathrm{\&epsiv;}}_X\\ {\mathrm{\&epsiv;}}_Y& -{\mathrm{\&epsiv;}}_X& 1\end{array}\right]\left[\begin{array}{c}\mathrm{\&Delta;}{X}_1\\ \mathrm{\&Delta;}{Y}_1\\ \mathrm{\&Delta;}{Z}_1\end{array}\right]\\ m=\frac{m_0-m_1}{1+m_1}\\ {\mathrm{\&epsiv;}}_X={\mathrm{\&epsiv;}}_{X0}-{\mathrm{\&epsiv;}}_{X1}\\ {\mathrm{\&epsiv;}}_Y={\mathrm{\&epsiv;}}_{Y0}-{\mathrm{\&epsiv;}}_{Y1}\\ {\mathrm{\&epsiv;}}_Z={\mathrm{\&epsiv;}}_{Z0}-{\mathrm{\&epsiv;}}_{Z1}\end{array}\right.$

Step 2, generating network RTK difference text, comprises following sub-step,

Step 2.1, NtripClient login NtripProxy server, chooses 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 NtripProxy server,

NtripProxy server is by X _rovECEFbe transmitted to NtripCaster server,

NtripCaster server calculates and provides reference station coordinates X _refECEF=(X _refECEF, Y _refECEF, Z _refECEF), and based on X _refECEFgenerate pseudorange correction Λ and variability it is as follows,

Λ＝[dP ¹dP ²…dP ^k] ^T

$\stackrel{\&CenterDot;}{\mathrm{\&Lambda;}}=(\mathrm{\&Lambda;}\left(t\right)-\mathrm{\&Lambda;}(t-1))/\mathrm{dt},$

Wherein, k represents a satellite number, initial pseudo correction for each satellite; represent that i star is to the geometric distance of reference station, P ⁱrepresent certain Pseudo-range Observations to i star constantly, dt represents GNSS signal sampling interval;

NtripCaster server is by pseudorange correction Λ and variability establishment is for text and send to NtripProxy server;

Step 2.2, NtripProxy server is carried out following operation,

Step 2.2.1, by decoded message, restores pseudorange correction Λ,

Step 2.2.2, the general location X that NtripClient is sent _rovECEFby following formula, be converted to longitude and latitude geodetic height,

$\left\{\begin{array}{c}{L}_{\mathrm{rovECEF}}=\arctan \left(\frac{Y_{\mathrm{rovECEF}}}{X_{\mathrm{rovECEF}}}\right)\\ B_{\mathrm{rovECEF}}=\arctan \left(\frac{Z_{\mathrm{rovECEF}}+e^{\&prime;2}b{\sin }^3\mathrm{\&theta;}}{\sqrt{({X_{\mathrm{rovECEF}}}^2+{Y_{\mathrm{rovECEF}}}^2)-e^{2}a{\cos }^3\mathrm{\&theta;}}}\right)\\ H_{\mathrm{rovECEF}}=\frac{\sqrt{{X_{\mathrm{rovECEF}}}^2+{Y_{\mathrm{rovECEF}}}^2}}{\cos B_{\mathrm{rovECEF}}}-N\end{array}\right.$

Wherein $N=\frac{a}{\sqrt{1-e^2{\sin }^2{B}_{\mathrm{rovECEF}}}},$ $\mathrm{\&theta;}=\arctan \left(\frac{a{Z}_{\mathrm{rovECEF}}}{b\sqrt{{X_{\mathrm{rovECEF}}}^2+{Y_{\mathrm{rovECEF}}}^2}}\right),$ $e^2=\frac{a^2-b^2}{a^2},$ $e^{\&prime;2}=\frac{a^2-b^2}{b^2},$ A is that the semimajor axis of ellipsoid of ECEF coordinate system is long, and b is that semiminor axis of ellipsoid is long;

Step 2.2.3, utilizes L _rovECEF, B _rovECEF, in conjunction with the achievement of Precision Quasi-geoid Determining, interpolation goes out the height anomaly value ξ at NtripClient place _rovECEF, make the pseudo-geodetic height H of NtripClient _r' _ovECEF=H _rovECEF-ξ _rovECEF, by the pseudo-terrestrial coordinate of NtripClient ${\mathrm{\&Phi;}}_{\mathrm{rovECEF}}^{\&prime;}=\left[\begin{array}{c}{L}_{\mathrm{rovECEF}}\\ B_{\mathrm{rovECEF}}\\ H_{\mathrm{rovECEF}}^{\&prime;}\end{array}\right]$ Again be converted to rectangular space coordinate as follows,

$X_{\mathrm{rovECEF}}^{\&prime;}=\left[\begin{array}{c}{X}_{\mathrm{rovECEF}}^{\&prime;}\\ Y_{\mathrm{rovECEF}}^{\&prime;}\\ Z_{\mathrm{rovECEF}}^{\&prime;}\end{array}\right]=\left[\begin{array}{c}(N+H_{\mathrm{rovECEF}}^{\&prime;})\cos B_{\mathrm{rovECEF}}\cos L_{\mathrm{rovECEF}}\\ (N+H_{\mathrm{rovECEF}}^{\&prime;})\cos B_{\mathrm{rovECEF}}\sin L_{\mathrm{rovECEF}}\\ \&lsqb;N(1-e^2)+H_{\mathrm{rovECEF}}^{\&prime;}\&rsqb;\sin B_{\mathrm{rovECEF}}\end{array}\right]$

The pseudo space rectangular coordinate X ' of NtripClient after being upgraded _rovECEF;

Step 2.2.4, calculates final pseudorange correction Ψ and variability thereof :

Ψ＝Λ+Γ

$\stackrel{\&CenterDot;}{\mathrm{\&Psi;}}=(\stackrel{\&CenterDot;}{\mathrm{\&Psi;}}\left(t\right)-\stackrel{\&CenterDot;}{\mathrm{\&Psi;}}(t-1))/\mathrm{dt},$

Wherein, variable Γ asks for as follows,

$\mathrm{\&Gamma;}=\left[\begin{array}{ccc}{l}^1& m^1& n^1\\ l^2& m^2& n^2\\ & \&CenterDot;& \\ & \&CenterDot;& \\ & \&CenterDot;& \\ l^k& m^k& n^k\end{array}\right]\left[\begin{array}{c}d{X}_{\mathrm{rovECEF}}\\ d{Y}_{\mathrm{rovECEF}}\\ d{Z}_{\mathrm{rovECEF}}\end{array}\right]=\left[\begin{array}{ccc}{l}^1& m^1& n^1\\ l^2& m^2& n^2\\ & \&CenterDot;& \\ & \&CenterDot;& \\ & \&CenterDot;& \\ l^k& m^k& n^k\end{array}\right]\{\&lsqb;(1+m)\left[\begin{array}{ccc}1& {\mathrm{\&epsiv;}}_Z& -{\mathrm{\&epsiv;}}_Y\\ -{\mathrm{\&epsiv;}}_Z& 1& {\mathrm{\&epsiv;}}_X\\ {\mathrm{\&epsiv;}}_Y& -{\mathrm{\&epsiv;}}_X& 1\end{array}\right]-I\&rsqb;\left[\begin{array}{c}{X}_{\mathrm{rovECEF}}^{\&prime;}\\ Y_{\mathrm{rovECEF}}^{\&prime;}\\ Z_{\mathrm{rovECEF}}^{\&prime;}\end{array}\right]\left[\begin{array}{c}\mathrm{\&Delta;X}\\ \mathrm{\&Delta;Y}\\ \mathrm{\&Delta;Z}\end{array}\right]\}$

$\left\{\begin{array}{c}{l}^i=\frac{X_{\mathrm{rovECEF}}-X^i}{d_{\mathrm{rovECEF}}^i}\\ m^i=\frac{Y_{\mathrm{rov}}-Y^i}{d_{\mathrm{rovECEF}}^i}\\ n^i=\frac{Z_{\mathrm{rov}}-Z^i}{d_{\mathrm{rovECEF}}^i}\end{array}\right.$

$d_{\mathrm{rovECEF}}^i=\sqrt{{(X_{\mathrm{rov}}-X^i)}^2+{(Y_{\mathrm{rov}}-Y^i)}^2+{(Z_{\mathrm{rov}}-Z^i)}^2}$

Wherein, i satellite X ⁱcoordinate is (X ⁱ, Y ⁱ, Z ⁱ), i=1,2 ..., k; l ⁱ, m ⁱ, n ⁱrepresent respectively from the direction cosine of NtripClient to a i satellite, for the geometric distance of NtripClient to a i satellite, I is unit matrix;

Step 2.2.5, NtripProxy server is by pseudorange correction Λ and variability thereof in former text replace with respectively step 2.2.4 gained final pseudorange correction Ψ and variability thereof , regroup as text and send to NtripClient;

Step 3, NtripClient completes location, is included in and receives after the text that NtripProxy server sends, and calculates the coordinate X of current NtripClient under auxiliary coordinates _rovFZ, according to non-concerning security matters seven parameters of step 1 gained, obtain the normal height of NtripClient and the Gaussian plane rectangular coordinate under target-based coordinate system.

And arbitrary system comprises ECEF, ginseng heart coordinate system and elevation system arbitrarily.

And during definition source node, the information comprising in source node title has reference station type, measurement pattern, difference message format, the coordinate system of Measurement results and the elevation system of Measurement results.

And,

Only realize and obtain ginseng heart coordinate system coordinate, do not realize and obtain normally when high, do not perform step 2.2.3, the X ' in the formula in step 2.2.4 _rovECEF=X _rovECEF;

Only realize and obtain ECEF coordinate, do not realize and obtain normally when high, do not perform step 2.2, directly the information of NtripCaster server is transmitted to NtripClient;

ECEF coordinate and normal when high is obtained in realization, changes the algorithm of variable Γ in step 2.2.4 into following formula,

$\mathrm{\&Gamma;}=\left[\begin{array}{ccc}{l}^1& m^1& n^1\\ l^2& m^2& n^2\\ & \&CenterDot;& \\ & \&CenterDot;& \\ & \&CenterDot;& \\ l^k& m^k& n^k\end{array}\right]\left[\begin{array}{c}d{X}_{\mathrm{rov}}\\ d{Y}_{\mathrm{rov}}\\ d{Z}_{\mathrm{rov}}\end{array}\right]=\left[\begin{array}{ccc}{l}^1& m^1& n^1\\ l^2& m^2& n^2\\ & \&CenterDot;& \\ & \&CenterDot;& \\ & \&CenterDot;& \\ l^k& m^k& n^k\end{array}\right]\left\{\begin{array}{c}{X}_{\mathrm{rovECEF}}^{\&prime;}-X_{\mathrm{rovECEF}}\\ Y_{\mathrm{rovECEF}}^{\&prime;}-Y_{\mathrm{rovECEF}}\\ Z_{\mathrm{rovECEF}}^{\&prime;}-Z_{\mathrm{rovECEF}}\end{array}\right\}$

All the other are constant.

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

1) source node is expanded, for more at large passing on user's request, do not need to revise Ntrip agreement, only need correspondingly in NtripCaster software, to add judgement and algorithm, or between NtripCaster and NtripClient, increase certain relay software, be easy to realize;

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

3) mobile station user need to obtain normal height in real time, only need when logon server, select corresponding source node, and all the other operating types are constant;

4) mobile station user need to obtain ECEF coordinate in real time, does not need to change original operating type, only need when logon server, select corresponding source node;

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

Accompanying drawing explanation

Fig. 1 is that Ntrip system of the prior art forms schematic diagram;

Fig. 2 is Ntrip working mode figure of the prior art;

Fig. 3 is the mode of operation schematic diagram that adds NtripProxy relay software of the embodiment of the present invention.

Fig. 4 is that the RTD of the embodiment of the present invention obtains ginseng heart coordinate system coordinate schematic diagram.

Fig. 5 is that the RTD of the embodiment of the present invention obtains ginseng heart coordinate system coordinate and normal high schematic diagram.

Fig. 6 is that the RTD of the embodiment of the present invention obtains ECEF coordinate schematic diagram.

Fig. 7 is that the RTD of the embodiment of the present invention obtains ECEF coordinate and normal high schematic diagram.

Embodiment

Arbitrary system of the present invention comprises that any ECEF(is as WGS84, ITRS, PE-90, CGCS2000 etc.), join heart coordinate system (as Beijing coordinate system in 1954, Xi'an Geodetic Coordinate System 1980, new Beijing Geodetic Coordinate System 1954 etc.) and any elevation system (as high in Baltic Sea elevation, Wu's rime elevation system, Guangzhou elevation, Zhujiang River elevation, Huanghai Sea elevation system in 1956,1985 state height benchmark, the earth) arbitrarily, implementation is identical.Below in conjunction with drawings and Examples, describe technical solution of the present invention in detail.

In embodiment, certain province has set up the CORS system containing 100 reference stations, NtripCaster adopts the GPSNet software of trimble company development, the coordinate directly recording belongs to WGS84, and WGS84 is top-secret to the conversion parameter of joining heart coordinate system coordinate, the Precision Quasi-geoid Determining Result of this region centimetre-sized is secret, wants to make to measure user and can record in real time Beijing 54 ginseng heart coordinate system coordinates and normally high by single base station RTD technology, referring to Fig. 5, its step is as follows:

Step 1, definition source node and auxiliary seven parameters, calculating auxiliary coordinate is tied to the conversion parameter of ginseng heart coordinate system as non-concerning security matters seven parameters; This step comprises following sub-step,

A kind of mountpoint(source node of 1.1 definition)

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

For example in GPSNet software, define source node RD_RT23_54h56, wherein R represents true reference station, and D represents RTD measurement pattern, and RT23 represents that difference message format is RTCM2.3, and 54 represent Beijing coordinate system in 1954, and h56 represents Huanghai Sea elevation system in 1956.

A set of auxiliary seven parameters of 1.2 definition

A set of auxiliary seven parameters 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 scaling factor m ₁, make the WGS84 can be according to following boolean Sha model conversion to auxiliary coordinates,

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

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

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

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

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

1.3 calculating auxiliary coordinates are tied to the conversion parameter of ginseng heart coordinate system as non-concerning security matters seven parameters

Embodiment calculates the conversion parameter that auxiliary coordinate is tied to Beijing coordinate system in 1954:

If the conversion parameter of WGS84 to 1954 year Beijing coordinate system (" seven parameters of maintaining secrecy ") is Δ X ₀, Δ Y ₀, Δ Z ₀, ε _x0, ε _y0, ε _z0, m ₀.The conversion parameter (" non-concerning security matters seven parameters ") that definition auxiliary coordinate is tied to Beijing coordinate system in 1954 is: 3 translational movement Δ X, Δ Y, Δ Z, 3 rotation amount ε _x, ε _y, ε _z, 1 scaling factor m, its numerical value calculates by following formula:

$\left\{\begin{array}{c}\left[\begin{array}{c}\mathrm{\&Delta;X}\\ \mathrm{\&Delta;Y}\\ \mathrm{\&Delta;Z}\end{array}\right]=\left[\begin{array}{c}\mathrm{\&Delta;}{X}_0\\ \mathrm{\&Delta;}{Y}_0\\ \mathrm{\&Delta;}{Z}_0\end{array}\right]+(1+m)\left[\begin{array}{ccc}1& {\mathrm{\&epsiv;}}_Z& -{\mathrm{\&epsiv;}}_Y\\ -{\mathrm{\&epsiv;}}_Z& 1& {\mathrm{\&epsiv;}}_X\\ {\mathrm{\&epsiv;}}_Y& -{\mathrm{\&epsiv;}}_X& 1\end{array}\right]\left[\begin{array}{c}\mathrm{\&Delta;}{X}_1\\ \mathrm{\&Delta;}{Y}_1\\ \mathrm{\&Delta;}{Z}_1\end{array}\right]\\ m=\frac{m_0-m_1}{1+m_1}\\ {\mathrm{\&epsiv;}}_X={\mathrm{\&epsiv;}}_{X0}-{\mathrm{\&epsiv;}}_{X1}\\ {\mathrm{\&epsiv;}}_Y={\mathrm{\&epsiv;}}_{Y0}-{\mathrm{\&epsiv;}}_{Y1}\\ {\mathrm{\&epsiv;}}_Z={\mathrm{\&epsiv;}}_{Z0}-{\mathrm{\&epsiv;}}_{Z1}\end{array}\right.$

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

Step 2, generate RTD difference text, embodiment inserts a NtripProxy trunk module between NtripCaster server (being now GPSNet server) and rover station, rover station is no longer connected with GPSNet like this, by NtripProxy trunk module, is undertaken alternately respectively with GPSNet server, rover station by Ntrip agreement.During concrete enforcement, NtripProxy trunk module can adopt separately a Servers installed, also can be arranged on a hardware server with NtripCaster nucleus module, and principle of work reality is identical.Those skilled in the art can adopt computer software technology to realize 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 softwares such as GPSNet.

As shown in Figure 3, embodiment is arranged on NtripProxy trunk module on an independent server, is designated as NtripProxy server.During actual enforcement, the operation of following NtripProxy server realizes by operation NtripProxy software, can be considered by trunk module work and realize, the operation of GPSNet server realizes by operation GPSNet software, can be considered by nucleus module work and realizes.This step comprises following sub-step:

2.1 after fire wall, and rover station is logined NtripProxy server by data link, chooses source node " RD_RT23_54h56 " 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 NtripProxy server.The ECEF of embodiment adopts the WGS84 of GPS, so the employing of the subscript rovECEF in correlation formula rov84 replacement, below adopts same way.Rover station general location under the WGS84 that soon Primary Location will obtain $X_{\mathrm{rov}84}=\left[\begin{array}{c}{X}_{\mathrm{rov}84}\\ Y_{\mathrm{rov}84}\\ Z_{\mathrm{rov}84}\end{array}\right]$ Mail to NtripProxy server,

NtripProxy server is by rover station general location $X_{\mathrm{rov}84}=\left[\begin{array}{c}{X}_{\mathrm{rov}84}\\ Y_{\mathrm{rov}84}\\ Z_{\mathrm{rov}84}\end{array}\right]$ Be recorded in variable and be transmitted to GPSNet server,

GPSNet server is selected 1 distance X _rov84nearest reference station, this reference station coordinates is designated as

X _refECEF＝(X _refECEF,Y _refECEF,Z _refECEF)。The ECEF of embodiment adopts the WGS84 of GPS, so the employing of the subscript refECEF in correlation formula ref84 replacement, below adopts same way.Be that GPSNet server is selected 1 distance X _rov84nearest reference station, this reference station coordinates is designated as X _ref84=(X _ref84, Y _ref84, Z _ref84), generate pseudorange correction Λ and variability thereof , can be designated as the form of matrix,

Λ＝[dP ¹dP ²…dP ^k] ^T

$\stackrel{\&CenterDot;}{\mathrm{\&Lambda;}}=(\mathrm{\&Lambda;}\left(t\right)-\mathrm{\&Lambda;}(t-1))/\mathrm{dt},$

Wherein k represents a satellite number; initial pseudo correction for each satellite; represent that i star is to the geometric distance of reference station, P ⁱrepresent certain Pseudo-range Observations to i star constantly, dt represents GNSS signal sampling interval, is generally 1 second;

GPSNet server by Λ and establishment is the text of RTCM2.3, sends to NtripProxy server.

2.2NtripProxy server is carried out following operation:

(1), by decoded message, restore pseudorange correction Λ.

(2) general location X rover station being sent _rov84by following formula, be converted to longitude and latitude geodetic height,

$\left\{\begin{array}{c}{L}_{\mathrm{rov}84}=\arctan \left(\frac{Y_{\mathrm{rov}84}}{X_{\mathrm{rov}84}}\right)\\ B_{\mathrm{rov}84}=\arctan \left(\frac{Z_{\mathrm{rov}84}+e^{\&prime;2}b{\sin }^3\mathrm{\&theta;}}{\sqrt{({X_{\mathrm{rov}84}}^2+{Y_{\mathrm{rov}84}}^2)-e^{2}a{\cos }^3\mathrm{\&theta;}}}\right)\\ H_{\mathrm{rov}84}=\frac{\sqrt{{X_{\mathrm{rov}84}}^2+{Y_{\mathrm{rov}84}}^2}}{\cos B_{\mathrm{rov}84}}-N\end{array}\right.$

Wherein $N=\frac{a}{\sqrt{1-e^2{\sin }^2{B}_{\mathrm{rov}84}}},$ $\mathrm{\&theta;}=\arctan \left(\frac{a{Z}_{\mathrm{rov}84}}{b\sqrt{{X_{\mathrm{rov}84}}^2+{Y_{\mathrm{rov}84}}^2}}\right),$ $e^2=\frac{a^2-b^2}{a^2},$ $e^{\&prime;2}=\frac{a^2-b^2}{b^2},$ A is that WGS84 semimajor axis of ellipsoid is long, and b is that semiminor axis of ellipsoid is long.

(3) in conjunction with the achievement of Precision Quasi-geoid Determining, interpolation goes out the height anomaly value ξ at rover station place _rov84, this height anomaly value is joined in geodetic height, make the pseudo-geodetic height H of rover station _r' _ov84=H _rov84-ξ _rov84, by the pseudo-terrestrial coordinate of rover station

${\mathrm{\&Phi;}}_{\mathrm{rov}84}^{\&prime;}=\left[\begin{array}{c}{L}_{\mathrm{rov}84}\\ B_{\mathrm{rov}84}\\ H_{\mathrm{rov}84}^{\&prime;}\end{array}\right]$ Again be converted to rectangular space coordinate:

$X_{\mathrm{rov}84}^{\&prime;}=\left[\begin{array}{c}{X}_{\mathrm{rov}84}^{\&prime;}\\ Y_{\mathrm{rov}84}^{\&prime;}\\ Z_{\mathrm{rov}84}^{\&prime;}\end{array}\right]=\left[\begin{array}{c}(N+H_{\mathrm{rov}84}^{\&prime;})\cos B_{\mathrm{rov}84}\cos L_{\mathrm{rov}84}\\ (N+H_{\mathrm{rov}84}^{\&prime;})\cos B_{\mathrm{rov}84}\sin L_{\mathrm{rov}84}\\ \&lsqb;N(1-e^2)+H_{\mathrm{rov}84}^{\&prime;}\&rsqb;\sin B_{\mathrm{rov}84}\end{array}\right]$

The pseudo space rectangular coordinate X ' of the rover station after being upgraded _rov84.

(4) calculate final pseudorange correction Ψ and variability thereof :

Ψ＝Λ+Γ

$\stackrel{\&CenterDot;}{\mathrm{\&Psi;}}=(\stackrel{\&CenterDot;}{\mathrm{\&Psi;}}\left(t\right)-\stackrel{\&CenterDot;}{\mathrm{\&Psi;}}(t-1))/\mathrm{dt},$

Wherein, variable Γ asks for as follows,

$\mathrm{\&Gamma;}=\left[\begin{array}{ccc}{l}^1& m^1& n^1\\ l^2& m^2& n^2\\ & \&CenterDot;& \\ & \&CenterDot;& \\ & \&CenterDot;& \\ l^k& m^k& n^k\end{array}\right]\left[\begin{array}{c}d{X}_{\mathrm{rov}84}\\ d{Y}_{\mathrm{rov}84}\\ d{Z}_{\mathrm{rov}84}\end{array}\right]=\left[\begin{array}{ccc}{l}^1& m^1& n^1\\ l^2& m^2& n^2\\ & \&CenterDot;& \\ & \&CenterDot;& \\ & \&CenterDot;& \\ l^k& m^k& n^k\end{array}\right]\{\&lsqb;(1+m)\left[\begin{array}{ccc}1& {\mathrm{\&epsiv;}}_Z& -{\mathrm{\&epsiv;}}_Y\\ -{\mathrm{\&epsiv;}}_Z& 1& {\mathrm{\&epsiv;}}_X\\ {\mathrm{\&epsiv;}}_Y& -{\mathrm{\&epsiv;}}_X& 1\end{array}\right]-I\&rsqb;\left[\begin{array}{c}{X}_{\mathrm{rov}84}^{\&prime;}\\ Y_{\mathrm{rov}84}^{\&prime;}\\ Z_{\mathrm{rov}84}^{\&prime;}\end{array}\right]\left[\begin{array}{c}\mathrm{\&Delta;X}\\ \mathrm{\&Delta;Y}\\ \mathrm{\&Delta;Z}\end{array}\right]\}$

$\left\{\begin{array}{c}{l}^i=\frac{X_{\mathrm{rov}84}-X^i}{d_{\mathrm{rov}84}^i}\\ m^i=\frac{Y_{\mathrm{rov}84}-Y^i}{d_{\mathrm{rov}84}^i}\\ n^i=\frac{Z_{\mathrm{rov}84}-Z^i}{d_{\mathrm{rov}84}^i}\end{array}\right.$ $d_{\mathrm{rov}84}^i=\sqrt{{(X_{\mathrm{rov}84}-X^i)}^2+{(Y_{\mathrm{rov}84}-Y^i)}^2+{(Z_{\mathrm{rov}84}-Z^i)}^2}$

Wherein, i satellite X ⁱcoordinate is (X ⁱ, Y ⁱ, Z ⁱ), i=1,2 ..., k; l ⁱ, m ⁱ, n ⁱrepresent respectively from the direction cosine of rover station to a i satellite, geometric distance for rover station to a i satellite; I is unit matrix, and in all the other symbols same 1.3, formula is explained.

(5) NtripProxy server is by pseudorange correction Λ and variability thereof in former text replace with respectively final pseudorange correction Ψ and variability thereof recompile is generated as the standard text of RTCM2.3, by internet, sends to NtripCaster server.

The 3rd step, rover station completes location

Rover station receives the RTCM2.3 text that NtripProxy server is sent, and by RTD mode of the prior art, calculates the coordinate of current rover station under auxiliary coordinates;

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

User is in measuring the thin software of hand, and setting benchmark is Krasovsky ellipsoid (Beijing 54 ellipsoids), in benchmark conversion parameter, input 1.3 in non-concerning security matters seven parameters (3 translational movement Δ X, Δ Y, Δ Z, 3 rotation amount ε _x, ε _y, ε _z, 1 scaling factor m), user 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 equal the normal height (Huanghai Sea elevation system in 1956) of rover station.

Projection pattern is further set in measuring the thin software of hand: Gauss projection, central meridian: XXX ° E, initial point latitude: 0 °, eastern coordinate addition constant: 500000m, north coordinate addition constant: 0m, can obtain the Gaussian plane rectangular coordinate under Beijing coordinate system in 1954.

During concrete enforcement, can apply neatly technical solution of the present invention, measure arbitrary system achievement:

As shown in Figure 4, can realize RTD and obtain ginseng heart coordinate system coordinate, now in step 2.2, (3) needn't do, and only need to carry out (1) (2) (4) (5).While noting not carrying out (3), the X ' in the formula in (4) _rov84=X _rov84.

As shown in Figure 6, can realize RTD and obtain ECEF coordinate, now not perform step 2.2, directly the information of NtripCaster is transmitted to NtripClient, not make any change.

As shown in Figure 7, can realize RTD and obtain ECEF coordinate and normal high schematic diagram, now in step 2.2, the algorithm in (4) changes following formula into,

$\mathrm{\&Gamma;}=\left[\begin{array}{ccc}{l}^1& m^1& n^1\\ l^2& m^2& n^2\\ & \&CenterDot;& \\ & \&CenterDot;& \\ & \&CenterDot;& \\ l^k& m^k& n^k\end{array}\right]\left[\begin{array}{c}d{X}_{\mathrm{rov}}\\ d{Y}_{\mathrm{rov}}\\ d{Z}_{\mathrm{rov}}\end{array}\right]=\left[\begin{array}{ccc}{l}^1& m^1& n^1\\ l^2& m^2& n^2\\ & \&CenterDot;& \\ & \&CenterDot;& \\ & \&CenterDot;& \\ l^k& m^k& n^k\end{array}\right]\left\{\begin{array}{c}{X}_{\mathrm{rov}84}^{\&prime;}-X_{\mathrm{rov}84}\\ Y_{\mathrm{rov}84}^{\&prime;}-Y_{\mathrm{rov}84}\\ Z_{\mathrm{rov}84}^{\&prime;}-Z_{\mathrm{rov}84}\end{array}\right\}$

All the other are constant.

Specific embodiment described herein is only to the explanation for example of the present invention's spirit.Those skilled in the art can make various modifications or supplement 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 (4)

1. a RTD method of measuring arbitrary system achievement based on NTRIP, it is characterized in that: between NtripCaster server and NtripClient, insert a NtripProxy trunk module, NtripProxy trunk module place server is designated as NtripProxy server, and NtripClient represents rover station; Mensuration process comprises the following steps,

Step 1, definition source node and auxiliary seven parameters, the conversion parameter that calculating auxiliary coordinate is tied to target-based coordinate system is as non-concerning security matters seven parameters;

Described auxiliary seven parameters, comprise 3 translational movement Δ X ₁, Δ Y ₁, Δ Z ₁, 3 rotation parameter ε _x1, ε _y1, ε _z1, 1 scaling factor m ₁, obtain following boolean Sha model,

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

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

Described non-concerning security matters seven parameters are conversion parameter Δ X, Δ Y, Δ Z, ε that auxiliary coordinate is tied to target-based coordinate system _x, ε _y, ε _z, m, by following formula, calculate Δ X, Δ Y, Δ Z, ε _x, ε _y, ε _z, m,

$\left\{\begin{array}{c}\left[\begin{array}{c}\mathrm{\&Delta;X}\\ \mathrm{\&Delta;Y}\\ \mathrm{\&Delta;Z}\end{array}\right]=\left[\begin{array}{c}{\mathrm{\&Delta;X}}_0\\ {\mathrm{\&Delta;Y}}_0\\ {\mathrm{\&Delta;Z}}_0\end{array}\right]+(1+m)\left[\begin{array}{ccc}1& {\mathrm{\&epsiv;}}_Z& -{\mathrm{\&epsiv;}}_Y\\ -{\mathrm{\&epsiv;}}_Z& 1& {\mathrm{\&epsiv;}}_X\\ {\mathrm{\&epsiv;}}_Y& -{\mathrm{\&epsiv;}}_X& 1\end{array}\right]\left[\begin{array}{c}{\mathrm{\&Delta;X}}_1\\ {\mathrm{\&Delta;Y}}_1\\ {\mathrm{\&Delta;Z}}_1\end{array}\right]\\ m=\frac{m_0-m_1}{1+m_1}\\ {\mathrm{\&epsiv;}}_X={\mathrm{\&epsiv;}}_{X0}-{\mathrm{\&epsiv;}}_{X1}\\ {\mathrm{\&epsiv;}}_Y={\mathrm{\&epsiv;}}_{Y0}-{\mathrm{\&epsiv;}}_{Y1}\\ {\mathrm{\&epsiv;}}_Z={\mathrm{\&epsiv;}}_{Z0}-{\mathrm{\&epsiv;}}_{Z1}\end{array}\right.$

Wherein, Δ X ₀, Δ Y ₀, Δ Z ₀, ε _x0, ε _y0, ε _z0, m ₀for ECEF coordinate is tied to the Transformation Parameters of target-based coordinate system;

Step 2, generating network RTD difference text, comprises following sub-step,

Step 2.1, NtripClient login NtripProxy server, chooses 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 NtripProxy server,

NtripProxy server is by X _rovECEFbe transmitted to NtripCaster server,

NtripCaster server calculates and provides reference station coordinates X _refECEF=(X _refECEF, Y _refECEF, Z _refECEF), and based on X _refECEFgenerate pseudorange correction Λ and variability it is as follows,

Λ＝[dP ¹?dP ²?L?dP ^k] ^T

Wherein, k represents a satellite number, initial pseudo correction for each satellite; represent that i star is to the geometric distance of reference station, P ⁱrepresent certain Pseudo-range Observations to i star constantly, dt represents GNSS signal sampling interval;

NtripCaster server is by pseudorange correction Λ and variability establishment is for text and send to NtripProxy server;

Step 2.2, NtripProxy server is carried out following operation,

Step 2.2.1, by decoded message, restores pseudorange correction Λ,

Step 2.2.2, the general location X that NtripClient is sent _rovECEFby following formula, be converted to longitude and latitude geodetic height,

$\left\{\begin{array}{c}{L}_{\mathrm{rovECEF}}=\arctan \left(\frac{Y_{\mathrm{rovECEF}}}{X_{\mathrm{rovECEF}}}\right)\\ B_{\mathrm{rovECEF}}=\arctan \left(\frac{Z_{\mathrm{rovECEF}}+e^{\&prime;2}b{\sin }^3\mathrm{\&theta;}}{\sqrt{({X_{\mathrm{rovECEF}}}^2+{Y_{\mathrm{rovECEF}}}^2)-e^{2}a{\cos }^3\mathrm{\&theta;}}}\right)\\ H_{\mathrm{rovECEF}}=\frac{\sqrt{{X_{\mathrm{rovECEF}}}^2+{Y_{\mathrm{rovECEF}}}^2}}{\cos B_{\mathrm{rovECEF}}}-N\end{array}\right.$

Wherein $N=\frac{a}{\sqrt{1-e^2{\sin }^2{B}_{\mathrm{rovECEF}}}},$ $\mathrm{\&theta;}=\arctan \left(\frac{{\mathrm{aZ}}_{\mathrm{rovECEF}}}{b\sqrt{{X_{\mathrm{rovECEF}}}^2+{Y_{\mathrm{rovECEF}}}^2}}\right),$ $e^2=\frac{a^2-b^2}{a^2},$ $e^{\&prime;2}=\frac{a^2-b^2}{b^2},$ A is that the semimajor axis of ellipsoid of ECEF coordinate system is long, and b is that semiminor axis of ellipsoid is long;

Step 2.2.3, utilizes L _rovECEF, B _rovECEF, in conjunction with the achievement of Precision Quasi-geoid Determining, interpolation goes out the height anomaly value ξ at NtripClient place _rovECEF, make the pseudo-geodetic height H ' of NtripClient _rovECEF=H _rovECEF-ξ _rovECEF, by the pseudo-terrestrial coordinate of NtripClient ${\mathrm{\&Phi;}}_{\mathrm{rovECEF}}^{\&prime;}=\left[\begin{array}{c}{L}_{\mathrm{rovECEF}}\\ B_{\mathrm{rovECEF}}\\ H_{\mathrm{rovECEF}}^{\&prime;}\end{array}\right]$ Again be converted to rectangular space coordinate as follows,

$X_{\mathrm{rovECEF}}^{\&prime;}=\left[\begin{array}{c}{X}_{\mathrm{rovECEF}}^{\&prime;}\\ Y_{\mathrm{rovECEF}}^{\&prime;}\\ Z_{\mathrm{rovECEF}}^{\&prime;}\end{array}\right]=\left[\begin{array}{c}(N+H_{\mathrm{rovECEF}}^{\&prime;})\cos B_{\mathrm{rovECEF}}\cos L_{\mathrm{rovECEF}}\\ (N+H_{\mathrm{rovECEF}}^{\&prime;})\cos B_{\mathrm{rovECEF}}\sin L_{\mathrm{rovECEF}}\\ [N(1-e^2)+H_{\mathrm{rovECEF}}^{\&prime;}]\sin B_{\mathrm{rovECEF}}\end{array}\right]$

The pseudo space rectangular coordinate X ' of NtripClient after being upgraded _rovECEF;

Step 2.2.4, calculates final pseudorange correction Ψ and variability thereof

Ψ＝Λ+Γ

Wherein, variable Γ asks for as follows,

$\mathrm{\&Gamma;}=\left[\begin{array}{ccc}{l}^1& m^1& n^1\\ l^2& m^2& n^2\\ & M& \\ l^k& m^k& n^k\end{array}\right]\left[\begin{array}{c}{\mathrm{dX}}_{\mathrm{rovECEF}}\\ {\mathrm{dY}}_{\mathrm{rovECEF}}\\ {\mathrm{dZ}}_{\mathrm{rovECEF}}\end{array}\right]\left[\begin{array}{ccc}{l}^1& m^1& n^1\\ l^2& m^2& n^2\\ & M& \\ l^k& m^k& n^k\end{array}\right]\left\{\begin{array}{c}[(1+m)\left[\begin{array}{ccc}1& {\mathrm{\&epsiv;}}_Z& -{\mathrm{\&epsiv;}}_Y\\ -{\mathrm{\&epsiv;}}_Z& 1& {\mathrm{\&epsiv;}}_X\\ {\mathrm{\&epsiv;}}_Y& -{\mathrm{\&epsiv;}}_X& 1\end{array}\right]-I]\left[\begin{array}{c}{X}_{\mathrm{rovECEF}}^{\&prime;}\\ Y_{\mathrm{rovECEF}}^{\&prime;}\\ Z_{\mathrm{rovECEF}}^{\&prime;}\end{array}\right]+\left[\begin{array}{c}\mathrm{\&Delta;X}\\ \mathrm{\&Delta;Y}\\ \mathrm{\&Delta;Z}\end{array}\right]\end{array}\right\}$

$\left\{\begin{array}{c}{l}^i=\frac{X_{\mathrm{rovECEF}}-X^i}{d_{\mathrm{rovECEF}}^i}\\ m^i=\frac{Y_{\mathrm{rov}}-Y^i}{d_{\mathrm{rovECEF}}^i}\\ n^i=\frac{Z_{\mathrm{rov}}-Z^i}{d_{\mathrm{rovECEF}}^i}\end{array}\right.$

$d_{\mathrm{rovECEF}}^i=\sqrt{{(X_{\mathrm{rov}}-X^i)}^2+{(Y_{\mathrm{rov}}-Y^i)}^2+{(Z_{\mathrm{rov}}-Z^i)}^2}$

Wherein, i satellite X ⁱcoordinate is (X ⁱ, Y ⁱ, Z ⁱ), i=1,2, L, k; l ⁱ, m ⁱ, n ⁱrepresent respectively from the direction cosine of NtripClient to a i satellite, for the geometric distance of NtripClient to a i satellite, I is unit matrix;

Step 2.2.5, NtripProxy server is by pseudorange correction Λ and variability thereof in former text replace with respectively step 2.2.4 gained final pseudorange correction Ψ and variability thereof regroup as text and send to NtripClient;

Step 3, NtripClient completes location, is included in and receives after the text that NtripProxy server sends, and calculates the coordinate X of current NtripClient under auxiliary coordinates _rovFZ, according to non-concerning security matters seven parameters of step 1 gained, obtain the normal height of NtripClient and the Gaussian plane rectangular coordinate under target-based coordinate system.

2. based on NTRIP, measure according to claim 1 the RTD method of arbitrary system achievement, it is characterized in that: arbitrary system comprises ECEF, ginseng heart coordinate system and elevation system arbitrarily.

3. according to measure the RTD method of arbitrary system achievement described in claim 1 or 2 based on NTRIP, it is characterized in that: during definition source node, the information comprising in source node title has reference station type, measurement pattern, difference message format, the coordinate system of Measurement results and the elevation system of Measurement results.

4. according to measure the RTD method of arbitrary system achievement described in claim 1 or 2 based on NTRIP, it is characterized in that:

Only realize and obtain ginseng heart coordinate system coordinate, do not realize and obtain normally when high, do not perform step 2.2.3, the X ' in the formula in step 2.2.4 _rovECEF=X _rovECEF;

Only realize and obtain ECEF coordinate, do not realize and obtain normally when high, do not perform step 2.2, directly the information of NtripCaster server is transmitted to NtripClient;

ECEF coordinate and normal when high is obtained in realization, changes the algorithm of variable Γ in step 2.2.4 into following formula,

$\mathrm{\&Gamma;}=\left[\begin{array}{ccc}{l}^1& m^1& n^1\\ l^2& m^2& n^2\\ & M& \\ l^k& m^k& n^k\end{array}\right]\left[\begin{array}{c}{\mathrm{dX}}_{\mathrm{rov}}\\ {\mathrm{dY}}_{\mathrm{rov}}\\ {\mathrm{dZ}}_{\mathrm{rov}}\end{array}\right]=\left[\begin{array}{ccc}{l}^1& m^1& n^1\\ l^2& m^2& n^2\\ & M& \\ l^k& m^k& n^k\end{array}\right]\left\{\begin{array}{c}\left[\begin{array}{c}{X}_{\mathrm{rovECEF}}^{\&prime;}-X_{\mathrm{rovECEF}}\\ Y_{\mathrm{rovECEF}}^{\&prime;}-X_{\mathrm{rovECEF}}\\ Z_{\mathrm{rovECEF}}^{\&prime;}-Z_{\mathrm{rovECEF}}\end{array}\right]\end{array}\right\}$

All the other are constant.